Management systems, management methods, and computer programs

Abstract

To improve the efficiency of crop harvesting. [Solution] A management system according to one embodiment manages the harvesting work of agricultural machinery that harvests crops while traveling through a field. The management system includes a sensor that detects the amount of harvested material accumulated in the tank of the agricultural machinery, and a first processing unit that determines whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value based on the output signal of the sensor. If the first processing unit determines that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value, it outputs first information related to the fact that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value to the outside.

Description

Technical Field

[0001] The present invention relates to a management system, a management method, and a computer program used for harvesting crops.

Background Art

[0002] As next-generation agriculture, research and development of smart agriculture that utilizes ICT (Information and Communication Technology) and IoT (Internet of Things) is underway. Research and development are also underway for the automation and unmanned operation of agricultural machinery such as tractors and harvesters used in fields. For example, agricultural machinery that performs farming operations while automatically driving within a field using a positioning system such as GNSS (Global Navigation Satellite System) capable of precise positioning has been put into practical use.

[0003] Patent Document 1 discloses a harvester that travels by automatic driving while harvesting crops in a field. The harvester can harvest crops by traveling along a preset travel route within the field.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] There is a demand for more efficiently performing the operation of harvesting crops in a field.

Means for Solving the Problems

[0006] Embodiments of the present invention include the management system, management method, and computer program described below.

[0007] [Item 1] A management system for managing the harvesting operations of agricultural machinery that harvests crops while driving through a field, A sensor for detecting the amount of harvested produce accumulated in the tank of the aforementioned agricultural machine, A first processing device that determines whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value based on the output signal of the sensor, Equipped with, The first processing device is a management system that, when it determines that the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value, outputs first information related to the fact that the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value to the outside.

[0008] [Item 2] The management system according to item 1, wherein the first information includes first location information indicating a point where a transport vehicle that transports harvested products receives the harvested products from the agricultural machinery.

[0009] [Item 3] An electronic device that can be operated by the driver of the transport vehicle receives the first information. The management system according to item 2, wherein, in response to the driver's actions toward the electronic device, the electronic device outputs to the outside information that the driver has agreed to the transport vehicle proceeding to the location.

[0010] [Item 4] The display device of the electronic device displays a map indicating the location, as described in item 3.

[0011] [Item 5] There are multiple of the aforementioned transport vehicles. The management system described in item 2, wherein the first information includes vehicle information indicating which of the multiple transport vehicles is to be directed to the location.

[0012] [Item 6] The first processing device determines, among the plurality of transport vehicles, the transport vehicle that is relatively short in distance from the point, to be the transport vehicle to be directed toward the point. The transport vehicle information is a management system described in item 5, which indicates the transport vehicle that has been decided to be sent to the aforementioned location.

[0013] [Item 7] The second processing unit, located in each of the multiple transport vehicles, outputs second position information indicating the position of the transport vehicle to the outside. The management system according to item 6, wherein the first processing device of the agricultural machinery receives the second location information and identifies a transport vehicle that is relatively close in distance from the point based on the second location information.

[0014] [Item 8] The first processing device determines which of the multiple transport vehicles has an empty cargo bed to be sent to the location, The transport vehicle information is a management system described in item 5, which indicates the transport vehicle that has been decided to be sent to the aforementioned location.

[0015] [Item 9] The second processing unit, located in each of the multiple transport vehicles, outputs availability information indicating the availability status of the cargo bed to the outside. The first processing device of the agricultural machinery receives the availability information and identifies a transport vehicle with an empty cargo bed based on the availability information, as described in item 8.

[0016] [Item 10] The management system according to item 8, wherein, if there are multiple transport vehicles with empty cargo beds, the first processing device determines which of the multiple transport vehicles with empty cargo beds is the transport vehicle that is relatively short in distance from the point to be sent to the point.

[0017] [Item 11] The first processing apparatus is The aforementioned agricultural machinery holds first variety information indicating the variety of crop to be harvested, Among the plurality of transport vehicles, a transport vehicle capable of transporting the harvested product of the variety indicated by the first variety information is determined as the transport vehicle to be directed to the location. The transport vehicle information is the management system according to item 5, indicating the transport vehicle determined to be directed to the location.

[0018] [Item 12] The second processing device arranged on each of the plurality of transport vehicles outputs second variety information indicating the variety of the harvestable product to the outside. The first processing device of the agricultural machine receives the second variety information and identifies a transport vehicle capable of transporting the harvested product based on the second variety information. The management system according to item 11.

[0019] [Item 13] The first processing device After outputting the first information to the outside, it is determined whether the amount of the harvested product accumulated in the tank is greater than or equal to a second predetermined value that is greater than the first predetermined value. When it is determined that the amount of the harvested product accumulated in the tank is greater than or equal to the second predetermined value, the management system according to any one of items 1 to 12 outputs second information related to the fact that the amount of the harvested product accumulated in the tank is greater than or equal to the second predetermined value to the outside.

[0020] [Item 14] When the agricultural machine starts harvesting crops in the field, the first processing device outputs third information indicating that the agricultural machine has started harvesting crops in the field to the outside. The management system according to any one of items 1 to 13.

[0021] [Item 15] The third information includes information indicating the field where the agricultural machine has started harvesting crops. The management system according to item 14.

[0022] [Item 16] The control device that controls the operation of the transport vehicle receives the first information and controls the transport vehicle so that the transport vehicle heads to the location. The management system according to item 2.

[0023] [Item 17] The aforementioned agricultural machinery is a harvester, and the management system is as described in any of items 1 through 16.

[0024] [Item 18] A management method for managing the harvesting operation of agricultural machinery that harvests crops while traveling through a field, which is executed by one or more computers, Based on the output signal of a sensor that detects the amount of harvested material accumulated in the tank of the agricultural machine, it is determined whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value. If it is determined that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value, first information relating to the amount of harvested material accumulated in the tank being equal to or greater than the first predetermined value is output to the outside. Management methods, including those mentioned above.

[0025] [Item 19] A computer program that causes one or more computers to execute processes to manage the harvesting operation of agricultural machinery that harvests crops while driving through a field, The aforementioned computer program, Based on the output signal of a sensor that detects the amount of harvested material accumulated in the tank of the agricultural machine, it is determined whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value. If it is determined that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value, first information relating to the amount of harvested material accumulated in the tank being equal to or greater than the first predetermined value is output to the outside via a communication device. A computer program that causes one or more computers to execute the aforementioned program.

[0026] [Item 20] A management system for managing the harvesting operations of agricultural machinery that harvests crops while driving through a field, One or more processors, One or more storage devices that store computer programs that control the operation of the one or more processors, Equipped with, The one or more processors, in accordance with the computer program, Based on the output signal of a sensor that detects the amount of harvested material accumulated in the tank of the agricultural machine, it is determined whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value. A management system that, when it is determined that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value, outputs first information related to the fact that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value to the outside via a communication device.

[0027] Comprehensive or specific embodiments of the present invention may be realized by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. The computer-readable storage media may include volatile storage media or non-volatile storage media. The apparatus may consist of multiple devices. If the apparatus consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices. [Effects of the Invention]

[0028] According to one embodiment of the present invention, when the first processing device determines that the amount of harvested material accumulated in the tank of an agricultural machine is equal to or greater than a first predetermined value, it outputs first information relating to the fact that the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value to the outside. For example, based on this first information, the driver of a transport vehicle can direct the transport vehicle to the field where the agricultural machine with a predetermined amount or more of harvested material accumulated in its tank is located, thereby improving work efficiency. [Brief explanation of the drawing]

[0029] [Figure 1] This is a diagram illustrating the outline of an agricultural management system according to one embodiment. [Figure 2] This is a schematic side view illustrating an example of a harvesting machine. [Figure 3] This is a block diagram showing an example of a harvesting machine configuration. [Figure 4] This is a block diagram showing examples of configurations for a management device, terminal device, and electronic equipment. [Figure 5] This diagram shows a harvesting machine harvesting crops from a field. [Figure 6] This is a flowchart illustrating an example of how a harvesting machine works. [Figure 7] This flowchart shows an example of the operation of a transport vehicle. [Figure 8] This figure shows an example of an electronic device that displays a map. [Figure 9] This diagram shows the process of transferring harvested produce from the harvesting machine to a transport vehicle. [Figure 10] This diagram shows multiple transport vehicles positioned around a field. [Figure 11] This flowchart shows another example of how a harvesting machine works. [Figure 12] Here is a flowchart illustrating another example of the transport vehicle's operation. [Figure 13] Here is yet another example of how a harvesting machine works, as shown in the flowchart. [Figure 14] Here is yet another example of how a harvesting machine works, as shown in the flowchart. [Figure 15] This is a schematic side view showing an example of a transport vehicle. [Figure 16] This is a block diagram showing an example of a transport vehicle configuration. [Figure 17] This figure shows another example of a harvesting machine. [Modes for carrying out the invention]

[0030] Embodiments of the present invention will be described below. However, unnecessarily detailed descriptions may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding by those skilled in the art. The inventors provide the accompanying drawings and the following description so that those skilled in the art can fully understand the present invention, and not to limit the subject matter described in the claims. In the following description, components having the same or similar function are denoted by the same reference numerals. The numerals F, Re, L, R, U, and D in the drawings represent front, back, left, right, top, and bottom, respectively.

[0031] The following embodiments are illustrative, and the technology of the present invention is not limited to these embodiments. The content of the following embodiments is merely an example, and various modifications are possible as long as they do not result in technical inconsistencies. Furthermore, it is possible to combine one embodiment with another as long as they do not result in technical inconsistencies.

[0032] The agricultural machinery according to this embodiment is a mobile agricultural machine capable of harvesting crops in a field while moving. Examples of agricultural machinery include harvesters, tractors, and mobile agricultural robots. In some cases, the entire agricultural machine, including implements attached to or towed by agricultural machinery such as a tractor, functions as a single "agricultural machine." In the following description of embodiments, a harvester is used as an example of agricultural machinery, but agricultural machinery is not limited to harvesters.

[0033] <1. Agricultural Management System> Figure 1 is a diagram illustrating an agricultural management system 1 according to an embodiment of the present invention. The agricultural management system 1 shown in Figure 1 comprises a harvesting machine 100, a transport vehicle 200, a terminal device 400, and a management device 600.

[0034] The terminal device 400 is a computer used by a user to remotely monitor the harvester 100. The management device 600 is a computer managed by the operator of the agricultural management system 1. The harvester 100, the transport vehicle 200, the terminal device 400, and the management device 600 can communicate with each other via the network 80. Figure 1 illustrates one harvester 100 and one transport vehicle 200, but the agricultural management system 1 may include multiple harvesters 100 and / or multiple transport vehicles 200. The agricultural management system 1 may also include other agricultural machinery.

[0035] In this embodiment, the harvester 100 is, for example, a combine harvester. The harvester 100 cuts the crops in the field, threshes the cut crops, and discharges the harvested material after threshing. The crops in the field may be, but are not limited to, plants that can be harvested as grains such as rice, wheat, corn, and soybeans.

[0036] In this embodiment, the transport vehicle 200 is a vehicle equipped with a container 203 for receiving and storing the harvested material discharged by the harvester 100, and may be, for example, a truck. If the transport vehicle 200 is a truck, the container 203 may be a cargo bed.

[0037] The harvester 100 is equipped with an automatic driving function. That is, the harvester 100 can be driven by the operation of a control device without manual operation. The control device in this embodiment is installed inside the harvester 100 and can control both the speed and steering of the harvester 100. The harvester 100 may automatically drive not only within the field but also outside the field (for example, on a road).

[0038] The harvester 100 is equipped with devices used for positioning or self-localization, such as a GNSS receiver and a LiDAR sensor. The control device of the harvester 100 automatically drives the harvester 100 based on the harvester 100's position and information about the target path. The harvester 100 may also automatically drive along the target path on a road outside the field (e.g., a farm road or public road). In this case, the harvester 100 automatically drives along the road while utilizing data output from sensing devices such as a camera, obstacle sensor, and LiDAR sensor.

[0039] The management device 600 is a computer that manages agricultural work performed by the harvester 100. The management device 600 may be a server computer that centrally manages field-related information on the cloud and supports agriculture by utilizing data on the cloud. For example, the management device 600 creates a work plan for the harvester 100 and causes the harvester 100 to perform agricultural work according to that work plan. For example, the management device 600 generates a target route within the field based on information entered by the user using a terminal device 400 or other devices. The management device 600 may also generate and edit an environmental map based on data collected by the harvester 100, transport vehicle 200, other mobile objects, etc., using sensing devices such as LiDAR sensors. The management device 600 transmits the generated work plan, target route, and environmental map data to the harvester 100. The harvester 100 automatically performs movement and agricultural work based on that data.

[0040] The terminal device 400 is a computer used by a user located away from the harvesting machine 100. The terminal device 400 shown in Figure 1 is a laptop computer, but is not limited to this. The terminal device 400 may be a stationary computer such as a desktop PC (Personal Computer), or a mobile device such as a smartphone or tablet computer. The terminal device 400 may be used to remotely monitor or remotely operate the harvesting machine 100. For example, the terminal device 400 can display images captured by cameras on each of the harvesting machines 100. The terminal device 400 can also display a settings screen on its screen for the user to input information necessary to create a work plan for the harvesting machine 100 (e.g., a schedule for each farming task). When the user inputs the necessary information on the settings screen and performs a transmission operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. The terminal device 400 may also include a function to display a settings screen on its display for the user to input the information necessary to set the target route.

[0041] Figure 2 is a schematic side view showing an example of a harvester 100. The harvester 100 comprises a body 101 and a running gear 102. The running gear 102 shown is a crawler-type running gear, but it may also be a running gear with wheels. A cabin 110 is provided above the body 101.

[0042] At the front of the traveling device 102, a harvesting device 103 for cutting crops is provided with adjustable height. Above the harvesting device 103, a reel 109 for raising the stems of crops is provided with adjustable height. At the rear of the cabin 110, a threshing device 105 and a tank 106 for storing harvested material are arranged side by side in the left-right direction. The threshing device 105 threshes the harvested crops. The tank 106 stores the harvested material obtained by threshing grains, etc. At the rear of the threshing device 105, a straw disposal device 108 is provided. The straw disposal device 108 finely cuts the stems, etc., after the harvested material such as grains has been removed and discharges them to the outside.

[0043] A conveying device 104 for transporting the harvested crop is provided between the harvesting device 103 and the threshing device 105. The tank 106 is equipped with a discharge device 107 for discharging the harvested material from the tank 106. The harvested material is discharged to the outside through a discharge port 117 at the tip of the cylindrical discharge device 107. The discharge device 107 is capable of raising and lowering and rotating, and the position of the discharge port 117 can be changed. The configuration and operation of the various devices that perform the harvesting operation, such as the harvesting device 103, conveying device 104, threshing device 105, discharge device 107, straw disposal device 108, and reel 109, are well known, so a detailed explanation of them is omitted here.

[0044] In this embodiment, the harvester 100 can operate in both manual and automatic modes. In automatic mode, the harvester 100 can operate unmanned. Furthermore, in automatic mode, the harvester 100 can operate unmanned while performing the operation of harvesting crops in the field.

[0045] As shown in Figure 2, the harvester 100 is equipped with a prime mover (engine) 111 and a transmission 112. Inside the cabin 110 are a driver's seat, operating levers, operating terminals, and a group of switches for operation.

[0046] The harvester 100 may include at least one sensing device for sensing the environment around the harvester 100, and a control device for processing sensing data output from at least one sensing device. The harvester 100 may have multiple sensing devices. The sensing devices may be a LiDAR sensor 125, a camera 126, and an obstacle sensor 127. The harvester 100 may also include a millimeter-wave radar as a sensing device.

[0047] Cameras 126 may be installed, for example, on the front, back, left, and right sides of the harvesting machine 100. Cameras 126 capture images of the environment around the harvesting machine 100 and generate image data. The images acquired by cameras 126 are output to a control device mounted on the harvesting machine 100 and can be transmitted to a terminal device 400 for remote monitoring. These images can also be used to monitor the harvesting machine 100 during unmanned operation.

[0048] The LiDAR sensor 125 illustrated in Figure 2 is positioned at the front and rear of the harvester 100. Additional LiDAR sensors 125 may be provided on the sides of the harvester 100. The harvester 100 may be equipped with multiple LiDAR sensors positioned at different locations and in different orientations. The LiDAR sensor 125 may be a 3D-LiDAR sensor, but it may also be a 2D-LiDAR sensor. The LiDAR sensor 125 senses the environment surrounding the harvester 100 and outputs sensing data. The LiDAR sensor 125 repeatedly outputs sensor data indicating the distance and direction to each measurement point of objects in the surrounding environment, or the 3D or 2D coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 125 is processed by the control device of the harvester 100. The control device can perform self-position estimation of the harvester 100 by matching the sensor data with an environmental map. Furthermore, the control device can detect objects such as obstacles present around the harvester 100 based on the sensor data. The control device can also generate or edit environmental maps using algorithms such as SLAM (Simultaneous Localization and Mapping).

[0049] The obstacle sensor 127 illustrated in Figure 2 is located on the side of the harvester 100. The obstacle sensor 127 may also be located in other places. For example, the obstacle sensor 127 may be located on the front and rear of the harvester 100. The obstacle sensor 127 may include, for example, a laser scanner or ultrasonic sonar. The obstacle sensor 127 is used to detect surrounding obstacles during automatic driving and to stop or bypass the harvester 100. A LiDAR sensor 125 may be used as one of the obstacle sensors 127.

[0050] The harvester 100 further includes a GNSS unit 120. The GNSS unit 120 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the harvester 100 based on the signals received by the antenna. The GNSS unit 120 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the GNSS unit 120 is located on top of the cabin 110, but it may be located in other positions.

[0051] The GNSS unit 120 may include an inertial measuring unit (IMU). Signals from the IMU can be used to supplement positional data. The IMU can measure the tilt and minute movements of the harvester 100. By using the data acquired by the IMU to supplement positional data based on satellite signals, positioning performance can be improved.

[0052] The control device of the harvester 100 may use sensing data acquired by sensing devices such as the camera 126 and / or LiDAR sensor 125 for positioning, in addition to the positioning results from the GNSS unit 120. If there are features that function as characteristic points in the environment in which the harvester 100 is traveling, the position and orientation of the harvester 100 can be estimated with high accuracy based on the data acquired by the camera 126 and / or LiDAR sensor 125 and an environmental map stored in a memory device beforehand. By correcting or supplementing the position data based on satellite signals using the data acquired by the camera 126 and / or LiDAR sensor 125, the position of the harvester 100 can be determined with even higher accuracy.

[0053] The prime mover 111 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 112 can change the thrust and speed of the harvester 100 by changing the gear. The transmission 112 can also switch the harvester 100 between forward and reverse.

[0054] In a configuration where the harvester 100 is equipped with a crawler-type running gear 102, the direction of travel of the harvester 100 can be changed by making the rotational speeds of the left and right wheels, which are fitted with tracks, different from each other, or by making the rotational directions of the left and right wheels different from each other. In a configuration where the harvester 100 is equipped with a running gear that has wheels with tires, the harvester 100 is equipped with a power steering device, and the direction of travel of the harvester 100 can be changed by controlling the power steering device to change the steering angle (also called the "steering angle") of the steering wheels.

[0055] The harvester 100 shown in Figure 2 can be operated by a person, but it may also be designed for unmanned operation only. In that case, components necessary only for manned operation, such as the cabin 110, steering system, and driver's seat, do not need to be provided in the harvester 100. The unmanned harvester 100 can be driven autonomously or by remote control by a user.

[0056] Figure 3 is a block diagram showing an example configuration of the harvesting machine 100. The harvesting machine 100 can communicate with terminal devices 400 and management devices 600 via the network 80. The harvesting machine 100 and the transport vehicle 200 may communicate via the network 80, or they may communicate directly without going through the network 80.

[0057] The harvesting machine 100 illustrated in Figure 3 includes a GNSS unit 120, a LiDAR sensor 125, a camera 126, an obstacle sensor 127, an operating terminal 131, a group of operating switches 132, a buzzer 133, a drive unit 140, a power transmission mechanism 141, a group of sensors 150, a processing unit 160, and a communication device 190. These components are connected to each other via a bus so that they can communicate with one another.

[0058] The GNSS unit 120 includes a GNSS receiver 121, an RTK receiver 122, an inertial measurement unit (IMU) 123, and a processing circuit 124. The sensor group 150 detects various states of the harvester 100. The sensor group 150 includes an operating lever sensor 151, a rotation sensor 152, and a load sensor 156. The processing unit 160 includes a processor 161, a RAM (Random Access Memory) 162, a ROM (Read Only Memory) 163, a storage device 164, a plurality of electronic control units (ECUs) 165 to 167, and a communication device 190. The processing unit 160 is a control device that controls various operations of the harvester 100. The transport vehicle 200 is equipped with electronic equipment 300, which will be described later. Figure 3 shows components that are relatively highly relevant to the operation of the automatic driving of the harvester 100, and other components are not shown.

[0059] The GNSS receiver 121 of the GNSS unit 120 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as NMEA-0183 format. The GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0060] The GNSS unit 120 illustrated in Figure 3 uses RTK (Real Time Kinematic)-GNSS to position the harvester 100. RTK-GNSS positioning utilizes satellite signals transmitted from multiple GNSS satellites, as well as correction signals transmitted from a reference station. The reference station can be located near the field where the harvester 100 operates (for example, within 10 km of the harvester 100). Based on the satellite signals received from multiple GNSS satellites, the reference station generates a correction signal, for example, in RTCM format, and transmits it to the GNSS unit 120. The RTK receiver 122, including an antenna and modem, receives the correction signal transmitted from the reference station. The processing circuit 124 of the GNSS unit 120 corrects the positioning result from the GNSS receiver 121 based on the correction signal. Using RTK-GNSS, positioning can be performed with an accuracy of, for example, a few centimeters. Position data, including latitude, longitude, and altitude information, is acquired through high-precision positioning using RTK-GNSS. The GNSS unit 120 calculates the position of the harvester 100 at a frequency of, for example, 1 to 10 times per second.

[0061] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method that can obtain position data with the required accuracy (such as interferometric positioning or relative positioning) can be used. For example, positioning using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System) may be performed. If position data with the required accuracy can be obtained without using correction signals transmitted from a reference station, the position data may be generated without using correction signals. In that case, the GNSS unit 120 does not need to be equipped with an RTK receiver 122.

[0062] Even when using RTK-GNSS, in locations where correction signals from a reference station cannot be obtained (for example, on a road far from the field), the position of the harvester 100 is estimated by other means, without relying on signals from the RTK receiver 122. For example, the position of the harvester 100 can be estimated by matching data output from the LiDAR sensor 125 and / or camera 126 with a high-precision environmental map.

[0063] The IMU123 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU123 may also be equipped with an orientation sensor, such as a 3-axis geomagnetic sensor. The IMU123 functions as a motion sensor and can output signals indicating various quantities such as acceleration, velocity, displacement, and attitude of the harvester 100. The processing circuit 124 can estimate the position and orientation of the harvester 100 with higher accuracy based on the signals output from the IMU123 in addition to the satellite signals and correction signals. The signals output from the IMU123 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU123 outputs signals at a higher frequency than the GNSS receiver 121. Using these high-frequency signals, the processing circuit 124 can measure the position and orientation of the harvester 100 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU123, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU123 may be provided as a separate device from the GNSS unit 120.

[0064] Camera 126 is an imaging device that captures the environment around the harvester 100. Camera 126 includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 126 may also include an optical system including one or more lenses and a signal processing circuit. While the harvester 100 is running, camera 126 captures the environment around the harvester 100 and generates image (e.g., video) data. Camera 126 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by camera 126 can be used, for example, when a remote observer uses a terminal device 400 to check the environment around the harvester 100. The images generated by camera 126 may be used for positioning or obstacle detection. Multiple cameras 126 may be installed at different locations on the harvester 100, or a single camera may be installed. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be provided separately. Both the visible light camera and the infrared camera may be provided as cameras that generate surveillance images. The infrared camera can also be used for detecting obstacles at night.

[0065] The obstacle sensor 127 detects objects present around the harvester 100. The obstacle sensor 127 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 127 outputs a signal indicating the presence of an obstacle when an object is closer than a predetermined distance from the obstacle sensor 127. Multiple obstacle sensors 127 may be provided at different locations on the harvester 100. For example, multiple laser scanners and multiple ultrasonic sonars may be placed at different locations on the harvester 100. By providing multiple obstacle sensors 127, blind spots in monitoring obstacles around the harvester 100 can be reduced.

[0066] The operating lever sensor 151 detects the operation of the operating lever by the user inside the cabin 110. The output signal from the operating lever sensor 151 is used for operation control by the processing unit 160. The rotation sensor 152 measures the rotational speed of the axle of the traveling device 102, i.e., the number of rotations per unit time. The rotation sensor 152 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The rotation sensor 152 outputs a numerical value indicating the number of rotations of the axle per minute (unit: rpm). The rotation sensor 152 is used, for example, to measure the speed of the harvester 100.

[0067] A load sensor 156 is installed at the bottom of the tank 106 and detects the weight of the harvested produce inside the tank 106. By detecting the weight of the harvested produce inside the tank 106, the processing device 160 can recognize the storage state of the harvested produce inside the tank 106. A yield sensor and a taste sensor may be installed inside or around the tank 106. The taste sensor outputs quality data such as the moisture content and protein content of the harvested produce.

[0068] The buzzer 133 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 133 emits a warning sound when an obstacle is detected during autonomous driving. The buzzer 133 is controlled by the processing unit 160.

[0069] The drive unit 140 includes various devices necessary for driving the harvester 100, such as the prime mover 111 and the transmission 112. The prime mover 111 may be an internal combustion engine, such as a diesel engine. The drive unit 140 may also be equipped with an electric motor for traction, either in place of the internal combustion engine or in conjunction with it.

[0070] The power transmission mechanism 141 transmits the power generated by the prime mover 111 to various devices that perform harvesting operations. These devices include a cutting device 103, a conveying device 104, a threshing device 105, a discharge device 107, a straw disposal device 108, a reel 109, etc. The harvester 100 may also be equipped with a power source (such as an electric motor) separate from the prime mover 111 to supply power to at least one of these harvesting devices.

[0071] The processor 161 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 161 may be implemented by a microprocessor or microcontroller. Alternatively, the processor 161 may be implemented by an FPGA (Field Programmable Gate Array) equipped with a CPU, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an ASSP (Application Specific Standard Product), or a combination of two or more circuits selected from these circuits. The processor 161 sequentially executes a computer program stored in the ROM 163, which describes a set of instructions for performing at least one process, to realize the desired process.

[0072] ROM163 is, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. ROM163 stores a program that controls the operation of the processor 161. ROM163 does not have to be a single storage medium; it may be a collection of multiple storage media. Some of the collection of multiple storage media may be removable memory.

[0073] RAM162 provides a workspace for temporarily unpacking the control program stored in ROM163 during boot-up. RAM162 does not need to be a single storage medium; it may be a collection of multiple storage media.

[0074] The storage device 164 includes one or more storage media such as flash memory or magnetic disks. The storage device 164 stores various data generated by the GNSS unit 120, LiDAR sensor 125, camera 126, obstacle sensor 127, sensor group 150, and processing unit 160. The data stored in the storage device 164 may include map data of the environment in which the harvester 100 travels (environmental map) and target route data for autonomous driving. The environmental map includes information on multiple fields in which the harvester 100 performs agricultural work and the surrounding roads. The environmental map and target route may be generated by the processor of the management device 600. The processing unit 160 may also have a function to generate or edit the environmental map and target route. The processing unit 160 can edit the environmental map and target route acquired from the management device 600 according to the driving environment of the harvester 100. The storage device 164 also stores work plan data received by the communication device 190 from the management device 600.

[0075] The storage device 164 also stores computer programs that cause the processor 161 and ECUs 165-167 to perform various operations described later. Such computer programs can be provided to the harvester 100 via a storage medium (e.g., semiconductor memory or optical disc) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0076] The processing unit 160 includes a plurality of ECUs 165-167. ECU 165 controls the travel speed and turning motion of the harvester 100 by controlling the prime mover 111, transmission 112, and travel device 102, etc., which are included in the drive unit 140.

[0077] The ECU 165 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 120, camera 126, obstacle sensor 127, LiDAR sensor 125, sensor group 150, and processor 161. For example, the ECU 165 determines the position of the harvester 100 based on data output from at least one of the GNSS unit 120, camera 126, and LiDAR sensor 125. Within the field, the ECU 165 may determine the position of the harvester 100 based only on data output from the GNSS unit 120. The ECU 165 may estimate or correct the position of the harvester 100 based on data acquired by the camera 126 and / or LiDAR sensor 125. By utilizing the data acquired by the camera 126 and / or LiDAR sensor 125, the accuracy of positioning can be further improved. For example, the ECU 165 may estimate the position of the harvester 100 by matching data output from the LiDAR sensor 125 and / or camera 126 with an environmental map. During autonomous driving, the ECU 165 performs calculations necessary for the harvester 100 to travel along the target path based on the estimated position of the harvester 100.

[0078] The ECU 166 may determine the destination of the harvester 100 based on the work plan stored in the storage device 164, and may determine the target path from the starting point to the destination point of the harvester 100's movement. The ECU 166 may also perform processing to detect objects located around the harvester 100 based on the data output from the camera 126, obstacle sensor 127, and LiDAR sensor 125.

[0079] The ECU167 controls the operation of the power transmission mechanism 141 and other components in order to cause the various devices that perform the harvesting operation described above to execute the desired operation.

[0080] These ECUs enable the processing unit 160 to perform automatic driving and crop harvesting operations. During automatic driving, the processing unit 160 controls the drive unit 140 based on the measured or estimated position of the harvester 100 and the target path. This allows the processing unit 160 to drive the harvester 100 along the target path.

[0081] Multiple ECUs included in the processing unit 160 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In Figure 15, each of the ECUs 165 to 167 is shown as an individual block, but each of their functions may be realized by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 165 to 167 may be provided. The processing unit 160 may also include ECUs other than ECUs 165 to 167, and any number of ECUs may be provided depending on the function. Each ECU includes a processing circuit that includes one or more processors. Processor 161 may be integrated with any of the ECUs included in the processing unit 160.

[0082] The communication device 190 is a device that includes circuits for communicating with the transport vehicle 200, the terminal device 400, and the management device 600. The communication device 190 includes circuits for wireless communication with the communication device 290 of the transport vehicle 200. This allows the transport vehicle 200 to perform desired operations or to obtain information from the transport vehicle 200. The communication device 190 may further include antennas and communication circuits for transmitting and receiving signals via the network 80 with the respective communication devices of the terminal device 400 and the management device 600. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G and the Internet. The communication device 190 may also have the function of communicating with a mobile terminal used by a monitor near the harvester 100. Communication with such a mobile terminal may be conducted in accordance with any wireless communication standard, such as Wi-Fi®, cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth®.

[0083] The operation terminal 131 is a terminal for the user to perform operations related to the movement of the harvester 100 and the operation of the transport vehicle 200, and is also called a virtual terminal (VT). The operation terminal 131 may be equipped with a display device such as a touchscreen and / or one or more buttons. The display device may be a display such as a liquid crystal or organic light-emitting diode (OLED). By operating the operation terminal 131, the user can perform various operations such as switching the automatic driving mode on / off, recording or editing the environmental map, and setting a target route. At least some of these operations can also be achieved by operating the operation switch group 132. The operation terminal 131 may be configured to be detachable from the harvester 100. A user located away from the harvester 100 may control the operation of the harvester 100 by operating the detached operation terminal 131. Instead of the operation terminal 131, the user may control the operation of the harvester 100 by operating a computer with the necessary application software installed, such as a terminal device 400.

[0084] Next, the configuration of the management device 600, terminal device 400, and electronic device 300 will be explained with reference to Figure 4. Figure 4 is a block diagram illustrating the hardware configuration of the management device 600, terminal device 400, and electronic device 300.

[0085] The management device 600 comprises a storage device 650, a processor 660, a ROM 670, a RAM 680, and a communication device 690. These components are connected to each other via a bus for communication. The management device 600 can function as a cloud server that manages the schedule of agricultural work performed in the field by the harvester 100 and the transport vehicle 200, and supports agriculture by utilizing the managed data. Users can input the information necessary to create a work plan using the terminal device 400 and upload that information to the management device 600 via the network 80. Based on this information, the management device 600 can create a schedule of agricultural work, i.e., a work plan. The management device 600 can also generate or edit an environmental map. The environmental map may be distributed from a computer outside the management device 600.

[0086] The communication device 690 is a communication module for communicating with the harvester 100, transport vehicle 200, and terminal device 400 via the network 80. The communication device 690 can perform wired communication compliant with communication standards such as IEEE 1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication compliant with Bluetooth (registered trademark) or Wi-Fi standards, or cellular mobile communication such as 3G, 4G, or 5G.

[0087] The processor 660 may be a semiconductor integrated circuit including, for example, a central processing unit (CPU). The ROM 670 may be, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. The RAM 680 provides a workspace for temporarily unpacking the control program stored in the ROM 670 at boot time. The details of the configuration of the processor 660, ROM 670, and RAM 680 are the same as those for the processor 161, ROM 163, and RAM 162, so a detailed explanation is omitted here.

[0088] The storage device 650 primarily functions as database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as cloud storage.

[0089] The terminal device 400 comprises an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are connected to each other via a bus so as to be able to communicate with each other. The input device 420 is a device for converting user instructions into data and inputting them into the computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The descriptions of the processor 460, ROM 470, RAM 480, storage device 450, and communication device 490 are the same as those described in the hardware configuration examples of the harvester 100, transport vehicle 200, and management device 600, and are therefore omitted here.

[0090] The electronic device 300 is a computer used by the driver of the transport vehicle 200. The electronic device 300 may be a computer mounted on the transport vehicle 200, or it may be a mobile terminal such as a smartphone or tablet computer. The electronic device 300 may be used to send and receive information with the harvesting machine 100, terminal device 400, and management device 600. The display device of the electronic device 300 displays various information related to the received content. In this embodiment, “electronic device 300 placed in the transport vehicle” includes electronic devices such as mobile terminals that the driver brings into the vehicle when boarding the transport vehicle 200.

[0091] The electronic device 300 comprises a processing unit 310, an input device 320, a display device 330, a GNSS receiver 340, and a storage device 350. The processing unit 310 comprises a processor 360, a ROM 370, a RAM 380, and a communication device 390. These components are connected to each other via a bus so as to be able to communicate with each other. The input device 320 is a device for converting user instructions into data and inputting it into the computer. The input device 320 may be, for example, a touch panel, a switch element, or a keyboard. The display device 330 may be, for example, a liquid crystal display or an organic EL display. The GNSS receiver 340 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The descriptions of the processor 360, ROM 370, RAM 380, storage device 350, and communication device 390 are the same as those described in the hardware configuration examples of the harvester 100 and the management device 600, and are therefore omitted here.

[0092] <2. Operation> Next, a harvesting operation in which crops in a field are harvested using a harvester 100 and a transport vehicle 200 will be described. A management system 10 for managing such a harvesting operation may be implemented by a processing unit 160 of the harvester 100 and electronic equipment 300 of the transport vehicle 200. The agricultural management system 1 may function as the management system 10 for managing such a harvesting operation.

[0093] Figure 5 shows the harvesting operation of the harvester 100 in the field 70.

[0094] The harvester 100 of this embodiment harvests crops while automatically driving through the field 70. Within the field 70, the harvester 100 performs the operation of harvesting crops while driving along a pre-set target route 73. Within the field 70, the positioning of the harvester 100 is mainly performed based on data output from the GNSS unit 120. In addition to the positioning data output from the GNSS unit 120, the position of the harvester 100 may also be estimated based on data output from the LiDAR sensor 125 and / or camera 126.

[0095] In the example shown in Figure 5, the field 70 includes a work area 71 where the harvester 100 harvests crops, and a headland 72 located near the outer edge of the field 70. The user can pre-set which areas of the field 70 correspond to the work area 71 and the headland 72 on the map. The harvester 100 automatically travels along a target route 73, as shown in Figure 5, from the start point to the end point of the work. Note that the target route 73 shown in Figure 5 is merely an example, and the method of defining the target route 73 is arbitrary. The target route 73 may be created based on user operations or may be created automatically. The target route 73 may be created to cover, for example, the entire work area 71 within the field 70.

[0096] The harvester 100 harvests crops while automatically driving along the target path 73. The processor 161 (Figure 3) of the harvester 100 instructs the ECU 165 to control the harvester 100 to drive automatically along the target path 73, and also instructs the ECU 167 to control the crop harvesting operation. The ECU 165 controls the operation of the drive unit 140 to drive the harvester 100 automatically. The ECU 167 controls the operation of the power transmission mechanism 141 to cause the various devices that perform the crop harvesting operation to perform the desired operation. The cutting device 103 cuts the crops in the field 70. The threshing device 105 threshes the cut crops. The tank 106 stores the harvested material obtained by threshing grains, etc. The straw disposal device 108 finely cuts the stems, etc., after the harvested material such as grains has been removed and discharges them to the outside.

[0097] When the tank 106 is full of harvested material, the transport vehicle 200 can be placed next to the harvester 100, and the harvested material can be transferred to the cargo bed 203 (Figure 1) of the transport vehicle 200 using the discharge device 107. Once the tank 106 is empty, the harvester 100 can resume harvesting crops.

[0098] In this embodiment, a harvester 100 that harvests crops while traveling through a field 70 and a transport vehicle 200 that receives and transports the harvested material discharged by the harvester 100 work in coordination. When the harvested material accumulates in the tank 106 of the harvester 100, the transport vehicle 200 is notified that the tank 106 has accumulated harvested material. For example, based on this notification, the driver of the transport vehicle 200 can direct the transport vehicle 200 to the field 70 where the harvester 100 with accumulated harvested material in the tank 106 is located, thereby increasing work efficiency.

[0099] Figure 6 is a flowchart showing an example of the operation of the harvesting machine 100. Figure 7 is a flowchart showing an example of the operation of the transport vehicle 200.

[0100] During the harvesting process, the harvested crops gradually accumulate in the tank 106 of the harvester 100. The amount of harvested crops accumulated in the tank 106 can be detected, for example, using a load sensor 156 (Figure 3).

[0101] The processor 161 of the harvester 100 detects the amount of harvested material accumulated in the tank 106 based on the output signal of the load sensor 156 (step S101). The processor 161 determines whether the amount of harvested material accumulated in the tank 106 is greater than or equal to a first predetermined value W1 (step S102). The first predetermined value W1 is, for example, 50-100% of the maximum weight of harvested material that can be stored in the tank 106, but is not limited to that value.

[0102] If the processor 161 determines that the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1, it outputs first information M1 related to the fact that the amount of harvested material accumulated in the tank 106 is equal to or greater than the first predetermined value W1 to the outside via the communication device 190 (step S103).

[0103] If the amount of harvested material accumulated in tank 106 is less than the first predetermined value W1, there is sufficient free space to accommodate more harvested material, and therefore the first information M1 is not output.

[0104] The first information M1 includes information about the field 70 where the harvester 100 is located, when the amount of harvested material in the tank 106 is equal to or greater than a first predetermined value W1. For example, the first information M1 includes location information (first location information) indicating a point in the field 70 where the harvested material is transferred from the harvester 100 to the transport vehicle 200. The point in the field 70 where the harvested material is transferred from the harvester 100 to the transport vehicle 200 is predetermined, and the location information is stored, for example, in the storage device 164.

[0105] The electronic device 300 located on the transport vehicle 200 receives the first information M1 (step S201 in Figure 7). The first information M1 may be transmitted from the harvester 100 to the transport vehicle 200 via the network 80, or it may be transmitted directly from the harvester 100 to the transport vehicle 200. Information transmission and reception between the harvester 100 and the transport vehicle 200 may be performed using email or SNS (Social Networking Service).

[0106] The electronic device 300 informs the driver of the transport vehicle 200 of the contents of the received first information M1 (step S202). For example, the processor 360 of the electronic device 300 causes the display device 330 to display a map showing the points within the field 70 where the harvested produce is transferred from the harvester 100 to the transport vehicle 200.

[0107] Figure 8 shows an example of an electronic device 300 that displays a map showing point 77 within a field 70 where harvested produce is transferred from a harvesting machine 100 to a transport vehicle 200. The first information M1 includes, for example, geographic coordinate information of point 77. Based on the geographic coordinate information, the processor 360 can display a map showing point 77 on the display device 330. In the example shown in Figure 8, point 77 is represented by a star.

[0108] The driver of the transport vehicle 200 can direct the transport vehicle 200 to field 70 where point 77 is located by looking at the information displayed on the display device 330. In parallel with the transport vehicle 200's movement to point 77, the harvesting machine 100 also moves to a point adjacent to point 77.

[0109] Figure 9 shows the process of transferring harvested material from the harvester 100 to the transport vehicle 200 upon reaching point 77. The harvester 100 and the transport vehicle 200 are positioned adjacent to each other, and the harvested material can be transferred to the cargo bed 203 of the transport vehicle 200 using the discharge device 107. By moving the transport vehicle 200 to the field 70 where the harvester 100 is located, after a predetermined amount of harvested material has accumulated in the tank 106, work efficiency can be increased.

[0110] The electronic device 300 may output to the outside information that the driver has agreed to the transport vehicle 200 proceeding to point 77. In this case, the processor 360 determines whether or not the driver has agreed to the transport vehicle 200 proceeding to point 77 (step S203). For example, if the driver presses the button indicating "OK" displayed on the display device 330, the processor 360 determines that the driver has agreed.

[0111] The processor 360 outputs to the outside via the communication device 390 information that the driver has agreed to the transport vehicle 200 proceeding to point 77 (step S204). The processor 161 of the harvester 100 may move the harvester 100 to a point adjacent to point 77 after receiving this information. In addition, if there are multiple transport vehicles 200, the intention to proceed to point 77 can be indicated to the other transport vehicles 200 by outputting information that the driver has agreed to the transport vehicle 200 proceeding to point 77.

[0112] If there are multiple transport vehicles 200, the processor 161 may specify which transport vehicle 200 to send to point 77. For example, the first information M1 output by the harvester 100 may include transport vehicle information indicating which of the multiple transport vehicles 200 will be sent to point 77.

[0113] Figure 10 shows how multiple transport vehicles 200 are positioned around the field 70. Figure 11 is a flowchart showing another example of the operation of the harvesting machine 100. Figure 11 is a flowchart showing another example of the operation of the transport vehicle 200.

[0114] The processor 360 of the electronic equipment 300, which is located in each of the multiple transport vehicles 200, generates location information (second location information) indicating the location of the transport vehicle 200 to which it is located. The processor 360 generates the location information using, for example, the output data of the GNSS receiver 340. The generated location information includes geographic coordinate information. The processor 360 outputs the generated location information to the outside via the communication device 390. The processor 360 may output the location information periodically, or it may output the location information when requested by the harvesting machine 100.

[0115] If the processor 161 of the harvester 100 determines that the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1, it receives position information output from the electronic devices 300 of the multiple transport vehicles 200 (step S111 in Figure 11).

[0116] Based on the received location information, the processor 161 identifies the transport vehicle 200 that is relatively close to the point 77 where the harvested goods will be delivered, from among the multiple transport vehicles 200. The processor 161 determines that the transport vehicle 200 that is relatively close to point 77 from among the multiple transport vehicles 200 will be the transport vehicle 200 to be sent to point 77. For example, the processor 161 determines that the transport vehicle 200 with the shortest distance from point 77 will be the transport vehicle 200 to be sent to point 77 (step S112 in Figure 11). The processor 161 outputs first information M1, which includes transport vehicle information indicating the transport vehicle 200 that has been determined to be sent to point 77, to the outside via the communication device 190 (step S103 in Figure 11).

[0117] The processor 360 of the electronic equipment 300 located in each of the multiple transport vehicles 200 receives first information M1 which includes transport vehicle information (step S201 in Figure 12).

[0118] The processor 360 determines whether the transport vehicle information indicates the transport vehicle 200 to which it is assigned (step S211 in Figure 12). The information indicating the transport vehicle 200 to which it is assigned is pre-stored in, for example, the storage device 350. If the processor 360 determines that the transport vehicle information indicates the transport vehicle 200 to which it is assigned, it notifies the driver (step S202 in Figure 12). The processing of steps S202-S204 shown in Figure 12 is the same as the processing of steps S202-S204 shown in Figure 7.

[0119] By directing the transport vehicle 200 that is relatively close to point 77 towards point 77, among the multiple transport vehicles 200, work efficiency can be improved.

[0120] The processor 161 may decide which of the multiple transport vehicles 200 has an empty cargo bed 203 to send to point 77.

[0121] Each of the transport vehicles 200 is equipped with a load sensor (for example, load sensor 256 shown in Figure 16) that detects the weight of the harvested crop in the loading platform 203. Based on the output signals of the load sensors, the processor 360 can detect the storage state of the harvested crop in the loading platform 203.

[0122] The processor 360 of the electronic equipment 300 located in each of the multiple transport vehicles 200 outputs availability information indicating the availability status of the loading platform 203 to the outside via the communication device 390. The processor 360 may output availability information periodically, or it may output availability information when requested by the harvesting machine 100.

[0123] If the processor 161 of the harvester 100 determines that the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1, it receives available information output from the electronic devices 300 of the multiple transport vehicles 200 (step S111 in Figure 11).

[0124] Based on the received availability information, the processor 161 identifies the transport vehicles 200 whose cargo beds 203 are empty. The processor 161 determines which of the multiple transport vehicles 200 have empty cargo beds 203 to be sent to point 77 (step S112 in Figure 11). If there are multiple transport vehicles 200 with empty cargo beds 203, the processor 161 determines which of the multiple transport vehicles 200 with empty cargo beds 203 have the shortest distance from point 77 to be sent to point 77. For example, the processor 161 determines which of the multiple transport vehicles 200 with empty cargo beds 203 have the shortest distance from point 77 to be sent to point 77. The processor 161 outputs first information M1, which includes transport vehicle information indicating the transport vehicle 200 that it has decided to send to point 77, to the outside via the communication device 190 (step S103 in Figure 11).

[0125] The processor 360 of the electronic equipment 300 located in each of the multiple transport vehicles 200 receives first information M1 which includes transport vehicle information (step S201 in Figure 12).

[0126] The processor 360 determines whether the transport vehicle information indicates the transport vehicle 200 to which it is stationed (step S211 in Figure 12). If the processor 360 determines that the transport vehicle information indicates the transport vehicle 200 to which it is stationed, it notifies the driver (step S202 in Figure 12).

[0127] By directing one of the multiple transport vehicles 200, specifically the one with an empty cargo bed 203, towards point 77, work efficiency can be improved.

[0128] The processor 161 may determine which transport vehicle 200 to send to point 77 based on the variety of crop that the harvester 100 will harvest.

[0129] Variety information (first variety information) indicating the variety of crop to be harvested by the harvester 100 is pre-stored, for example, in the storage device 164 of the harvester 100. The processor 161 determines which of the multiple transport vehicles 200 is capable of transporting the harvested crop of the variety indicated by the first variety information, and sends that transport vehicle 200 to point 77.

[0130] Each of the multiple transport vehicles 200 has an electronic device 300, and its storage device 350 pre-stores variety information (second variety information) indicating the varieties of harvested crops that the transport vehicle 200 to which it is located can transport.

[0131] The processor 360 of the electronic equipment 300 located in each of the multiple transport vehicles 200 outputs second variety information to the outside via the communication device 390. The processor 360 may output the second variety information periodically, or it may output the second variety information when requested by the harvester 100.

[0132] If the processor 161 of the harvester 100 determines that the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1, it receives second variety information output from the electronic devices 300 of the multiple transport vehicles 200 (step S111 in Figure 11).

[0133] Based on the received second variety information, the processor 161 identifies a transport vehicle 200 capable of transporting the harvested crop. For example, the processor 161 determines that one of the multiple transport vehicles 200 whose first variety information matches the second variety information will be sent to point 77 (step S112 in Figure 11).

[0134] If there are multiple transport vehicles 200 whose first variety information and second variety information match, the processor 161 determines which of those multiple transport vehicles 200 has a relatively short distance from point 77 to be sent to point 77. For example, the processor 161 determines which of those multiple transport vehicles 200 has the shortest distance from point 77 to be sent to point 77. The processor 161 outputs first information M1, which includes transport vehicle information indicating the transport vehicle 200 that has been determined to be sent to point 77, to the outside via the communication device 190 (step S103 in Figure 11).

[0135] The processor 360 of the electronic equipment 300 located in each of the multiple transport vehicles 200 receives first information M1 which includes transport vehicle information (step S201 in Figure 12).

[0136] The processor 360 determines whether the transport vehicle information indicates the transport vehicle 200 to which it is stationed (step S211 in Figure 12). If the processor 360 determines that the transport vehicle information indicates the transport vehicle 200 to which it is stationed, it notifies the driver (step S202 in Figure 12).

[0137] By directing one of the multiple transport vehicles (200) capable of transporting harvested goods towards point 77, work efficiency can be improved.

[0138] Furthermore, the processor 161 may determine which transport vehicle 200 to send to point 77 based on the moisture content of the harvested crop accumulated in tank 106. For example, the processor may determine which transport vehicle 200 to send to point 77 is one whose moisture content of the harvested crop already stored in the loading platform 203 is close to the moisture content in tank 106.

[0139] Furthermore, the transport vehicle 200 to be sent to point 77 may be determined according to the storage facility to which the transport vehicle 200 belongs. For example, the transport vehicle 200 to be sent to point 77 may be determined to be the one whose moisture content of the harvested produce already stored in the storage facility to which the transport vehicle 200 belongs is close to the moisture content of the tank 106.

[0140] Figure 13 is a flowchart illustrating yet another example of the operation of the harvester 100. The processor 161 of the harvester 100 may output information in two stages.

[0141] After outputting the first information M1 to the outside, the processor 161 detects the amount of harvested material accumulated in the tank 106 (step S121 in Figure 13). The processor 161 determines whether the amount of harvested material accumulated in the tank 106 is greater than or equal to a second predetermined value W2 (step S122 in Figure 13). Here, the second predetermined value W2 is greater than the first predetermined value W1.

[0142] If the processor 161 determines that the amount of harvested material accumulated in the tank 106 is equal to or greater than the second predetermined value W2, it outputs second information M2 to the outside that relates to the fact that the amount of harvested material accumulated in the tank 106 is equal to or greater than the second predetermined value W2 (steps S122-S123 in Figure 13).

[0143] By having the processor 161 output information in multiple stages, the driver of the transport vehicle 200 can recognize the degree of urgency regarding the journey to point 77.

[0144] Figure 14 is a flowchart illustrating yet another example of the operation of the harvester 100. The processor 161 of the harvester 100 may output information when the harvester 100 begins harvesting crops in the field 70.

[0145] When the harvester 100 begins harvesting crops in the field 70, the processor 161 outputs third information M3 to the outside indicating that the harvester 100 has begun harvesting crops in the field 70 (steps S90-S91). The third information M3 includes, for example, information indicating the field 70 in which the harvester 100 has begun harvesting crops. The processing in steps S101-S103 shown in Figure 14 is the same as the processing in steps S101-S103 shown in Figure 6.

[0146] When the processor 161 outputs the third piece of information M3, the driver of the transport vehicle 200 can recognize the field 70 where harvesting has begun and make plans to head the transport vehicle 200 towards that field 70.

[0147] Vehicle 200 may proceed to point 77 by autonomous driving.

[0148] Figure 15 is a schematic side view showing an example of an autonomous transport vehicle 200. In this embodiment, the transport vehicle 200 can operate in both manual and autonomous driving modes. In autonomous driving mode, the transport vehicle 200 can operate unmanned.

[0149] As shown in Figure 15, the transport vehicle 200 comprises a body 201, a prime mover (engine) 211, a transmission 212, a cabin 210, and a cargo bed 203. The body 201 is fitted with wheels 202 with tires. The wheels 202 include a pair of front wheels 202F and a pair of rear wheels 202R. One or both of the front wheels 202F and the rear wheels 202R may be multiple wheels (crawlers) fitted with tracks instead of wheels with tires. Inside the cabin 210 are a driver's seat, steering gear, control terminals, and a group of switches for operation.

[0150] The transport vehicle 200 may include a sensing device for sensing the environment around the transport vehicle 200 and a control device for processing sensing data output from the sensing device. The transport vehicle 200 may have multiple sensing devices. The sensing devices may include a LiDAR sensor 225, a camera 226, and an obstacle sensor 227.

[0151] Cameras 226 may be installed, for example, on the front, rear, left, and right sides of the transport vehicle 200. Cameras 226 capture images of the environment around the transport vehicle 200 and generate image data. The images acquired by cameras 226 can be output to a control device mounted on the transport vehicle 200 and transmitted to a terminal device 400 for remote monitoring. These images can also be used to monitor the transport vehicle 200 during unmanned operation.

[0152] The transport vehicle 200 may be equipped with multiple LiDAR sensors positioned at different locations and in different orientations. The LiDAR sensor 225 illustrated in Figure 15 is located on the front, rear, left, and right sides of the transport vehicle 200. The LiDAR sensor 225 may be a 3D-LiDAR sensor, but it may also be a 2D-LiDAR sensor. The LiDAR sensor 225 senses the environment around the transport vehicle 200 and outputs sensing data. The LiDAR sensor 225 repeatedly outputs sensor data indicating the distance and direction to each measurement point of objects present in the surrounding environment, or the 3D or 2D coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 225 is processed by the control device of the transport vehicle 200. The control device can estimate the self-position of the transport vehicle 200 by matching the sensor data with an environmental map. The control device can further detect objects such as obstacles present around the transport vehicle 200 based on the sensor data. The control device can also generate or edit an environmental map using algorithms such as SLAM.

[0153] The obstacle sensor 227 illustrated in Figure 15 is located on the side of the transport vehicle 200. The obstacle sensor 227 may be located in other places as well. For example, the obstacle sensor 227 may be located on the front and rear of the transport vehicle 200. The obstacle sensor 227 may include, for example, a laser scanner or ultrasonic sonar. The obstacle sensor 227 is used to detect surrounding obstacles during autonomous driving and to stop or detour the transport vehicle 200. A LiDAR sensor 225 may be used as one of the obstacle sensors 227.

[0154] The transport vehicle 200 further includes a GNSS unit 220. The GNSS unit 220 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the transport vehicle 200 based on the signals received by the antenna. The GNSS unit 220 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. In this embodiment, the GNSS unit 220 is located on top of the cabin 210, but it may be located in other locations.

[0155] The GNSS unit 220 may include an IMU, which can use signals from the IMU to supplement positional data. The IMU can measure the tilt and minute movements of the transport vehicle 200. By using the data acquired by the IMU to supplement positional data based on satellite signals, positioning performance can be improved.

[0156] The control device of the transport vehicle 200 may use sensing data acquired by sensing devices such as the camera 226 and / or LiDAR sensor 225 for positioning, in addition to the positioning results from the GNSS unit 220. If there are features that function as characteristic points in the environment in which the transport vehicle 200 is traveling, the position and orientation of the transport vehicle 200 can be estimated with high accuracy based on the data acquired by the camera 226 and / or LiDAR sensor 225 and an environmental map stored in a memory device in advance. By correcting or supplementing the position data based on satellite signals using the data acquired by the camera 226 and / or LiDAR sensor 225, the position of the transport vehicle 200 can be determined with even higher accuracy.

[0157] The prime mover 211 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 212 can change the propulsion force and travel speed of the transport vehicle 200 by shifting gears. The transmission 212 can also switch the transport vehicle 200 between forward and reverse.

[0158] The steering system provided on the transport vehicle 200 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering system that assists steering by the steering wheel. The front wheels 202F are steering wheels, and the direction of travel of the transport vehicle 200 can be changed by changing their steering angle. The steering angle of the front wheels 202F can be changed by operating the steering wheel. The power steering system includes a hydraulic system or electric motor that supplies auxiliary force to change the steering angle of the front wheels 202F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic system or electric motor under control from a control device located inside the transport vehicle 200.

[0159] The transport vehicle 200 shown in Figure 15 is capable of being operated by a person, but may also be designed for unmanned operation only. In that case, components necessary only for manned operation, such as the cabin 210, steering system, and driver's seat, do not need to be provided in the transport vehicle 200. The unmanned transport vehicle 200 can be driven autonomously or by remote control by a user.

[0160] Figure 16 is a block diagram showing an example configuration of the transport vehicle 200. The transport vehicle 200 can communicate with the terminal device 400 and the management device 600 via the network 80.

[0161] The transport vehicle 200 illustrated in Figure 16 includes a GNSS unit 220, a LiDAR sensor 225, a camera 226, an obstacle sensor 227, an operating terminal 231, a group of operating switches 232, a buzzer 233, a drive unit 240, a group of sensors 250, a control unit 260, and a communication device 290. These components are connected to each other via a bus so that they can communicate with one another.

[0162] The GNSS unit 220 includes a GNSS receiver 221, an RTK receiver 222, an IMU 223, and a processing circuit 224. The sensor group 250 detects various states of the transport vehicle 200. The sensor group 250 includes a steering wheel sensor 251, a rotation sensor 252, a steering angle sensor 253, and a load sensor 256. The control device 260 includes a processor 261, RAM 262, ROM 263, a storage device 264, and electronic control units (ECUs) 265 and 266. Figure 16 shows the components that are relatively highly relevant to the operation of the transport vehicle 200's autonomous driving, and other components are not shown.

[0163] The GNSS receiver 221 in the GNSS unit 220 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals.

[0164] The GNSS unit 220 illustrated in Figure 16 uses RTK-GNSS to position the transport vehicle 200. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, an error of a few centimeters. Position data including latitude, longitude, and altitude information is acquired by high-precision positioning using RTK-GNSS. The GNSS unit 220 calculates the position of the transport vehicle 200 at a frequency of, for example, 1 to 10 times per second.

[0165] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method that can obtain position data with the required accuracy (such as interferometric positioning or relative positioning) can be used. For example, positioning using VRS or DGPS may be performed. If position data with the required accuracy can be obtained without using correction signals transmitted from a base station, the position data may be generated without using correction signals. In that case, the GNSS unit 220 does not need to be equipped with an RTK receiver 222.

[0166] Even when using RTK-GNSS, in locations where correction signals from a base station cannot be obtained (for example, on a road far from the field), the position of the transport vehicle 200 is estimated by other means, without relying on signals from the RTK receiver 222. For example, the position of the transport vehicle 200 can be estimated by matching data output from the LiDAR sensor 225 and / or camera 226 with a high-precision environmental map.

[0167] The IMU223 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU223 may also be equipped with an orientation sensor, such as a 3-axis geomagnetic sensor. The IMU223 can function as a motion sensor and output signals indicating various quantities such as acceleration, velocity, displacement, and attitude of the vehicle 200. The processing circuit 224 can estimate the position and orientation of the vehicle 200 with higher accuracy based on the signals output from the IMU223, in addition to the satellite signals and correction signals. The signals output from the IMU223 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU223 outputs signals at a higher frequency than the GNSS receiver 221. Using these high-frequency signals, the processing circuit 224 can measure the position and orientation of the vehicle 200 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU223, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU223 may be provided as a separate device from the GNSS unit 220.

[0168] Camera 226 is an imaging device that captures the environment around the transport vehicle 200. Camera 226 includes, for example, an image sensor such as a CCD or CMOS. Camera 226 may also include an optical system including one or more lenses and a signal processing circuit. While the transport vehicle 200 is in motion, Camera 226 captures the environment around the transport vehicle 200 and generates image (e.g., video) data. Camera 226 can capture video at a frame rate of, for example, 3 (fps) or higher. The images generated by Camera 226 can be used, for example, when a remote observer uses a terminal device 400 to check the environment around the transport vehicle 200. The images generated by Camera 226 may be used for positioning or obstacle detection. Multiple cameras 226 may be installed at different locations on the transport vehicle 200, or only a single camera may be installed. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be installed separately. Both a visible light camera and an infrared camera may be installed as cameras that generate surveillance images. Infrared cameras can also be used to detect obstacles at night.

[0169] The obstacle sensor 227 detects objects present around the transport vehicle 200. The obstacle sensor 227 may include, for example, a laser scanner or an ultrasonic sonar. Multiple obstacle sensors 227 may be provided at different locations on the transport vehicle 200. For example, multiple laser scanners and multiple ultrasonic sonars may be placed at different locations on the transport vehicle 200. By providing multiple obstacle sensors 227, blind spots in monitoring obstacles around the transport vehicle 200 can be reduced.

[0170] The steering wheel sensor 251 measures the rotation angle of the steering wheel of the transport vehicle 200. The steering angle sensor 253 measures the steering angle of the front wheels 202F, which are the steering wheels. The values ​​detected by the steering wheel sensor 251 and the steering angle sensor 253 are used for steering control by the control device 260.

[0171] The rotation sensor 252 measures the rotational speed of the axle connected to the wheel 202, i.e., the number of rotations per unit time. The rotation sensor 252 may be a sensor that utilizes, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The rotation sensor 252 outputs a numerical value indicating, for example, the number of rotations per minute (in rpm) of the axle. The rotation sensor 252 is used, for example, to measure the speed of a transport vehicle 200.

[0172] The load sensor 256 is located at the bottom of the loading platform 203, which functions as a container for storing harvested produce, and detects the weight of the harvested produce inside the loading platform 203. By detecting the weight of the harvested produce inside the loading platform 203, the control device 260 can recognize the storage state of the harvested produce inside the loading platform 203.

[0173] The buzzer 233 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 233 emits a warning sound when an obstacle is detected during autonomous driving. The buzzer 233 is controlled by the control device 260.

[0174] The drive unit 240 includes various devices necessary for driving the transport vehicle 200, such as the prime mover 211 and the transmission 212. The prime mover 211 may be an internal combustion engine, such as a diesel engine. The drive unit 240 may also be equipped with an electric motor for traction, either in place of the internal combustion engine or together with the internal combustion engine.

[0175] The processor 261 may be a semiconductor integrated circuit including, for example, a central processing unit (CPU). The ROM 263 may be, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. The RAM 262 provides a workspace for temporarily unpacking the control program stored in the ROM 263 at boot time. The details of the configuration of the processor 261, RAM 262, and ROM 263 are the same as those of the processor 161, RAM 162, and ROM 163, so a detailed explanation of them is omitted here.

[0176] The storage device 264 includes one or more storage media such as flash memory or magnetic disks. The storage device 264 stores various data generated by the GNSS unit 220, LiDAR sensor 225, camera 226, obstacle sensor 227, sensor group 250, and control device 260. The data stored in the storage device 264 may include map data of the environment in which the transport vehicle 200 travels (environmental map) and target route data for autonomous driving. The environmental map includes information on multiple fields where the transport vehicle 200 performs agricultural work and the surrounding roads. The environmental map and target route may be generated by the processor of the management device 600. The control device 260 may also have a function to generate or edit the environmental map and target route. The control device 260 can edit the environmental map and target route acquired from the management device 600 according to the driving environment of the transport vehicle 200. The storage device 264 also stores work plan data received by the communication device 290 from the management device 600.

[0177] The storage device 264 also stores computer programs that cause the processors 261, ECUs 265, and 266 to perform various operations described later. Such computer programs may be provided to the transport vehicle 200 via a storage medium (e.g., semiconductor memory or optical disc) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0178] The control device 260 includes ECUs 265 and 266. ECU 265 controls the travel speed and turning motion of the transport vehicle 200 by controlling the prime mover 211, transmission 212, steering system, etc., which are included in the drive unit 240.

[0179] The ECU265 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 220, camera 226, obstacle sensor 227, LiDAR sensor 225, sensor group 250, and processor 261. For example, the ECU265 determines the position of the transport vehicle 200 based on data output from at least one of the GNSS unit 220, camera 226, and LiDAR sensor 225. In a field, the ECU265 may determine the position of the transport vehicle 200 based only on data output from the GNSS unit 220. The ECU265 may estimate or correct the position of the transport vehicle 200 based on data acquired by the camera 226 and / or LiDAR sensor 225. By utilizing the data acquired by the camera 226 and / or LiDAR sensor 225, the accuracy of positioning can be further improved. For example, the ECU 265 may estimate the position of the transport vehicle 200 by matching data output from the LiDAR sensor 225 and / or camera 226 with an environmental map. During autonomous driving, the ECU 265 performs calculations necessary for the transport vehicle 200 to travel along the target path based on the estimated position of the transport vehicle 200.

[0180] The ECU 266 may determine the destination of the transport vehicle 200 based on the work plan stored in the storage device 264, and may determine the target path from the starting point to the destination point of the transport vehicle 200's movement. The ECU 266 may also perform processing to detect objects located around the transport vehicle 200 based on data output from the LiDAR sensor 225, camera 226, and obstacle sensor 227.

[0181] Through the operation of these ECUs 265 and 266, the control unit 260 enables autonomous driving. During autonomous driving, the control unit 260 controls the drive unit 240 based on the measured or estimated position of the transport vehicle 200 and the target path. This allows the control unit 260 to drive the transport vehicle 200 along the target path.

[0182] Multiple ECUs included in the control unit 260 can communicate with each other according to a vehicle bus standard such as CAN. Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In Figure 16, ECUs 265 and 266 are shown as separate blocks, but each of their functions may be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 265 and 266 may be provided. The control unit 260 may also include ECUs other than ECUs 265 and 266, and any number of ECUs may be provided depending on their function. Each ECU includes a processing circuit containing one or more processors. Processor 261 may be integrated with any of the ECUs included in the control unit 260.

[0183] The communication device 290 is a device that includes circuits for communicating with the harvester 100, the terminal device 400, and the management device 600. The communication device 290 includes circuits for wireless communication with the communication device 190 of the harvester 100. This allows the harvester 100 to perform desired operations or to obtain information from the harvester 100. The communication device 290 may further include antennas and communication circuits for transmitting and receiving signals via the network 80 with the respective communication devices of the terminal device 400 and the management device 600. The communication device 290 may also have the function of communicating with a portable terminal used by a monitor near the transport vehicle 200. Communication with such a portable terminal may be conducted in accordance with any wireless communication standard, such as Wi-Fi®, 3G, 4G or 5G cellular mobile communication, or Bluetooth®.

[0184] The operation terminal 231 is a terminal for the user to perform operations related to the operation of the transport vehicle 200, and is also called a virtual terminal (VT). The operation terminal 231 may be equipped with a display device such as a touchscreen and / or one or more buttons. The display device may be a display such as a liquid crystal or OLED. By operating the operation terminal 231, the user can perform various operations such as switching the automatic driving mode on / off, recording or editing the environmental map, and setting a target route. At least some of these operations can also be performed by operating the operation switch group 232. The operation terminal 231 may be configured to be detachable from the transport vehicle 200. A user located away from the transport vehicle 200 may control the operation of the transport vehicle 200 by operating the detached operation terminal 231. Instead of the operation terminal 231, the user may control the operation of the transport vehicle 200 by operating a computer with the necessary application software installed, such as a terminal device 400.

[0185] The operation described using Figures 6-14 can also be realized using the transport vehicle 200 shown in Figures 15-16. The control device 260 of the transport vehicle 200 receives, for example, the first information M1 described above and controls the transport vehicle 200 so that it heads towards point 77. The ECU 266 determines the target route from the starting point of the transport vehicle 200's movement to point 77. During autonomous driving, the ECU 265 controls the transport vehicle 200 to travel along the target route. As a result, the transport vehicle 200 can reach point 77 and receive the harvested goods.

[0186] Figure 17 shows another example of the harvester 100 of this embodiment. The harvester 100 shown in Figure 17 is equipped with a switching device 108a.

[0187] The cutting device (straw discharge device) 108 finely cuts the stem portion after the harvested grains and other produce have been removed and discharges it to the outside. A switching device 108a is provided above the cutting device 108. The switching device 108a switches between a first state in which the straw is supplied to the cutting device 108 and a second state in which the straw is discharged without being supplied to the cutting device 108. The switching device 108a includes, for example, a switching plate. When the switching plate is open, the straw is fed into the cutting device 108 and the shredded straw is discharged. When the switching plate is closed, the straw is not fed into the cutting device 108 and is discharged without being cut. The opening and closing of the switching plate is controlled by the processing device 160 of the harvester 100.

[0188] The operation described using Figures 6-14 can also be achieved using the harvester 100 shown in Figure 17.

[0189] In the above description of the embodiment, the transport vehicle 200 was a truck, but the transport vehicle 200 is not limited to that, and may be, for example, a tractor with a cargo bed attached.

[0190] The management system 10 of this embodiment can also be retrofitted to agricultural machinery that does not have those functions. Such systems can be manufactured and sold independently of agricultural machinery. Computer programs used in such systems can also be manufactured and sold independently of agricultural machinery. Computer programs can be provided, for example, by being stored in a computer-readable non-temporary storage medium. Computer programs can also be provided by download via telecommunications lines (e.g., the Internet).

[0191] Some or all of the processing performed by processors 161, 261, and 360 in the management system 10 may be performed by other devices. Such other devices may be at least one of the processor 660 of the management device 600, the processor 460 of the terminal device 400, and the operation terminal 131. In that case, the processor of such other device may be included in the processing unit of the management system 10.

[0192] As described above, embodiments of the present invention include the management system, management method, and computer program described below.

[0193] [Item 1] A management system 10 for managing the harvesting operation of an agricultural machine 100 that harvests crops while traveling through a field 70, A sensor 156 detects the amount of harvested crops accumulated in the tank 106 of the agricultural machine 100, A first processing device 160 determines whether the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1, based on the output signal of the sensor 156. Equipped with, The first processing device 160 is a management system 10 that, when it determines that the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1, outputs first information M1 related to the fact that the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1 to the outside.

[0194] There is a need to improve the efficiency of the work performed in cooperation between an agricultural machine 100 that harvests crops while driving through a field 70, and a transport vehicle 200 that receives and transports the harvested crops discharged by the agricultural machine 100.

[0195] According to one embodiment of the present invention, when the first processing device 160 determines that the amount of harvested material accumulated in the tank 106 of the agricultural machine 100 is equal to or greater than a first predetermined value W1, it outputs first information M1 to the outside relating to the fact that the amount of harvested material accumulated in the tank 106 is equal to or greater than the first predetermined value W1. For example, based on the first information M1, the driver of the transport vehicle 200 can direct the transport vehicle 200 to the field 70 where the agricultural machine 100, in which the amount of harvested material accumulated in the tank 106 is equal to or greater than a predetermined amount, is located, thereby improving work efficiency.

[0196] [Item 2] The management system 10 described in item 1 includes first location information M1, which indicates a point 77 where a transport vehicle 200 that transports harvested produce receives the harvested produce from agricultural machinery 100.

[0197] [Item 3] An electronic device 300, which can be operated by the driver of the transport vehicle 200, receives the first information M1. The management system 10 described in item 2, wherein, in response to the driver's actions toward the electronic device 300, the electronic device 300 outputs to the outside information that the driver has agreed to the transport vehicle 200 proceeding to point 77.

[0198] [Item 4] The display device 330 of the electronic device 300 displays a map showing location 77, as described in item 3 of the management system 10.

[0199] [Item 5] There are multiple transport vehicles, number 200. The first piece of information M1 includes vehicle information indicating which of the multiple transport vehicles 200 is headed towards point 77, as described in item 2, for the management system 10.

[0200] [Item 6] The first processing unit 160 determines which of the multiple transport vehicles 200 is located relatively close to point 77 to be sent toward point 77. The transport vehicle information is the management system 10 described in item 5, which indicates the transport vehicle 200 that has been decided to be sent to location 77.

[0201] [Item 7] The second processing unit 310, which is located in each of the multiple transport vehicles 200, outputs second position information indicating the position of the transport vehicle 200 to the outside. The management system 10 of item 6, wherein the first processing unit 160 of the agricultural machine 100 receives second location information and identifies a transport vehicle 200 that is relatively close in distance from point 77 based on the second location information.

[0202] [Item 8] The first processing unit 160 determines which of the multiple transport vehicles 200 has an empty cargo bed 203 to be sent to point 77. The transport vehicle information is the management system 10 described in item 5, which indicates the transport vehicle 200 that has been decided to be sent to location 77.

[0203] [Item 9] The second processing unit 310, which is located in each of the multiple transport vehicles 200, outputs availability information to the outside, indicating the availability status of the cargo bed 203. The first processing unit 160 of the agricultural machinery 100 receives availability information and, based on the availability information, identifies the transport vehicle 200 whose loading platform 203 is empty, as described in item 8 of the management system 10.

[0204] [Item 10] If there are multiple transport vehicles 200 with empty cargo beds 203, the first processing unit 160 determines which of the multiple transport vehicles 200 with empty cargo beds 203 is the transport vehicle 200 that is relatively short in distance from point 77 to be sent to point 77, as described in item 8 of the management system 10.

[0205] [Item 11] The first processing unit 160 is The agricultural machine 100 holds first variety information indicating the variety of crop to be harvested. Of the multiple transport vehicles 200, the transport vehicle 200 capable of transporting the harvested produce of the variety indicated by the first variety information was selected as the transport vehicle 200 to be sent to point 77. The transport vehicle information is the management system 10 described in item 5, which indicates the transport vehicle 200 that has been decided to be sent to location 77.

[0206] [Item 12] The second processing unit 310, which is located in each of the multiple transport vehicles 200, outputs second variety information to the outside, indicating the varieties of harvested crops that can be transported. The management system 10 described in item 11 includes a first processing device 160 of agricultural machinery 100 which receives second variety information and identifies a transport vehicle 200 capable of transporting harvested produce based on the second variety information.

[0207] [Item 13] The first processing unit 160 is After outputting the first information M1 to the outside, it is determined whether the amount of harvested material accumulated in the tank 106 is greater than or equal to the second predetermined value W2, which is greater than the first predetermined value W1. A management system 10, as described in any of items 1 to 12, which, when it determines that the amount of harvested material accumulated in tank 106 is equal to or greater than a second predetermined value W2, outputs second information M2 related to the fact that the amount of harvested material accumulated in tank 106 is equal to or greater than a second predetermined value W2 to the outside.

[0208] [Item 14] The first processing unit 160 outputs third information M3 to the outside indicating that the agricultural machine 100 has started harvesting crops in the field 70 when the agricultural machine 100 has started harvesting crops in the field 70, the management system 10 according to any one of items 1 to 13.

[0209] [Item 15] The third piece of information, M3, includes information indicating the field 70 where the agricultural machine 100 has begun harvesting crops, as described in item 14 of the management system 10.

[0210] [Item 16] The control device for controlling the operation of the transport vehicle 200 receives the first information M1 and controls the transport vehicle 200 so that it proceeds to point 77, as described in item 2, the management system 10.

[0211] [Item 17] Agricultural machinery 100 is a harvester, management system 10 as described in any of items 1 to 16.

[0212] [Item 18] A management method for managing the harvesting operation of an agricultural machine 100 that harvests crops while traveling through a field 70, which is executed by one or more computers, Based on the output signal of a sensor 156 that detects the amount of harvested material accumulated in the tank 106 of the agricultural machine 100, it is determined whether the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1. If it is determined that the amount of harvested material accumulated in tank 106 is equal to or greater than a first predetermined value W1, first information M1 related to the fact that the amount of harvested material accumulated in tank 106 is equal to or greater than the first predetermined value W1 is output to the outside. Management methods, including those mentioned above.

[0213] [Item 19] A computer program that causes one or more computers to execute a process for managing the harvesting operation of an agricultural machine 100 that harvests crops while traveling through a field 70, Computer programs are Based on the output signal of a sensor 156 that detects the amount of harvested material accumulated in the tank 106 of the agricultural machine 100, it is determined whether the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1. If it is determined that the amount of harvested material accumulated in tank 106 is equal to or greater than a first predetermined value W1, first information M1 relating to the fact that the amount of harvested material accumulated in tank 106 is equal to or greater than the first predetermined value W1 is output to the outside via communication device 190. A computer program that causes one or more computers to execute a command.

[0214] [Item 20] A management system 10 for managing the harvesting operation of an agricultural machine 100 that harvests crops while traveling through a field 70, One or more processors 161, One or more storage devices 163, 164 that store computer programs that control the operation of one or more processors 161, Equipped with, One or more processors 161, according to the computer program, Based on the output signal of the sensor 156 that detects the amount of harvested material accumulated in the tank 106 of the agricultural machine 100, it is determined whether the amount of harvested material accumulated in the tank 106 is equal to or greater than a first predetermined value W1. The management system 10, when it determines that the amount of harvested material accumulated in tank 106 is equal to or greater than a first predetermined value W1, outputs first information M1 related to the fact that the amount of harvested material accumulated in tank 106 is equal to or greater than the first predetermined value W1 to the outside via the communication device 190. [Industrial applicability]

[0215] The technology of the present invention is particularly useful in the field of agricultural machinery. [Explanation of symbols]

[0216] 1: Agricultural management system, 10: Management system, 70: Field, 77: Location, 80: Network, 100: Agricultural machinery (harvester), 106: Tank, 156: Load sensor, 160: Processing device, 161: Processor, 200: Transport vehicle, 203: Cargo bed (container), 300: Electronic equipment, 310: Processing device, 330: Display device, 400: Terminal device, 600: Management device

Claims

1. A management system for managing the harvesting operations of agricultural machinery that harvests crops while driving through a field, A sensor for detecting the amount of harvested produce accumulated in the tank of the aforementioned agricultural machine, A first processing device that determines whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value based on the output signal of the sensor, Equipped with, The first processing device is a management system that, when it determines that the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value, outputs first information relating to the amount of harvested material accumulated in the tank being equal to or greater than a first predetermined value to the outside.

2. The management system according to claim 1, wherein the first information includes first location information indicating a point at which a transport vehicle that transports harvested products receives the harvested products from the agricultural machinery.

3. An electronic device that can be operated by the driver of the transport vehicle receives the first information. The management system according to claim 2, wherein, in response to the driver's actions toward the electronic device, the electronic device outputs to the outside information that the driver has agreed to the transport vehicle proceeding to the location.

4. The management system according to claim 3, wherein the display device of the electronic device displays a map indicating the location.

5. There are multiple of the aforementioned transport vehicles. The management system according to claim 2, wherein the first information includes vehicle information indicating which of the plurality of transport vehicles is to be directed to the location.

6. The first processing device determines, among the plurality of transport vehicles, the transport vehicle that is relatively short in distance from the point, to be the transport vehicle to be directed toward the point. The management system according to claim 5, wherein the transport vehicle information indicates the transport vehicle that has been decided to be sent to the location.

7. The second processing unit, located in each of the multiple transport vehicles, outputs second position information indicating the position of the transport vehicle to the outside. The management system according to claim 6, wherein the first processing device of the agricultural machinery receives the second location information and identifies a transport vehicle that is relatively close in distance from the point based on the second location information.

8. The first processing device determines which of the multiple transport vehicles has an empty cargo bed to be sent to the location, The management system according to claim 5, wherein the transport vehicle information indicates the transport vehicle that has been decided to be sent to the location.

9. The second processing unit, located in each of the multiple transport vehicles, outputs availability information indicating the availability status of the cargo bed to the outside. The management system according to claim 8, wherein the first processing device of the agricultural machinery receives the availability information and identifies a transport vehicle with an empty cargo bed based on the availability information.

10. The management system according to claim 8, wherein, if there are multiple transport vehicles with empty cargo beds, the first processing device determines which of the multiple transport vehicles with empty cargo beds is the transport vehicle that is relatively short in distance from the point to be sent to the point.

11. The first processing apparatus is The aforementioned agricultural machinery holds first variety information indicating the variety of crop to be harvested, Of the multiple transport vehicles, the transport vehicle capable of transporting the harvested produce of the variety indicated by the first variety information is selected as the transport vehicle to be sent to the location. The management system according to claim 5, wherein the transport vehicle information indicates the transport vehicle that has been decided to be sent to the location.

12. The second processing unit, located in each of the multiple transport vehicles, outputs second variety information indicating the varieties of harvested produce that can be transported to the outside. The management system according to claim 11, wherein the first processing device of the agricultural machinery receives the second variety information and identifies a transport vehicle capable of transporting harvested products based on the second variety information.

13. The first processing apparatus is After outputting the first information to the outside, it is determined whether the amount of harvested material accumulated in the tank is greater than or equal to a second predetermined value which is greater than the first predetermined value. A management system according to any one of claims 1 to 12, wherein if it is determined that the amount of harvested material accumulated in the tank is equal to or greater than the second predetermined value, the system outputs second information relating to the amount of harvested material accumulated in the tank being equal to or greater than the second predetermined value to the outside.

14. The management system according to any one of claims 1 to 12, wherein the first processing device outputs to the outside third information indicating that the agricultural machine has started harvesting crops in the field when the agricultural machine has started harvesting crops in the field.

15. The management system according to claim 14, wherein the third information includes information indicating the field in which the agricultural machine has started harvesting crops.

16. The control device for controlling the operation of the transport vehicle receives the first information and controls the transport vehicle so that it moves toward the location, as described in claim 2.

17. The management system according to any one of claims 1 to 12 and 16, wherein the agricultural machinery is a harvester.

18. A management method for managing the harvesting operation of agricultural machinery that harvests crops while traveling through a field, which is executed by one or more computers, Based on the output signal of a sensor that detects the amount of harvested material accumulated in the tank of the agricultural machine, it is determined whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value. If it is determined that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value, first information relating to the fact that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value is output to the outside. Management methods, including those mentioned above.

19. A computer program that causes one or more computers to execute processes to manage the harvesting operation of agricultural machinery that harvests crops while driving through a field, The aforementioned computer program, Based on the output signal of a sensor that detects the amount of harvested material accumulated in the tank of the agricultural machine, it is determined whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value. If it is determined that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value, first information relating to the fact that the amount of harvested material accumulated in the tank is equal to or greater than the first predetermined value is output to the outside via a communication device. A computer program that causes one or more computers to execute the aforementioned program.

20. A management system for managing the harvesting operations of agricultural machinery that harvests crops while driving through a field, One or more processors, One or more storage devices that store computer programs that control the operation of the one or more processors, Equipped with, The one or more processors, in accordance with the computer program, Based on the output signal of a sensor that detects the amount of harvested material accumulated in the tank of the agricultural machine, it is determined whether the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value. A management system that, when it is determined that the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value, outputs first information related to the fact that the amount of harvested material accumulated in the tank is equal to or greater than a first predetermined value to the outside via a communication device.

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