Management system and method for managing access of agricultural machines to a field - Patents.com

Abstract

A management system according to the present invention manages access of a plurality of agricultural machines to a field, and comprises a processing device that, when a first agricultural machine included in the plurality of agricultural machines is performing farm work in the field and conflict of farm work in the field occurs between the first agricultural machine and a second agricultural machine which is included in the plurality of agricultural machines, causes at least one agricultural machine determined from among the first agricultural machine and the second agricultural machine on the basis of priority data to perform farm work in the field.

Description

[Technical field]

[0001] The present disclosure relates to a management system for managing access of an agricultural machine to a field, and a method for managing access of an agricultural machine to a field. [Background technology]

[0002] Research and development is underway to automate work vehicles such as tractors used in farm fields. For example, work vehicles that run with automatic steering using positioning systems such as the Global Navigation Satellite System (GNSS), which enables precise positioning, have been put to practical use. Work vehicles that not only automatically steer but also automatically control speed have also been put to practical use.

[0003] Patent Document 1 discloses a work vehicle cooperation system that utilizes vehicle-to-vehicle communication to enable cooperative driving or cooperative work between a manned work vehicle and an unmanned, autonomous work vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-31649 A Summary of the Invention [Problem to be solved by the invention]

[0005] When multiple agricultural machines are used to carry out agricultural work, it is possible that two or more agricultural machines compete with each other for agricultural work in the same field. It is therefore desirable to appropriately manage the access of the agricultural machines to the field. [Means for solving the problem]

[0006] This specification discloses the solutions described in the following items.

[0007] [Item 1] A management system for managing access of a plurality of agricultural machines to a field, A management system comprising: a processing device that, when a first agricultural machine included in the plurality of agricultural machines is performing agricultural work in the field and there is a conflict between the first agricultural machine and a second agricultural machine included in the plurality of agricultural machines performing agricultural work in the field, causes at least one of the first agricultural machine and the second agricultural machine, determined based on priority data, to perform the agricultural work in the field.

[0008] [Item 2] 2. The management system according to item 1, further comprising a storage device that stores the priority data including information on each of the plurality of agricultural machines assigned a priority according to a type of farm work performed by each of the plurality of agricultural machines.

[0009] [Item 3] 3. The management system according to claim 1, wherein the processing device causes the second agricultural machine to perform agricultural work in the field preferentially over the first agricultural machine when the priority of the second agricultural machine is higher than the priority of the first agricultural machine.

[0010] [Item 4] The processing device includes: 4. The management system according to item 3, wherein, when the priority of the second agricultural machine is higher than the priority of the first agricultural machine, the management system causes the first agricultural machine to stop farm work in the field and causes the second agricultural machine to perform farm work in the field.

[0011] [Item 5] 5. The management system according to item 4, wherein when the processing device causes the first agricultural machine to stop farm work in the field, the processing device further causes the first agricultural machine to exit the field.

[0012] [Item 6] 3. The management system according to item 2, wherein the processing device causes the first agricultural machine and the second agricultural machine to perform farm work in the field when the priority of the first agricultural machine and the priority of the second agricultural machine are equal.

[0013] [Item 7] The processing device includes: 7. The management system according to item 6, wherein, when the priority of the first agricultural machine and the priority of the second agricultural machine are equal, the management system causes the first agricultural machine to continue farm work in the field, and further causes the second agricultural machine to perform farm work in the field.

[0014] [Item 8] 8. The management system according to claim 4, 5 or 7, wherein when the processing device receives a notification of completion of agricultural work transmitted from the second agricultural machine after agricultural work by the second agricultural machine in a field different from the field is completed, the processing device causes the second agricultural machine to perform agricultural work in the field.

[0015] [Item 9] 2. The management system described in item 1, wherein, when there is competition for agricultural work in the field between the first agricultural machine, the second agricultural machine, and a third agricultural machine included in the plurality of agricultural machines, the processing device causes the agricultural machine assigned the highest priority among the first agricultural machine, the second agricultural machine, and the third agricultural machine to perform the agricultural work in the field.

[0016] [Item 10] the priority data further includes information on a priority assigned to an agricultural worker that is higher than the priority of the second agricultural machine; 9. The management system according to any one of items 2 to 8, wherein, when the second agricultural machine is attempting to access the field while the farm worker is performing farm work in the field, the processing device does not cause the second agricultural machine to perform farm work in the field based on the priority data.

[0017] [Item 11] the priority data further includes information on a priority assigned to an agricultural worker that is higher than the priority of the second agricultural machine; 9. The management system according to any one of items 2 to 8, wherein when the farm worker is performing farm work in the field and the second agricultural machine is attempting to access the field, the processing device notifies a terminal device used by the farm worker that the second agricultural machine is attempting to access the field.

[0018] [Item 12] 12. The management system according to any one of items 1 to 11, wherein the processing device performs schedule management of farm work to be performed by each of the plurality of agricultural machines.

[0019] [Item 13] Item 13. The management system described in item 12, wherein the processing device updates a schedule of farm work to be performed by the first agricultural machine when the first agricultural machine is performing farm work in the field and the first agricultural machine is caused to leave the field.

[0020] [Item 14] A management system for managing access to a farm field between an agricultural machine and a farm worker, a storage device that stores priority data including information on a priority level of the agricultural machine assigned to the agricultural machine and a priority level of the agricultural machine assigned to the farm worker that is higher than the priority level of the agricultural machine; a processing device that, when a conflict occurs between the agricultural machine and the agricultural worker while the agricultural worker is performing agricultural work in the field, gives the agricultural worker priority over the agricultural machine to continue the agricultural work in the field based on the priority data; A management system comprising:

[0021] [Item 15] 1. A computer-implemented method for managing access to a field of a plurality of agricultural machines, the method comprising: A method for causing a computer to execute, when a first agricultural machine included in the plurality of agricultural machines is performing agricultural work in the field and there is competition for agricultural work in the field between the first agricultural machine and a second agricultural machine included in the plurality of agricultural machines, the method including causing at least one of the first agricultural machine and the second agricultural machine, determined based on priority data, to perform agricultural work in the field.

[0022] [Item 16] 1. A computer-implemented method for managing access to a field between an agricultural machine and an agricultural worker, comprising: reading out priority data from a storage device storing priority data including information on a priority of the agricultural machine assigned to the agricultural machine and a priority assigned to the agricultural worker that is higher than the priority of the agricultural machine; A method for causing a computer to execute the following steps: when there is competition between the agricultural machinery and the agricultural worker while the agricultural worker is performing agricultural work in the field, the agricultural worker is given priority over the agricultural machinery to continue the agricultural work in the field based on the priority data.

[0023] The general or specific aspects of the present disclosure may be realized by an apparatus, a system, a method, an integrated circuit, a computer program, or a computer-readable non-transitory storage medium, or any combination thereof. The computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. The apparatus may be composed of multiple devices. When the apparatus is composed of two or more devices, the two or more devices may be arranged in one device or may be arranged separately in two or more separate devices. Effect of the Invention

[0024] According to the embodiments of the present disclosure, it is possible to appropriately manage access of agricultural machines to fields. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of a management system according to an exemplary embodiment of the present disclosure. [Diagram 2] FIG. 2 is a block diagram illustrating a schematic hardware configuration of a server computer. [Diagram 3] FIG. 2 is a block diagram illustrating a schematic hardware configuration of a terminal device. [Figure 4] FIG. 1 is a perspective view showing an example of the appearance of an agricultural machine according to an exemplary embodiment of the present disclosure. [Diagram 5] FIG. 1 is a side view showing a schematic diagram of an example of an agricultural machine with a work implement attached thereto. [Figure 6] 1 is a block diagram showing an example of a schematic configuration of an agricultural machine. [Figure 7] FIG. 1 is a conceptual diagram showing an example of an agricultural machine that performs positioning using RTK-GNSS. [Figure 8] 1 is a diagram illustrating an example of an agricultural machine that automatically travels along a target route in a farm field; [Figure 9] 4 is a flowchart showing an example of a steering control operation during automatic driving executed by the control device. [Figure 10A] FIG. 1 is a diagram illustrating an example of an agricultural machine traveling along a target route. [Figure 10B] FIG. 13 is a diagram showing an example of an agricultural machine in a position shifted to the right from a target path. [Figure 10C] FIG. 13 is a diagram showing an example of an agricultural machine in a position shifted to the left from a target path. [Figure 10D] FIG. 13 is a diagram showing an example of an agricultural machine facing in an inclined direction with respect to a target path. [Figure 11] FIG. 1 is a diagram illustrating an example of a situation in which a plurality of agricultural machines are automatically traveling inside a farm field and on roads outside the farm field. [Figure 12] FIG. 13 is a diagram showing an example of a work schedule setting screen displayed on a display device of the terminal device. [Figure 13] FIG. 11 is a diagram showing an example of a farm work schedule created by the server. [Figure 14A] FIG. 11 is a diagram illustrating an example of a relationship between farm work and priority. [Figure 14B] FIG. 11 is a diagram showing another example of a farm work schedule created by the server. [Figure 14C] 13 is a diagram showing an example of a table associating an agricultural machine ID with a priority of the agricultural machine. FIG. [Figure 15] 1 is a flowchart illustrating steps of a method for managing access to a field in an exemplary embodiment of the present disclosure. [Figure 16A] FIG. 2 is a diagram for explaining a method for managing access to a farm field according to a first example. [Figure 16B] FIG. 2 is a diagram for explaining a method for managing access to a farm field according to a first example. [Figure 17A] FIG. 11 is a diagram for explaining a method for managing access to a farm field according to a second example. [Figure 17B] FIG. 11 is a diagram for explaining a method for managing access to a farm field according to a second example. [Figure 18A] FIG. 11 is a diagram for explaining a method for managing access to a farm field according to a third example. [Figure 18B] FIG. 11 is a diagram for explaining a method for managing access to a farm field according to a third example. [Figure 19A] FIG. 13 is a diagram for explaining a method for managing access to a farm field according to a fourth example. [Figure 19B] FIG. 13 is a diagram for explaining a method for managing access to a farm field according to a fourth example. [Figure 19C] FIG. 13 is a diagram for explaining a method for managing access to a farm field according to a fourth example. [Figure 20A] FIG. 13 is a diagram illustrating an example of a table that associates farm workers with priorities. [Figure 20B] FIG. 11 is a diagram showing yet another example of a farm work schedule created by the server. [Figure 21A] FIG. 1 is a diagram showing a schematic view of a farm worker performing farm work in a farm field. [Figure 21B]FIG. 13 is a diagram for explaining how, when a farm worker is working in a farm field, the farm worker is prompted to leave the field when the farm work conflicts with an agricultural machine. [Figure 22] FIG. 11 is a diagram showing an example of a pop-up display displayed on a display of a terminal device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, an embodiment of the present disclosure will be described. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and overlapping explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the inventor provides the attached drawings and the following explanation so that those skilled in the art can fully understand the present disclosure, and does not intend to limit the subject matter described in the claims by them. In the following description, components having the same or similar functions are given the same reference numerals.

[0027] The following embodiments are illustrative, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, order of steps, layout of the display screen, and the like shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. In addition, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0028] In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding management machines, vegetable transplanters, grass cutters, seeding machines, fertilizer applicators, and field mobile robots. Not only a work vehicle such as a tractor functions as an "agricultural machine" by itself, but also a work vehicle and an implement attached to or towed by the work vehicle may function as one "agricultural machine." Agricultural machinery performs agricultural work such as plowing, sowing, pest control, fertilization, planting crops, or harvesting on the ground in a field. These agricultural works are sometimes simply referred to as "work."

[0029] In the present disclosure, "automatic driving" means controlling the movement of an agricultural machine by the action of a control device, not by manual operation by a driver. An agricultural machine that performs automatic driving may be called an "automatic driving agricultural machine" or a "robot agricultural machine". During automatic driving, not only the movement of the agricultural machine but also the operation of agricultural work may be automatically controlled. When the agricultural machine is a vehicle-type machine, the traveling of the agricultural machine by automatic driving is called "automatic driving". The control device may control at least one of steering required for the movement of the agricultural machine, adjustment of the moving speed, and starting and stopping of the movement. When controlling a work vehicle equipped with a working machine, the control device may control operations such as raising and lowering the working machine, starting and stopping the operation of the working machine. The movement by automatic driving may include not only the movement of the agricultural machine toward a destination along a predetermined route, but also the movement of the agricultural machine following a tracking target. An agricultural machine that performs automatic driving may have a function of moving partially based on a user's instruction. In addition, an agricultural machine that performs automatic driving may operate in a manual driving mode in which the agricultural machine moves by manual operation of the driver in addition to the automatic driving mode. Steering an agricultural machine by the action of a control device, rather than manually, is called "automatic steering." A part or all of the control device may be external to the agricultural machine. Communication of control signals, commands, data, etc. may take place between the agricultural machine and a control device external to the agricultural machine. An agricultural machine that performs automatic driving may move autonomously while sensing the surrounding environment, without a human being being involved in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can travel unmanned in a field or outside the field (e.g., a road). During autonomous movement, the agricultural machine may detect obstacles and perform obstacle avoidance operations.

[0030] A management system according to an embodiment of the present disclosure is substantially realized as a computer system. The management system includes a processing device. The above-mentioned control device may also function as a processing device. The processing device manages access of a plurality of agricultural machines to a field based on a priority assigned to each of the plurality of agricultural machines. When farm work in the same field conflicts between the plurality of agricultural machines, the processing device executes a process for permitting access to the field to one or more agricultural machines determined based on the priority data. For example, a priority may be assigned to each agricultural machine according to the type of farm work performed by each of the plurality of agricultural machines. The agricultural machine permitted to access the field can move to the field and perform farm work.

[0031] The processing device may be, for example, a computer having one or more processors and one or more memories. In this case, the processor can realize the desired processing by sequentially executing the computer program stored in the memory. The processing device may be mounted on the agricultural machine, or may be installed at a location remote from the agricultural machine, for example, at the home or business of a user who monitors the agricultural machine. One of a plurality of electronic control units (ECUs) mounted on the agricultural machine may have the function of the processing device, or an ECU mounted on one of the plurality of agricultural machines may be a master computer, and the master computer may function as the processing device. Alternatively, an external server computer or edge computer that communicates with the agricultural machine via a network may function as the processing device. Furthermore, a terminal device may have the function of the processing device. Examples of the terminal device include a stationary computer, a smartphone, a tablet computer, a laptop computer, and the like.

[0032] A processing device according to an embodiment of the present disclosure causes at least one of the first agricultural machine and the second agricultural machine determined based on priority data to perform the agricultural work in the field when a first agricultural machine included in a plurality of agricultural machines is performing agricultural work in the field and the first agricultural machine competes with another second agricultural machine included in the plurality of agricultural machines. When the priority of the second agricultural machine is higher than the priority of the first agricultural machine, the processing device causes the second agricultural machine to perform the agricultural work in the field preferentially over the first agricultural machine. For example, the processing device may cause the first agricultural machine to stop performing the agricultural work in the field and cause the second agricultural machine to perform the agricultural work in the field instead. As a result of the processing device processing access to the field, the first agricultural machine with a lower priority will yield the agricultural work in the field to the second agricultural machine with a higher priority.

[0033] Consider a case where a farm worker manually operates an agricultural machine to perform farm work or move around. In this case, even if farm work in a field competes with each other, for example, the farm workers can communicate with each other and give the farm work in the field to the farm worker performing the work with a higher priority according to the content of the farm work or the work schedule. Here, farm work competes in a field when, for example, a certain agricultural machine is already performing farm work in the field and another agricultural machine is trying to perform farm work in the field later, or when there is no agricultural machine performing farm work in the field and two or more agricultural machines are trying to perform farm work in the field. A farm worker performing a low-priority work may, for example, be made to wait until the farm work in the field is finished, leave the agricultural machine and perform manual work, or consider giving up the farm work in the field and performing farm work in another field. Alternatively, a manager who manages the entire farm work can appropriately determine which farm worker to perform the farm work in the field according to the content of the farm work or the work schedule. However, if there is human error in this decision, for example, high-priority agricultural work may be put off, resulting in waste.

[0034] In contrast, according to an embodiment of the present disclosure, by assigning priorities to agricultural machines and determining which agricultural machines will be used for agricultural work based on the priorities, it is possible to achieve streamlining of work even when agricultural work is being performed in a field.

[0035] A processing device according to another aspect of the present disclosure may cause the first agricultural machine and the second agricultural machine to perform agricultural work in a field when the priority of the first agricultural machine and the priority of the second agricultural machine are equal. By causing two or more agricultural machines to perform agricultural work in the same field, it is possible to accelerate the agricultural work.

[0036] According to yet another aspect of the present disclosure, the processing device may prioritize allowing the farm worker to continue farm work in the field over the agricultural machine based on the priority data when farm work in the field conflicts between the farm worker and the agricultural machine. It is preferable to assign a higher priority to the farm worker than to any of the agricultural machines. This allows the farm worker to continue farm work without interference from the agricultural machine.

[0037] [1. Management system configuration] FIG. 1 is a diagram showing a schematic configuration example of a management system 1000 in this embodiment. FIG. 2 is a block diagram showing an example of a schematic hardware configuration of a server computer 100. The management system 1000 includes a server computer 100 (hereinafter, referred to as "server 100") and one or more terminal devices 200. A plurality of agricultural machines 300 may be connected to the management system 1000 via a wired or wireless network 60 so as to be able to communicate with each other. FIG. 1 shows a connection example in which three agricultural machines 300 are connected to the management system 1000 via the network 60. However, the number of agricultural machines 300 connected to the management system 1000 is arbitrary. For example, all of a plurality of agricultural machines owned by an agricultural manager may be connected to the management system 1000. The management system 1000 may further include one or more edge computers from the viewpoint of reducing communication delays or distributing network loads. In this embodiment, a part of the server 100 functions as a processing device.

[0038] (Server 100) The server 100 may be a computer installed at a location remote from the agricultural machine 300. The server 100 includes a communication device 10, a processing device 20, and a storage device 30. These components are connected to each other via a bus so that they can communicate with each other. The server 100 may function as a cloud server that centrally manages schedules of farm work in a field performed by the agricultural machine and supports agriculture by utilizing the managed data. For example, a user can create a work schedule using the terminal device 200 and upload it to the server 100 via the network 60.

[0039] The communication device 10 is a communication module for communicating with the terminal device 200 and the agricultural machine 300 via a network 60. For example, the communication device 10 can perform wired communication in compliance with communication standards such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 10 can perform wireless communication in compliance with the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0040] The processing device 20 includes, for example, a processor 21, a read only memory (ROM) 22, and a random access memory (RAM) 23. Software (or firmware) for the processor 21 to execute at least one process may be implemented in the ROM 22. Such software may be recorded on a computer-readable recording medium such as an optical disk, sold as packaged software, or provided to a user via a network 60.

[0041] The processor 21 is a semiconductor integrated circuit and includes a central processing unit (CPU). The processor 21 may be realized by a microprocessor or a microcontroller. The processor 21 sequentially executes a computer program stored in the ROM 22, which describes a group of instructions for executing at least one process, to realize a desired process.

[0042] The processing device 20 includes, in addition to or instead of the processor 21, 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. It is possible.

[0043] The ROM 22 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory. The ROM 22 stores a program that controls the operation of the processor 21. The ROM 22 does not need to be a single recording medium, but may be a collection of multiple recording media. A part of the collection of multiple recording media may be a removable memory.

[0044] The RAM 23 provides a working area for temporarily loading, at boot time, the control program stored in the ROM 22. The RAM 23 does not have to be a single recording medium, but may be a collection of multiple recording media.

[0045] The storage device 30 mainly functions as a database storage. An example of the storage device 30 is cloud storage. The storage device 30 is, for example, a magnetic storage device or a semiconductor storage device. An example of the magnetic storage device is a hard disk drive (HDD). An example of the semiconductor storage device is a solid state drive (SSD). However, the storage device 30 may be an external storage device connected to the server 100 via a network 60.

[0046] (Terminal device 200) FIG. 3 is a block diagram illustrating a schematic hardware configuration of the terminal device 200. As shown in FIG.

[0047] The terminal device 200 includes an input device 210, a display device 220, a processor 230, a ROM 240, a RAM 250, a storage device 260, and a communication device 270. These components are connected to each other via a bus so as to be able to communicate with each other.

[0048] The input device 210 is a device for converting instructions from a user into data and inputting the data to a computer. Examples of the input device 210 are a keyboard, a mouse, or a touch panel. Examples of the display device 220 are a liquid crystal display or an organic EL display. The explanations of the processor 230, the ROM 240, the RAM 250, the storage device 260, and the communication device 270 are the same as those described in the hardware configuration example of the server 100, and will not be repeated here.

[0049] [2. Example of agricultural machinery configuration] Fig. 4 is a perspective view showing an example of the appearance of the agricultural machine 300 in this embodiment. Fig. 5 is a side view showing a schematic example of the agricultural machine 300 with the work implement 400 attached. The agricultural machine 300 in this embodiment is an agricultural tractor (work vehicle) with the work implement 400 attached. The agricultural machine 300 is not limited to a tractor, and does not necessarily have to have the work implement 400 attached.

[0050] As shown in Fig. 5, the agricultural machine 300 includes a vehicle body 101, a prime mover (engine) 102, and a speed changer (transmission) 103. The vehicle body 101 is provided with tires 104 (wheels) and a cabin 105. The tires 104 include a pair of front wheels 104F and a pair of rear wheels 104R. A driver's seat 107, a steering device 106, an operation terminal 153, and a group of switches for operation are provided inside the cabin 105. When the agricultural machine 300 does not travel on public roads, one or both of the front wheels 104F and the rear wheels 104R may be crawlers instead of tires.

[0051] The agricultural machine 300 shown in Fig. 5 further includes a plurality of cameras 155. The cameras 155 may be provided, for example, on the front, rear, left and right sides of the agricultural machine 300. The cameras 155 capture images of the environment around the agricultural machine 300 and generate image data. The images captured by the cameras 155 may be transmitted to the terminal device 200 for remote monitoring. The images may be used to monitor the agricultural machine 300 during unmanned operation. The cameras 155 may also be used to generate images for recognizing white lines, signs, indications, or surrounding obstacles when the agricultural machine 300 travels on a road.

[0052] The agricultural machine 300 further includes a positioning device 130. The positioning device 130 includes a GNSS receiver. The GNSS receiver includes an antenna that receives signals from GNSS satellites and a processing circuit that determines the position of the agricultural machine 300 based on the signals received by the antenna. The positioning device 130 receives GNSS signals transmitted from GNSS satellites and performs positioning based on the GNSS signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, for example, Michibiki), GLONASS, Galileo, and BeiDou. The positioning device 130 in this embodiment is provided on the upper part of the cabin 105, but may be provided in another position.

[0053] The positioning device 130 may include an inertial measurement unit (IMU). The position data can be supplemented using a signal from the IMU. The IMU can measure the tilt and minute movements of the agricultural machine 300. By supplementing the position data based on the satellite signals with data acquired by the IMU, the performance of the positioning can be improved.

[0054] The agricultural machine 300 illustrated in FIG. 5 further includes a LiDAR sensor 156. In this example, the LiDAR sensor 156 is disposed at the front lower portion of the vehicle body 101. The position of the LiDAR sensor 156 may be other positions. While the agricultural machine 300 is moving, the LiDAR sensor 156 repeatedly outputs sensor data indicating the distance and direction of each measurement point on an object present in the surrounding environment, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 156 is processed by a control device of the agricultural machine 300. The control device performs operations such as generating an environmental map based on the sensor data by using an algorithm such as SLAM (Simultaneous Localization and Mapping). The generation of the environmental map may be executed by another computer, such as the server 100, that is external to the agricultural machine 300. The sensor data output from the LiDAR sensor 156 may also be used to detect obstacles.

[0055] The positioning device 130 may use data acquired by the camera 155 or the LiDAR sensor 156 for positioning. When there is a feature functioning as a characteristic point in the environment in which the agricultural machine 300 travels, the position of the agricultural machine 300 can be estimated with high accuracy based on the data acquired by the camera 155 or the LiDAR sensor 156 and an environmental map recorded in advance in the storage device. By correcting or complementing the position data based on the satellite signal using the data acquired by the camera 155 or the LiDAR sensor 156, the position of the agricultural machine 300 can be specified with higher accuracy.

[0056] The agricultural machine 300 further includes a plurality of obstacle sensors 136. In the example shown in Fig. 5, the obstacle sensors 136 are provided in front and behind the cabin 105. The obstacle sensors 136 are used to detect surrounding obstacles during autonomous driving and to stop or detour around them.

[0057] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsive force and the travel speed of the agricultural machine 300 by changing the speed. The transmission 103 can also switch the agricultural machine 300 between forward and reverse.

[0058] The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 104F are steered wheels, and the traveling direction of the agricultural machine 300 can be changed by changing the turning angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an auxiliary force for changing the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic device or the electric motor under the control of a control device arranged in the agricultural machine 300.

[0059] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also referred to as a "three-point link" or a "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The working implement 400 can be attached to and detached from the agricultural machine 300 by the coupling device 108. The agricultural machine 300 can make the working implement 400 perform a predetermined task while towing the working implement 400. The coupling device 108 may be provided at the front of the vehicle body 101. In that case, the working implement can be connected to the front of the agricultural machine 300.

[0060] 5 is a rotary tiller, but the working machine 400 is not limited to a rotary tiller. For example, any working machine such as a seeder, a spreader, a transplanter, a mower, a harvester, a sprayer, or a harrow can be connected to the agricultural machine 300 and used.

[0061] The agricultural machine 300 illustrated in Fig. 5 is capable of being driven by a person, but may be capable of only unmanned driving. In that case, components necessary only for driven driving, such as the cabin 105, the steering device 106, and the driver's seat 107, may not be provided in the agricultural machine 300. The unmanned agricultural machine 300 can travel autonomously or by remote control by a user.

[0062] 6 is a block diagram showing an example of a schematic configuration of the agricultural machine 300. The agricultural machine 300 and the work machine 400 can communicate with each other via a communication cable included in the coupling device 108.

[0063] The agricultural machine 300 in the example of FIG. 6 is equipped with a camera 155, a positioning device 130, an obstacle sensor 136, and an operation terminal 153, as well as a drive unit 140, a steering wheel sensor 150, a turning angle sensor 151, an axle sensor 152, a group of operation switches 154, a control system 160, and a communication device 190.

[0064] The positioning device 130 includes a GNSS receiver 131 and an inertial measurement unit 135. The control system 160 includes a storage device 170 and a control device 180. The control device 180 includes a plurality of electronic control units 181 to 185. Note that Fig. 6 shows components that are relatively highly related to the automatic driving operation of the agricultural machine 300, and does not show other components.

[0065] The GNSS receiver 131 in the positioning device 130 receives satellite signals transmitted from a plurality of GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data may be generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, values ​​indicating the identification number, elevation angle, azimuth angle, and reception strength of each satellite from which the satellite signal is received.

[0066] The positioning device 130 shown in FIG. 6 uses RTK (Real Time Kinematic)-GNSS. The positioning of the agricultural machine 300 is performed. FIG. 7 is a conceptual diagram showing an example of the agricultural machine 300 performing positioning by RTK-GNSS. In positioning by RTK-GNSS, in addition to satellite signals transmitted from a plurality of GNSS satellites 50, a correction signal transmitted from a reference station 80 is used. The reference station 80 may be installed near the field in which the agricultural machine 300 runs (for example, within 1 km from the agricultural machine 300). The reference station 80 generates a correction signal, for example, in an RTCM format, based on the satellite signals received from the plurality of GNSS satellites 50, and transmits it to the positioning device 130. The RTK receiver 137 includes an antenna and a modem, and receives the correction signal transmitted from the reference station 80. The processing circuit 138 of the positioning device 130 corrects the positioning result by the GNSS receiver 131 based on the correction signal. By using the RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, an error of several centimeters. Position information including information on latitude, longitude, and altitude is acquired by highly accurate positioning using RTK-GNSS. The positioning device 130 calculates the position of the agricultural machine 300 at a frequency of, for example, about 1 to 10 times per second.

[0067] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or differential positioning) that can obtain position information with the required accuracy can be used. For example, positioning using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS) may be used. If the position information can be obtained with the required accuracy, the position information may be generated without using a correction signal. In this case, the positioning device 130 does not need to include the RTK receiver 137.

[0068] The positioning device 130 in this embodiment further includes an IMU 135. The IMU 135 includes a three-axis acceleration sensor and a three-axis gyroscope. The IMU 135 may include an orientation sensor such as a three-axis geomagnetic sensor. The IMU 135 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, speed, displacement, and attitude of the agricultural machine 300. The positioning device 130 can estimate the position and orientation of the agricultural machine 300 with higher accuracy based on the signal output from the IMU 135 in addition to the GNSS signal and the correction signal. The signal output from the IMU 135 can be used to correct or complement the position calculated based on the satellite signal and the correction signal. The IMU 135 outputs signals at a higher frequency than the GNSS receiver 131. Using the high-frequency signal, the processing circuit 138 can measure the position and orientation of the agricultural machine 300 at a higher frequency (for example, 10 Hz or more). Instead of the IMU 135, a three-axis acceleration sensor and a three-axis gyroscope may be separately provided. The IMU 135 may be provided as a device separate from the positioning device 130.

[0069] 6, the processing circuit 138 calculates the position of the agricultural machine 300 based on signals output from the GNSS receiver 131, the RTK receiver 137, and the IMU 135. The processing circuit 138 may further estimate or correct the position of the agricultural machine 300 based on data acquired by the camera 155 or the LiDAR sensor 156. By utilizing the data acquired by the camera 155 or the LiDAR sensor 156, the accuracy of positioning can be further improved.

[0070] The calculation of the position may be performed by another device, not limited to the positioning device 130. For example, the control device 180 or an external computer may acquire output data of each receiver and each sensor required for positioning, and estimate the position of the agricultural machine 300 based on that data.

[0071] The camera 155 is an imaging device that captures an image of the environment around the agricultural machine 300. The camera 155 is, for example, a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 155 is equipped with an image sensor such as a semiconductor laser diode (Semiconductor Laser Diode) or a similar device. The camera 155 may further include an optical system including one or more lenses, and a signal processing circuit. The camera 155 captures an image of the environment around the agricultural machine 300 while the agricultural machine 300 is traveling, and generates image (e.g., video) data. The camera 155 captures an image of the environment around the agricultural machine 300 at a rate of, for example, 3 frames per second (fps) or more. A video can be shot at a frame rate of 1000 to 2000 sq. m. The image generated by the camera 155 can be used, for example, when a remote monitor uses the terminal device 200 to check the environment around the agricultural machine 300. The image generated by the camera 155 can be used for positioning or obstacle detection. As shown in FIG. 5, a plurality of cameras 155 may be provided at different positions of the agricultural machine 300, or a single camera may be provided. A visible camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible camera and an infrared camera may be provided as cameras that generate images for monitoring. The infrared camera can also be used to detect obstacles at night.

[0072] The obstacle sensor 136 detects objects present around the agricultural machine 300. The obstacle sensor 136 may include, for example, a laser scanner or an ultrasonic sonar. When an object is present closer than a predetermined distance from the obstacle sensor 136, the obstacle sensor 136 outputs a signal indicating the presence of an obstacle. A plurality of obstacle sensors 136 may be provided at different positions of the agricultural machine 300. For example, a plurality of laser scanners and a plurality of ultrasonic sonars may be disposed at different positions of the agricultural machine 300. By providing such a large number of obstacle sensors 136, blind spots in monitoring obstacles around the agricultural machine 300 can be reduced.

[0073] The drive device 140 includes various devices necessary for the travel of the agricultural machine 300 and the drive of the work implement 400, such as the above-mentioned prime mover 102, the transmission 103, the differential including a differential lock mechanism, the steering device 106, and the coupling device 108. The prime mover 102 includes an internal combustion engine such as a diesel engine. The drive device 140 may include an electric motor for traction instead of or in addition to the internal combustion engine.

[0074] The steering wheel sensor 150 measures the rotation angle of the steering wheel of the agricultural machine 300. The turning angle sensor 151 measures the turning angle of the front wheels 104F, which are steered wheels. The measurement values ​​by the steering wheel sensor 150 and the turning angle sensor 151 are used for steering control by the control device 180.

[0075] The axle sensor 152 measures the rotational speed of the axle connected to the tire 104, i.e., the number of rotations per unit time. The axle sensor 152 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 152 outputs, for example, a numerical value indicating the number of rotations per minute (unit: rpm) of the axle. The axle sensor 152 is used to measure the speed of the agricultural machine 300.

[0076] The storage device 170 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 170 stores various data generated by each sensor and the control device 180. Information on an environmental map including public roads inside and outside the field and a target route is recorded in advance in the storage device 170. When one or more of the multiple ECUs included in the control device 180 function as the processing device 20 according to this embodiment, for example, data on a schedule of farm work performed by the agricultural machine 300 and work logs can be stored in the storage device 170.

[0077] The control device 180 includes a plurality of ECUs. The plurality of ECUs include, for example, an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for work machine control, an ECU 184 for automatic driving control, and an ECU 185 for route creation. The ECU 181 controls the speed of the agricultural machine 300 by controlling the prime mover 102, the transmission 103, and the brakes included in the drive device 140. The ECU 182 controls the steering of the agricultural machine 300 by controlling the hydraulic device or the electric motor included in the steering device 106 based on the measurement value of the steering wheel sensor 150. The ECU 183 controls the operation of the three-point link and the PTO shaft included in the coupling device 108, etc., in order to cause the work machine 400 to perform a desired operation. The ECU 183 also generates a signal to control the operation of the work machine 400, and transmits the signal from the communication device 190 to the work machine 400. The ECU 184 performs calculations and control to realize automatic driving based on signals output from the positioning device 130, the steering wheel sensor 150, the turning angle sensor 151, and the axle sensor 152. During automatic driving, the ECU 184 transmits a speed command value to the ECU 181 and transmits a steering angle command value to the ECU 182. The ECU 181 changes the speed of the agricultural machine 300 by controlling the prime mover 102, the transmission 103, or the brake in response to the speed command value. The ECU 182 changes the steering angle by controlling the steering device 106 in response to the steering angle command value. The ECU 185 controls communication with other devices by the communication device 190. For example, the ECU 185 creates a target route for the agricultural machine 300 and records it in the storage device 170.

[0078] When the processing device 20 of the server 100 determines the next field in which the agricultural machine 300 is permitted to perform farm work, the ECU 185 may, for example, receive location information of the next field transmitted from the processing device 20, and create a target route from the current location to the next field based on the received location information of the next field.

[0079] Through the operation of these ECUs, the control device 180 realizes automatic driving, determination of a target route, and communication with other devices. During automatic driving, the control device 180 controls the drive device 140 based on the position of the agricultural machine 300 measured or estimated by the positioning device 130 and the target route stored in the storage device 170. In this way, the control device 180 can cause the agricultural machine 300 to travel along the target route.

[0080] The multiple ECUs included in the control device 180 are connected to a CAN (Controller Area Network), for example. ) and other vehicle bus standards. In FIG. 6, each of the ECUs 181 to 185 is shown as an individual block, but the functions of each of these ECUs may be realized by a plurality of ECUs. Also, an on-board computer that integrates at least some of the functions of the ECUs 181 to 185 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 185, and any number of ECUs may be provided depending on the functions. For example, the control device 180 may further include an ECU used to manage access of the agricultural machine 300 to the field. Each ECU includes a control circuit including one or more processors.

[0081] The communication device 190 is a circuit that communicates with the communication IF of the work machine 400. The communication device 190 transmits and receives signals conforming to the ISOBUS standard, such as ISOBUS-TIM, between the communication IF of the work machine 400. This makes it possible to cause the work machine 400 to perform a desired operation and to obtain information from the work machine 400.

[0082] The operation terminal 153 is a terminal through which a user executes operations related to the traveling of the agricultural machine 300 and the operation of the implement 400, and is also referred to as a virtual terminal (VT). The operation terminal 153 may include a display device such as a touch screen, and / or one or more buttons. The display device may be, for example, a display such as a liquid crystal or an organic light-emitting diode (OLED). By operating the operation terminal 153, a user can execute various operations such as switching on / off the automatic driving mode, recording or editing an environmental map, setting a target route, and switching on / off the implement 400. At least some of these operations may also be realized by operating the operation switch group 154. The operation terminal 153 may be configured to be detachable from the agricultural machine 300. A user at a location away from the agricultural machine 300 may operate the detached operation terminal 153 to control the operation of the agricultural machine 300. The user may operate a computer on which necessary application software is installed, such as the terminal device 200, instead of the operation terminal 153, to control the operation of the agricultural machine 300. The operation terminal 153 can also be used as a terminal device for transmitting a request signal to the server 100 .

[0083] [3. Automatic driving operation] First, an example of the operation of the agricultural machine 300 performing automatic traveling will be described.

[0084] FIG. 8 is a diagram showing an example of an agricultural machine 300 that automatically travels along a target route in a field. In this example, the field includes a working area 72 in which the agricultural machine 300 performs work using the implement 400, and a headland 74 located near the outer periphery of the field. Which areas on the map of the field correspond to the working area 72 and the headland 74 can be set in advance by the user. The target route in this example includes multiple parallel main routes P1 and multiple turning routes P2 connecting the multiple main routes P1. The main route P1 is located within the working area 72, and the turning route P2 is located within the headland 74. Each main route P1 shown in FIG. 8 is a straight route, but each main route P1 may include a curved portion. The dashed line in FIG. 8 represents the working width of the implement 400. The working width is set in advance and recorded in the storage device 170. The working width may be set and recorded by the user operating the operation terminal 153. Alternatively, the working width may be automatically recognized and recorded when the implement 400 is connected to the agricultural machine 300. The interval between the multiple main paths P1 may be set according to the working width. The target path may be created based on the user's operation before the automatic operation is started. The target path may be created so as to cover, for example, the entire working area 72 in the field. The agricultural machine 300 automatically travels back and forth from the start point of the work to the end point of the work along the target path as shown in FIG. 8. Note that the target path shown in FIG. 8 is merely an example, and the method of defining the target path is arbitrary.

[0085] Next, an example of control performed by the control device 180 during automatic operation will be described.

[0086] FIG. 9 is a flowchart showing an example of the operation of steering control during automatic driving executed by the control device 180. The control device 180 performs automatic steering by executing the operations of steps S121 to S125 shown in FIG. 9 while the agricultural machine 300 is traveling. The speed is maintained at a preset speed, for example. The control device 180 acquires data indicating the position of the agricultural machine 300 generated by the positioning device 130 while the agricultural machine 300 is traveling (step S121). Next, the control device 180 calculates the deviation between the position of the agricultural machine 300 and the target route (step S122). The deviation represents the distance between the position of the agricultural machine 300 at that time and the target route. The control device 180 judges whether the calculated deviation of the position exceeds a preset threshold value (step S123). If the deviation exceeds the threshold value, the control device 180 changes the steering angle by changing the control parameters of the steering device included in the drive device 140 so as to reduce the deviation. If the deviation does not exceed the threshold value in step S123, the operation of step S124 is omitted. In the following step S125, the control device 180 judges whether or not a command to end the operation has been received. The command to end the operation may be issued, for example, when a user remotely instructs the automatic operation to be stopped or when the agricultural machine 300 reaches the destination. If the command to end the operation has not been issued, the process returns to step S121, and the same operation is executed based on a newly measured position of the agricultural machine 300. The control device 180 repeats the operations of steps S121 to S125 until a command to end the operation is issued. The above operations are executed by the ECUs 182 and 184 in the control device 180.

[0087] 9, the control device 180 controls the drive device 140 based only on the deviation between the position of the agricultural machine 300 identified by the positioning device 130 and the target route, but the control may also take into consideration the deviation in orientation. For example, when an orientation deviation, which is the angular difference between the direction of the agricultural machine 300 identified by the positioning device 130 and the direction of the target route, exceeds a preset threshold, the control device 180 may change a control parameter (e.g., steering angle) of the steering device of the drive device 140 in accordance with the deviation.

[0088] Hereinafter, an example of steering control by the control device 180 will be described more specifically with reference to FIGS. 10A to 10D.

[0089] FIG. 10A is a diagram showing an example of the agricultural machine 300 traveling along the target path P. FIG. 10B is a diagram showing an example of the agricultural machine 300 at a position shifted to the right from the target path P. FIG. 10C is a diagram showing an example of the agricultural machine 300 at a position shifted to the left from the target path P. FIG. 10D is a diagram showing an example of the agricultural machine 300 facing in an inclined direction with respect to the target path P. In these figures, a pose indicating the position and orientation of the agricultural machine 300 measured by the positioning device 130 is expressed as r(x, y, θ). (x, y) are coordinates indicating the position of the reference point of the agricultural machine 300 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the earth. In the examples shown in FIGS. 10A to 10D, the reference point of the agricultural machine 300 is at a position where the GNSS antenna on the cabin is installed, but the position of the reference point is arbitrary. θ is an angle indicating the measured orientation of the agricultural machine 300. In the illustrated example, the target path P is parallel to the Y axis, but in general, the target path P is not necessarily parallel to the Y axis.

[0090] As shown in FIG. 10A, if the position and orientation of the agricultural machine 300 do not deviate from the target path P, the control device 180 maintains the steering angle and speed of the agricultural machine 300 without changing them.

[0091] As shown in Fig. 10B, when the position of the agricultural machine 300 has shifted to the right from the target route P, the control device 180 changes the steering angle so that the traveling direction of the agricultural machine 300 tilts to the left and approaches the route P. At this time, the speed may be changed in addition to the steering angle. The magnitude of the steering angle may be adjusted according to the magnitude of the position deviation Δx, for example.

[0092] 10C, when the position of the agricultural machine 300 has shifted to the left from the target route P, the control device 180 changes the steering angle so that the traveling direction of the agricultural machine 300 tilts to the right and approaches the route P. In this case, too, the speed may be changed in addition to the steering angle. The amount of change in the steering angle may be adjusted according to the magnitude of the position deviation Δx, for example.

[0093] As shown in FIG. 10D, when the position of the agricultural machine 300 is not far from the target path P but the orientation is different from the direction of the target path P, the control device 180 changes the steering angle so that the azimuth deviation Δθ becomes smaller. In this case, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle may be adjusted, for example, according to the magnitudes of the position deviation Δx and the azimuth deviation Δθ. For example, the smaller the absolute value of the position deviation Δx, the larger the amount of change in the steering angle according to the azimuth deviation Δθ may be. When the absolute value of the position deviation Δx is large, the steering angle is changed significantly to return to the path P, and the absolute value of the azimuth deviation Δθ necessarily becomes large. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight of the azimuth deviation Δθ (i.e., the control gain) for determining the steering angle.

[0094] Control techniques such as PID control or MPC control (model predictive control) can be applied to the steering control and speed control of the agricultural machine 300. By applying these control techniques, it is possible to smooth the control that brings the agricultural machine 300 closer to the target path P.

[0095] It should be noted that, if an obstacle is detected by one or more obstacle sensors 136 during traveling, the control device 180 stops the agricultural machine 300. The control device 180 may control the drive device 140 so as to avoid the obstacle when an obstacle is detected. The control device 180 can also detect an object (e.g., another vehicle or a pedestrian) that is present at a position relatively far away from the agricultural machine 300, based on the data output from the LiDAR sensor 156. The control device 180 can also realize automatic traveling on public roads by performing speed control and steering control so as to avoid the detected object.

[0096] In this embodiment, the agricultural machine 300 can automatically travel inside and outside the field without being manned. FIG. 11 is a diagram that illustrates an example of a situation in which a plurality of agricultural machines 300 automatically travel inside the field F and on a road 76 outside the field F. The storage device 170 stores information on an environmental map and a target route inside the field and outside the field including public roads. The environmental map and the target route are generated, for example, by the ECU 185 of the control device 180. When the agricultural machine 300 travels on a public road, the agricultural machine 300 travels along the target route while sensing the surroundings using sensing devices such as the camera 155 and the LiDAR sensor 156 with the implement 400 raised. The target route may be changed during travel depending on the situation.

[0097] [4. Creating a work schedule] The agricultural machine 300 in this embodiment automatically moves between fields and performs agricultural work in each field according to a work schedule recorded in a storage device mounted on the agricultural machine 300. The work schedule includes information on a plurality of agricultural works performed over a plurality of work days. Specifically, the work schedule may be a database including information indicating which agricultural machine will perform which agricultural work in which field at which time for each work day. The work schedule may be created by the processor 21 of the server 100 based on information input by a user using the terminal device 200. An example of a method for creating a work schedule will be described below.

[0098] Fig. 12 is a diagram showing an example of a setting screen 760 displayed on the display device 220 of the terminal device 200. In response to a user's operation using the input device 210, the processor 230 of the terminal device 200 starts an application for creating a schedule, and causes the display device 220 to display a setting screen 760 as shown in Fig. 12. The user can input information required for creating a work schedule on this setting screen 760.

[0099] 12 shows an example of a setting screen 760 when tilling with fertilizer application is performed as agricultural work in a rice field. The setting screen 760 is not limited to the one shown in the figure and can be changed as appropriate. The setting screen 760 in the example of FIG. 12 includes a date setting section 762, a crop plan selection section 763, a field selection section 764, an operation selection section 765, a worker selection section 766, a time setting section 767, a machine selection section 768, a fertilizer selection section 769, and an application amount setting section 770.

[0100] The date setting section 762 displays the date input by the input device 210. The input date is set as the date on which the farm work will be carried out.

[0101] The cultivation plan selection unit 763 displays a list of names of cultivation plans created in advance. The user can select a desired cultivation plan from the list. A cultivation plan is created in advance for each type and variety of crop, and is recorded in the storage device 30 of the server 100. A cultivation plan is a plan for which crop is to be cultivated in which field. A cultivation plan is made by an administrator who manages a plurality of fields before the crop is cultivated in the field. A field is a partitioned field in which the crop is cultivated (i.e., planted). In the example of FIG. 4, a cultivation plan for the rice variety "Koshihibuki" is selected. In this case, the contents set in the setting screen 760 are associated with the cultivation plan for "Koshihibuki".

[0102] The fields in the environmental map are displayed in the field selection section 764. The user can select any field from the displayed fields. In the example of FIG. 12, the portion showing "Field A" is selected. In this case, the selected "Field A" is set as the field where farm work will be performed.

[0103] The work selection section 765 displays a plurality of farm works necessary for cultivating the selected crop. The user can select one farm work from among the plurality of farm works. In the example of FIG. 12, "plowing" is selected from among the plurality of farm works. In this case, the selected "plowing" is set as the farm work to be performed.

[0104] The worker selection section 766 displays workers registered in advance. The user can select one or more workers from the multiple workers displayed. In the example of FIG. 12, "Worker B, Worker C" are selected from the multiple workers. In this case, the selected "Worker B, Worker C" are set as the workers in charge of performing or managing the agricultural work. In this embodiment, since the agricultural machine performs the agricultural work automatically, the workers do not actually perform the agricultural work, but may simply remotely monitor the agricultural work performed by the agricultural machine.

[0105] The time setting section 767 displays the work time input from the input device 210. The work time is specified by a start time and an end time. The input work time is set as the scheduled time for carrying out the farm work.

[0106] The machine selection unit 768 is a section for setting the agricultural machine to be used in the agricultural work. For example, the ID (identification information), type or model of the agricultural machine, and the type or model of the usable implement, etc., which are registered in advance by the server 100, may be displayed in the machine selection unit 768. The user can select a specific machine from the displayed machines. In the example of FIG. 12, an implement with the model number "NW4511" is selected. In this case, the implement is set as the machine to be used in the agricultural work.

[0107] The fertilizer selection section 769 displays the names of multiple fertilizers that have been registered in advance by the server 100. The user can select a specific fertilizer from the multiple fertilizers displayed. The selected fertilizer is set as the fertilizer to be used in the farm work.

[0108] A numerical value input from the input device 210 is displayed in the spray amount setting section 770. The input numerical value is set as the spray amount.

[0109] When the crop plan, farm field, farm work, worker, work time, fertilizer, and application amount are entered on the setting screen 760 and "Register" is selected, the communication device 270 of the terminal device 200 transmits the entered information to the server 100. The processor 21 of the server 100 stores the received information in the storage device 30. The processor 21 creates a schedule of farm work to be performed by each agricultural machine based on the received information, and stores the schedule in the storage device 30.

[0110] The information on farm work managed by the server 100 is not limited to the above. For example, the type and amount of pesticide to be used in the field may be set on the setting screen 760. Information on farm work other than the farm work shown in FIG. 12 may be set.

[0111] FIG. 13 is a diagram showing an example of a schedule of agricultural work created by the server 100. The schedule in this example includes information indicating, for each registered agricultural machine, the date and time when the agricultural work is to be performed, the field, the work content, and the implement to be used. In addition to the information shown in FIG. 13, the schedule may also include information such as pesticides or the amount of pesticide to be sprayed depending on the work content. In accordance with such a schedule, the processor 21 of the server 100 issues instructions for agricultural work to the agricultural machine 300. The schedule may be downloaded by the control device of the agricultural machine 300 and also stored in the storage device of the agricultural machine 300. In this case, the control device of the agricultural machine 300 may autonomously start operating in accordance with the schedule stored in the storage device.

[0112] [5. Priority of agricultural machinery] In this embodiment, each of the multiple agricultural machines 300 is assigned a unique agricultural machine ID and a priority that are not duplicated with each other. In this embodiment, the priority is assigned to each agricultural machine according to the type of agricultural work performed by the agricultural machine. Hereinafter, the priority assigned to each agricultural machine may be referred to as the "priority of the agricultural machine." Unlike the agricultural machine ID, the priority may be duplicated among multiple agricultural machines. The type of agricultural work may be referred to as an item of agricultural work. Examples of the type of agricultural work include bed soil preparation, ridge painting, plowing, sowing, rice planting, plowing, mowing, ditch cutting, weeding, fertilizing, harvesting, etc. in the case of rice cultivation, and may include ridge making, planting, weeding, tillage, soil cultivation, harvesting, etc. in the case of field cropping.

[0113] FIG. 14A is a diagram showing an example of the relationship between farm work and priority. The "◯" shown in FIG. 14A indicates that the priority of the farm work described in the row item column is higher than the priority of the farm work described in the column item column. The "×" indicates that the priority of the farm work described in the row item column is lower than the priority of the farm work described in the column item column. The "-" indicates that the priority of the farm work described in the row item column is equal to the priority of the farm work described in the column item column. In the illustrated relationship, for example, the priority of bed soil preparation is the same as the priority of ridge painting, and is higher than the priorities of other activities such as plowing, rice planting, plowing, mowing, weeding, fertilization, and harvesting. The priority of plowing is lower than the priorities of bed soil preparation and ridge painting, but higher than the priorities of rice planting, plowing, mowing, weeding, fertilization, and harvesting. The illustrated example is not limited to this, and for example, the manager can determine or change the relationship between farm work and priority as appropriate. The manager can use the terminal device 200 to transmit information on the relationship between the farm work and the priority that has been determined or changed to the server 100. The server 100 creates a table that associates the relationships between the farm work and the priority, and stores the table in the storage device 30.

[0114] FIG. 14B is a diagram showing another example of an agricultural work schedule created by the server 100. The agricultural work schedule in this embodiment includes agricultural machine ID information for identifying the agricultural machine. As described above, the user can associate the agricultural machine ID with the work schedule using the terminal device 200. FIG. 14B shows an example of a table that associates the agricultural machine ID, the field planned for work in one day, and the work content for each agricultural machine 300. This table is stored in the storage device 30, for example. In this example of the table, the first agricultural machine (ID: 0x0A) is scheduled to perform weeding work in the order of fields F1, F2, and F3. The second agricultural machine (ID: 0x11) is scheduled to perform rice planting work in the order of fields F2, F1, and F3. The third agricultural machine (ID: 0x25) is scheduled to perform plowing work in field F3. Note that 0x is a hexadecimal notation.

[0115] 14C is a diagram showing an example of a table associating the agricultural machine ID with the priority of the agricultural machine. In the above example, the relative priority was determined according to the content of the agricultural work, but each agricultural machine 300 can be assigned one of five priority levels, for example, "highest," "high," "normal," "low," and "lowest," depending on the content of the agricultural work. In the example of the table shown in the figure, "highest" is assigned to the first agricultural machine, "normal" is assigned to the second agricultural machine, "low" is assigned to the third agricultural machine, and "lowest" is assigned to the fourth agricultural machine.

[0116] The processing device 20 of the server 100 in this embodiment manages access to the field by referring to a table that associates agricultural works with priorities, determining the field on which the agricultural machine 300 will next work in accordance with a work schedule, and instructing the agricultural machine 300 to move to the determined field or instructing the agricultural machine working in the field to stop work and leave the field. The control device 180 of the agricultural machine 300 realizes automatic traveling of the agricultural machine 300 under the management of access to the field by the processing device 20.

[0117] [6. Operation of the management system]

[0118] (6.1. Overview of how access to fields is controlled) The method for managing access to a farm field in this embodiment is implemented in the processing device 20 of the server 100. Fig. 15 is a flow chart illustrating the steps of the method for managing access to a farm field. When the first agricultural machine 300A is performing work in the field F1 and there is competition between the first agricultural machine 300A and the second agricultural machine 300B for work in the field F1 (step S10), the processing device 20 causes at least one of the first agricultural machine 300A and the second agricultural machine 300B, determined based on the priority data, to perform work in the field F1.

[0119] If the priority of the second agricultural machine 300B is higher than the priority of the first agricultural machine 300A (Yes in step S20), the processing device 20 causes the second agricultural machine 300B to perform agricultural work in the field F1 (Step S21). If the priority of the second agricultural machine 300B is not higher than the priority of the first agricultural machine 300A (No in step S20) and the priority of the second agricultural machine 300B is equal to the priority of the first agricultural machine 300A (Yes in step S30), the processing device 20 causes the first agricultural machine 300A and the second agricultural machine 300B to perform agricultural work in the field F1 (Step S31). If the priority of the second agricultural machine 300B is lower than the priority of the first agricultural machine 300A (No in step S30), the processing device 20 causes the first agricultural machine 300A to perform agricultural work in the field F1 (Step S32).

[0120] (6.2. Processing Unit Operation) Next, an example of the operation of the server 100 (mainly the processing device 20) and the agricultural machine 300 will be described with reference to Fig. 16A to Fig. 19C. The multiple agricultural machines 300 connected to the management system 1000, which will be described below, include a first agricultural machine 300A and a second agricultural machine 300B. However, the multiple agricultural machines 300 may include three or more agricultural machines.

[0121] The first agricultural machine 300A and the second agricultural machine 300B in this embodiment, for example, travel by automatic driving on a road from a storage place to a field or a road from a field to another field, and automatically perform work in the field. Note that the first agricultural machine 300A and the second agricultural machine 300B may be manually driven to move from a field to another field where work is to be performed next, and the work in the field may be performed by manual operation of the driver. The storage place may be, for example, a barn at the home of the owner of the agricultural machine, or a garage at the business premises of the farm manager. The agricultural machine may be stored in a locked storage place.

[0122] When the first agricultural machine 300A and the second agricultural machine 300B each perform an automatic operation, a target route for moving between fields and / or a target route for performing agricultural work while moving within a field may be created manually or automatically before the automatic operation is started. Once the target route is determined, the first agricultural machine 300A and the second agricultural machine 300B each travel automatically along the target route. When the agricultural machine 300 travels on a public road, the agricultural machine 300 can travel along the target route with the working implement raised while sensing the surroundings using a sensing device such as a camera and a LiDAR sensor.

[0123] FIG. 16A and FIG. 16B are diagrams for explaining a method of managing access to the field F1 according to the first example. FIG. 16A shows a state in which the second agricultural machine 300B has finished work in the field F2 according to the work schedule shown in FIG. 14B and is waiting to access the field F1. The target route R1a in the field F1 of the first agricultural machine 300A is indicated by a dashed arrow, and the route that has already been traveled along the target route is indicated by a solid line. The target route R2a in the field F2 of the second agricultural machine 300B that has finished work is indicated by a solid arrow. The target route R1a includes a start point ST1 where the work starts, an end point EN1 where the work ends, and a traveling direction indicated by an arrow in the figure. Similarly, the target route R2a includes a start point ST2 where the work starts, an end point EN2 where the work ends, and a traveling direction indicated by an arrow in the figure. 16B shows a state in which the first agricultural machine 300A leaves the field F1 and the second agricultural machine 300B, which has been permitted to access the field F1, moves to the field F1 and starts work. For simplicity, the drawing shows two adjacent fields F1 and F2, but the fields F1 and F2 may be located at locations that are physically separated within a range in which the agricultural machines can move.

[0124] The processing device 20 compares the priority of the first agricultural machine 300A with the priority of the second agricultural machine 300B by referring to a table that associates the relationship between agricultural work and priority and the schedule of agricultural work. When the priority of the second agricultural machine 300B is higher than the priority of the first agricultural machine 300A, the processing device 20 causes the second agricultural machine 300B to perform work in the field F1 with priority over the first agricultural machine 300A. According to the work schedule illustrated in FIG. 14B, the first agricultural machine 300A is performing weeding work in the field F1. At this time, the second agricultural machine 300B finishes rice planting work in the field F2 earlier than scheduled and moves to the next field F1 to perform rice planting work. As a result, the first agricultural machine 300A and the second agricultural machine 300B compete with each other in the work in the field F1. In this case, the processing device 20 refers to a table showing the relationship between farm work and priority, as illustrated in FIG. 14A, and determines that the priority of the rice planting work of the second agricultural machine 300B is higher than the priority of the grass cutting work of the first agricultural machine 300A. Because the priority of the second agricultural machine 300B is higher than the priority of the first agricultural machine 300A, the processing device 20 causes the first agricultural machine 300A to stop working in the field F1, and causes the second agricultural machine 300B to perform work in the field F1 instead. When causing the first agricultural machine 300A to stop working in the field F1, the processing device 20 may further cause the first agricultural machine 300A to exit the field F1. When the priority of the second agricultural machine 300B is lower than the priority of the first agricultural machine, the processing device 20 does not permit the second agricultural machine 300B to work in the field F1. The first agricultural machine 300A can continue working in the field F1.

[0125] As an example, the processing device 20 may transmit position information of the field F1 to the control device 180 of the second agricultural machine 300B when permitting the second agricultural machine 300B to access the field F1. The control device 180 of the second agricultural machine 300B may create a target route from the field F2 to the field F1 and a target route for causing the second agricultural machine 300B to perform farm work in the field F1 based on the received position information of the field F1. This allows the second agricultural machine 300B to travel or move along the target route. Furthermore, when causing the first agricultural machine 300A to exit the field F1, the processing device 20 may update a schedule of work to be performed by the first agricultural machine 300A, or may create a target route for the first agricultural machine 300A to move to the next destination. In FIG. 16B, a target route R2b for the second agricultural machine 300B to work in the field F1 is indicated by a dashed arrow, and a target route R1b for the first agricultural machine 300A to move autonomously to the next destination is indicated by a dashed arrow.

[0126] As shown in Fig. 16A, before a conflict occurs between the first agricultural machine 300A and the second agricultural machine 300B in work in the field F1, a target route R1a for the first agricultural machine 300A is set in the field F1. In contrast, as shown in Fig. 16B, after the processing device 20 permits the second agricultural machine 300B to access the field F1, a target route R2b for the second agricultural machine 300B is set in the field F1. The control device 180 of the second agricultural machine 300B may acquire the target route R1a for the first agricultural machine 300A via the server 100. The control device 180 of the second agricultural machine 300B may create the target route R2b by using the target route R1a. For example, the control device 180 of the second agricultural machine 300B may create the target route R2b by setting the end point EN2 of the target route R1a as the start point ST2 of the target route R2b, setting the start point ST1 of the target route R1a as the end point EN2 of the target route R2b, and setting the traveling direction to the opposite direction. Moreover, when the processing device 20 causes the first agricultural machine 300A to exit the field, the control device 180 of the first agricultural machine 300A may change the target route R1a to the target route R1b.

[0127] The processing device 20 according to an embodiment of the present disclosure centrally manages the schedule of work performed by each of the multiple agricultural machines 300 and monitors the progress of work performed by each of the agricultural machines 300. The processing device 20 can determine whether the second agricultural machine 300B has finished work in the field F2 based on the work progress of the second agricultural machine 300B. The processing device 20 determines the next field on which the second agricultural machine 300B is to work, based on the above-mentioned work schedule. If the processing device 20 attempts to have the second agricultural machine 300B work in the field F1 while the first agricultural machine 300A is working in the field F1, the first agricultural machine 300A and the second agricultural machine 300B compete for work in the field F1. In that case, the processing device 20 can determine the agricultural machine to work in the field F1 based on the priority, while referring to a table that associates the relationship between the agricultural work and the priority.

[0128] The processing device 20 in another embodiment of the present disclosure functions as an arbitration circuit and performs arbitration processing in response to a request from the agricultural machine 300. When performing agricultural work by automatic driving, the agricultural machine 300 may create log data including information such as the start point and end point of the agricultural work in the field, and a trajectory obtained by actually moving along a target route. The agricultural machine 300 may autonomously determine whether the work in the field has been completed based on the created log data. For example, when the second agricultural machine 300B autonomously determines that the work in the field F2 has been completed, the second agricultural machine 300B may notify the processing device 20 of the completion of the agricultural work. This notification functions as a request to the processing device 20 to determine the next field in which the agricultural machine 300 should be operated according to the work schedule. When agricultural work in the field competes between two or more agricultural machines 300, the processing device 20 may determine the agricultural machine to be operated in the field by referring to a table that associates the agricultural work with the priority.

[0129] For example, after completing work in a field F2 different from the field F1, the second agricultural machine 300B may transmit a work completion notification or request to the processing device 20. However, the second agricultural machine 300B may transmit a request to perform farm work in the field to the processing device 20 from a location different from the field, such as a farmer's storage location.

[0130] The method for managing access to a farm field in this embodiment can be applied not only to an agricultural machine that moves by automatic driving, but also to an agricultural machine that moves by manual driving. For example, when a farm worker manually operates an agricultural machine to perform farm work, the processing device 20 may determine the next farm field for the agricultural machine to perform farm work according to the management method in this embodiment in response to a work completion notification from the operation terminal 153 or terminal device 200 used by the farm worker. The processing device 20 may transmit location information of the determined farm field to the operation terminal 153 or terminal device 200 used by the farm worker, display the information on the display of the operation terminal 153 or terminal device 200, and prompt the farm worker to move to the determined farm field.

[0131] Figures 17A and 17B are diagrams for explaining a method of managing access to the field F1 according to the second example. Figure 17A shows the second agricultural machine 300B finishing work in the field F2 and waiting to access the field F1. Figure 17B shows the second agricultural machine 300B, which has been permitted to access the field F1, moving to the field F1 and starting work.

[0132] When the first agricultural machine 300A is working in the field F1, it is assumed that the first agricultural machine 300A and the second agricultural machine 300B compete for work in the field F1. The processing device 20 refers to a table that associates the relationship between the agricultural work and the priority, and compares the priority of the first agricultural machine 300A with the priority of the second agricultural machine 300B. When the priority of the first agricultural machine 300A is equal to the priority of the second agricultural machine 300B, the processing device 20 causes the first agricultural machine 300A to continue the work in the field F1, and further causes the second agricultural machine 300B to perform work in the field F1. In the example shown in FIG. 14A, the priority of bed soil preparation and levee painting are equal. The work in the field F1 can be accelerated by the cooperative work of the first agricultural machine 300A and the second agricultural machine 300B.

[0133] The plurality of agricultural machines 300 may further include a third agricultural machine 300C. Figures 18A and 18B are diagrams for explaining a method of managing access to the field F1 according to a third example. Figure 18A shows the second agricultural machine 300B and the third agricultural machine 300C each finishing farm work and waiting to access the field F1. Figure 18B shows the second agricultural machine 300B, which has been permitted to access the field F1, moving to the field F1 and starting work.

[0134] As illustrated in FIG. 18A, after the second agricultural machine 300B has finished work in the field F2 and the third agricultural machine 300C has finished work in the field F3, the first agricultural machine 300A, the second agricultural machine 300B, and the third agricultural machine 300C compete for agricultural work in the field F1. The second agricultural machine 300B has the highest priority among the three agricultural machines. In this case, as illustrated in FIG. 18B, the processing device 20 first causes the first agricultural machine 300A to leave the field F1, and then causes the second agricultural machine 300B to move from the field F2 to the field F1 and perform agricultural work in the field F1. The processing device 20 does not permit the third agricultural machine 300C to perform agricultural work in the field F1. Alternatively, the processing device 20 may cause the third agricultural machine 300C to move to a field other than the fields F1 and F2, and perform farm work in that field.

[0135] The management system 1000 in this embodiment can manage the access of four or more agricultural machines to a field. Even in this case, when there is a competition for access to the field among four or more agricultural machines, the processing device 20 may give priority to the agricultural machine with the highest priority among the four or more agricultural machines in performing farm work in the field.

[0136] 19A to 19C are diagrams for explaining a method of managing access to a field F1 according to the fourth example. In the illustrated example, a first agricultural machine 300A is performing work of cutting grass on the ridges of the field F1, a second agricultural machine 300B is performing work of planting rice in the field F2, and a third agricultural machine 300C is performing work of plowing in the field F3.

[0137] Consider the work schedule exemplified in FIG. 14B. For example, while the first agricultural machine 300A is mowing the field F1, the second agricultural machine 300B finishes rice planting in the field F2 earlier than scheduled and transmits a work completion notification to the processing device 20. When the processing device 20 receives the work completion notification from the second agricultural machine 300B, it refers to a table that associates the relationship between agricultural work and priority and allows the second agricultural machine 300B, which is determined to be the second agricultural machine 300B, to perform rice planting in the field F1. The processing device 20 causes the first agricultural machine 300A to stop mowing the field F1 and to exit the field F1. After that, the processing device 20 causes the second agricultural machine 300B to move from the field F2 to F1 and perform rice planting in the field F1.

[0138] 19B, the processing device 20 may move the first agricultural machine 300A to the vacant field F2 after the second agricultural machine 300B has left the field F1, and have the first agricultural machine 300A perform weeding work in the field F2. In this case, since there is no competition for access to the field F3, the processing device 20 can cause the third agricultural machine 300C to continue plowing work in the field F3.

[0139] As another example, the first agricultural machine 300A is scheduled to perform mowing work in the field F3 after the field F1. In this case, when the processing device 20 moves the first agricultural machine 300A from the field F1 to the field F3 to perform agricultural work, there is a competition for access to the field F3 between the first agricultural machine 300A and the third agricultural machine 300C performing puddling work in the field F3. As illustrated in FIG. 19C, the processing device 20 allows the first agricultural machine 300A, which is determined by referring to a table that associates agricultural work with priority, to perform mowing work in the field F3. The processing device 20 causes the third agricultural machine 300C to stop the puddling work in the field F3 and to exit the field F3. Thereafter, the processing device 20 causes the first agricultural machine 300A to move from the field F1 to the field F3 and perform grass cutting work in the field F3. The processing device 20 may cause the third agricultural machine 300C to move from the field F3 to another field.

[0140] According to the method for managing access to a farm field in this embodiment, when multiple agricultural machines are in operation, even if there is competition between two or more agricultural machines for farm work in the field, it is possible to efficiently carry out farm work as a whole without postponing high priority work.

[0141] The management system 1000 according to this embodiment can manage access to the field between the agricultural machine and the farm worker. When the agricultural worker is performing agricultural work in the field and there is a conflict between the agricultural machine 300 and the farm worker performing agricultural work in the field, the processing device 20 can determine, based on the priority data, in other words, by referring to the table, to give priority to allowing the farm worker to continue the agricultural work in the field over the agricultural machine 300.

[0142] FIG. 20A is a diagram showing an example of the relationship between farm work, including manual work by farm workers, and priority. FIG. 20B is a diagram showing an example of a schedule of farm work created by the server 100. In the table shown in FIG. 20A, the priority of manual work by farm workers is set higher than the priority of any other farm work. The selection items displayed in the work selection section 765 of the setting screen 760 exemplified in FIG. 12 may include an item of manual work by farm workers. For example, when a manager wants a farm worker to perform manual work in a field, the manager can select a manual work item from multiple farm works.

[0143] The work schedule shown in FIG. 20B associates the identification information (terminal device ID: 0x55) of the terminal device 200 used by the farm worker with the farm field and farm work. This allows the server 100 to manage a work schedule that includes plans for manual work by farm workers in addition to work by agricultural machines. The processing device 20 can assign a high priority to farm workers performing manual work by referring to a table that associates farm work with priority levels. Assigning a priority level to a farm worker is essentially equivalent to assigning a priority level to the terminal device 200 used by the farm worker.

[0144] FIG. 21A is a diagram showing a farm worker 70 performing farm work in a field F1. The farm worker 70 is carrying the terminal device 200 and manually harvesting the crops remaining in the corner of the field F1 after the agricultural machine 300 has harvested the crops. When the farm worker 70 is performing work in the field F1, for example, when the processing device 20 receives a work completion notice from the agricultural machine 300 that has completed work in the field F2, the processing device 20 may refer to a table that associates farm work with priority and determine not to cause the agricultural machine 300 to perform the farm work in the field F1. This allows the farm worker 70 to continue performing the farm work in the field F1 without being interfered with by the agricultural machine 300. The processing device 20 may move the agricultural machine 300 to another field other than the field F1 based on a work schedule and cause the agricultural machine 300 to perform the farm work in that field.

[0145] Fig. 21B is a diagram for explaining how, when a farm worker 70 is performing farm work in the field F1, the farm worker 70 is prompted to leave the field F1 when the farm work conflicts with the farm work performed by the agricultural machine 300. Fig. 22 is a diagram showing an example of a display for notifying the terminal device 200 that the agricultural machine 300 is attempting to access the field F1.

[0146] Taking the work schedule shown in FIG. 20B as an example, if the first agricultural machine 300A finishes work in the field F1 while the agricultural worker 70 is performing manual work in the field F4, and then performs work in the field F4, conflicts in work may occur between the agricultural machine 300 and the agricultural worker 70.

[0147] When the farm worker 70 is performing farm work in the field F1, for example, when the processing device 20 receives a work completion notification from the agricultural machine 300 that has finished the farm work in the field F2, the processing device 20 may notify the terminal device 200 used by the farm worker 70 that the agricultural machine 300 is attempting to access the field F1. FIG. 22 illustrates an example of a pop-up 201 displayed on the display of the terminal device 200. Such a notification can prompt the farm worker 70 to leave the field F1. The farm worker 70 who has received this notification may leave the field F1 and hand over the farm work in the field F1 to the agricultural machine 300, or may reject the request from the agricultural machine and continue the farm work in the field F1. For example, when the next work to be performed by the agricultural machine 300 whose request has been rejected by the farm worker 70 has a high priority, the processing device 20 may move the agricultural machine 300 to another field according to a work schedule and have the agricultural machine 300 perform farm work there.

[0148] In this way, the above-described method of managing access to a farm field can also be applied when there is conflict between the agricultural machinery 300 and the agricultural worker 70 in work, by assigning a higher priority to the agricultural worker 70 than to the agricultural machinery 300. By preferentially permitting the agricultural worker 70 to work based on the priority, it becomes possible for the agricultural worker 70 to continue farm work without interference from the agricultural machinery 300.

[0149] The method of managing access to a field by a plurality of agricultural machines or access to a field between an agricultural machine and a farm worker in this embodiment can be implemented in a computer and performed by causing the computer to execute desired processing.

[0150] According to the above-mentioned example, the control device of the agricultural machine controls automatic driving to move the agricultural machine to the field under the management of access to the field by the processing device of the server. However, instead of this, the processing device of the server may control automatic driving to move one or more agricultural machines to the field. In this case, automatic driving of the agricultural machine can be realized by remote operation in the server.

[0151] A system providing various functions in the embodiments can also be attached later to an agricultural machine that does not have those functions. Such a system can be manufactured and sold independently of the agricultural machine. A computer program used in such a system can also be manufactured and sold independently of the agricultural machine. The computer program can be provided, for example, by being stored in a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunication line (for example, the Internet). [Industrial Applicability]

[0152] The technology of the present disclosure can be applied to agricultural machinery such as tractors, harvesters, rice transplanters, riding tillers, vegetable transplanters, grass cutters, seed sowing machines, fertilizer applicators, or agricultural robots. [Explanation of symbols]

[0153] 10: communication device, 20: processing device, 21: processor, 22, 240: ROM, 23, 250: RAM, 30, 170, 260: storage device, 60: network, 70: farm worker, 100: server computer, 100: server, 101: vehicle body, 102: prime mover, 103: transmission, 104: tires, 105: cabin, 106: steering device, 107: driver's seat, 108: coupling device, 130: positioning device, 131: GNSS receiver, 135: inertial measurement unit, 136: obstacle sensor, 137: RTK receiver, 138: processing circuit, 140: drive device , 150: steering wheel sensor, 151: turning angle sensor, 152: axle sensor, 153: operation terminal, 154: operation switch group, 155: camera, 156: LiDAR sensor, 160: control system, 180: control device, 181 to 185: electronic control unit (ECU), 200: terminal device, 210: input device, 220: display device, 230: processor, 270: communication device, 300: agricultural machine, 300A: first agricultural machine, 300B: second agricultural machine, 300C: third agricultural machine, 400: working machine, 1000: management system, F1 to F3: farm fields

Claims

1. A management system for managing access of a plurality of agricultural machines to a field, A management system comprising: a processing device that, when a first agricultural machine included in the plurality of agricultural machines is performing agricultural work in the field and there is competition between the first agricultural machine and a second agricultural machine included in the plurality of agricultural machines for performing agricultural work in the field, causes at least one of the first agricultural machine and the second agricultural machine, determined based on priority data, to perform the agricultural work in the field.

2. 2. The management system according to claim 1, further comprising a storage device that stores the priority data including information on respective priorities assigned according to the types of farm work performed by each of the plurality of agricultural machines.

3. 3. The management system according to claim 1, wherein the processing device causes the second agricultural machine to perform agricultural work in the field preferentially over the first agricultural machine when the priority of the second agricultural machine is higher than the priority of the first agricultural machine.

4. The processing device includes:

4. The management system according to claim 3, wherein, when the priority of the second agricultural machine is higher than the priority of the first agricultural machine, the management system causes the first agricultural machine to stop working in the field and causes the second agricultural machine to perform the work in the field.

5. 5. The management system according to claim 4, wherein the processing device, when causing the first agricultural machine to stop farm work in the field, further causes the first agricultural machine to exit the field.

6. 3. The management system according to claim 2, wherein the processing device causes the first agricultural machine and the second agricultural machine to perform farm work in the field when the priority of the first agricultural machine and the priority of the second agricultural machine are equal.

7. The processing device includes:

7. The management system according to claim 6, wherein, when the priority of the first agricultural machine and the priority of the second agricultural machine are equal, the first agricultural machine is caused to continue agricultural work in the field, and further the second agricultural machine is caused to perform agricultural work in the field.

8. 8. The management system according to claim 4, 5 or 7, wherein the processing device causes the second agricultural machine to perform agricultural work in a field other than the field when a notification of completion of agricultural work transmitted from the second agricultural machine is received after agricultural work by the second agricultural machine in the field is completed.

9. 2. The management system according to claim 1, wherein, when there is competition for agricultural work in the field between the first agricultural machine, the second agricultural machine, and a third agricultural machine included in the plurality of agricultural machines, the processing device causes the agricultural machine assigned the highest priority among the first agricultural machine, the second agricultural machine, and the third agricultural machine to perform the agricultural work in the field.

10. the priority data further includes information on a priority assigned to an agricultural worker that is higher than the priority of the second agricultural machine; 9. The management system according to claim 2, wherein, when the second agricultural machine is attempting to access the field while the farm worker is performing farm work in the field, the processing device does not allow the second agricultural machine to perform farm work in the field based on the priority data.

11. the priority data further includes information on a priority assigned to an agricultural worker that is higher than the priority of the second agricultural machine; 9. The management system according to claim 2, wherein, when the farm worker is performing farm work in the field and the second agricultural machine is attempting to access the field, the processing device notifies a terminal device used by the farm worker that the second agricultural machine is attempting to access the field.

12. The management system according to claim 1 , wherein the processing device performs schedule management of farm work to be performed by each of the plurality of agricultural machines.

13. 13. The management system according to claim 12, wherein the processing device updates a schedule of the agricultural work to be performed by the first agricultural machine when the first agricultural machine is performing agricultural work in the field and the processing device causes the first agricultural machine to leave the field.

14. A management system for managing access to a farm field between an agricultural machine and a farm worker, a storage device that stores priority data including information on a priority level of the agricultural machine assigned to the agricultural machine and a priority level of the agricultural machine assigned to the farm worker that is higher than the priority level of the agricultural machine; a processing device that, when a conflict occurs between the agricultural machine and the agricultural worker while the agricultural worker is performing agricultural work in the field, gives the agricultural worker priority over the agricultural machine to continue the agricultural work in the field based on the priority data; A management system comprising:

15. 1. A computer-implemented method for managing access to a field of a plurality of agricultural machines, the method comprising: A method for causing a computer to execute, when a first agricultural machine included in the plurality of agricultural machines is performing agricultural work in the field and there is competition between the first agricultural machine and a second agricultural machine included in the plurality of agricultural machines, the method including having at least one of the first agricultural machine and the second agricultural machine, determined based on priority data, perform the agricultural work in the field.

16. 1. A computer-implemented method for managing access to a field between an agricultural machine and an agricultural worker, comprising: reading out priority data from a storage device that stores priority data including information on a priority of the agricultural machine assigned to the agricultural machine and a priority assigned to the agricultural worker that is higher than the priority of the agricultural machine; A method for causing a computer to execute the following steps: when there is competition between the agricultural machinery and the agricultural worker while the agricultural worker is performing agricultural work in the field, the agricultural worker is given priority over the agricultural machinery to continue the agricultural work in the field based on the priority data.

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