Information processing device, information processing system, and information processing method

Abstract

To provide an information processing apparatus, an information processing system, an information processing method, and a work vehicle, which are capable of enhancing the safety in a work vehicle to travel.SOLUTION: An information processing apparatus 10 includes: an interface 16 for obtaining route state information representing a state of a point through which at least one of travel routes of a work vehicle 40 pass; and a control part 12 for determining a travel route of the work vehicle 40 on the basis of the route state information and outputting the determined travel route to the work vehicle 40.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an information processing device, an information processing system, an information processing method, and a work vehicle. [Background technology]

[0002] Agricultural vehicles having an automatic steering function are known (for example, see Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-153421 A Summary of the Invention [Problem to be solved by the invention]

[0004] If the route conditions are poor, work vehicles may not be able to travel safely.

[0005] An object of the present disclosure, made in consideration of the above circumstances, is to improve the safety of work vehicles during travel. [Means for solving the problem]

[0006] An information processing device according to one embodiment of the present disclosure includes an interface that acquires route status information representing the status of points through which at least one driving route of a work vehicle passes, and a control unit that determines a driving route of the work vehicle based on the route status information and outputs the determined driving route to the work vehicle.

[0007] Moreover, an information processing system according to an embodiment of the present disclosure includes the information processing device and a work vehicle.

[0008] In addition, an information processing method according to one embodiment of the present disclosure includes acquiring route status information representing the state of points through which at least one driving route of a work vehicle passes, determining a driving route for the work vehicle based on the route status information, and outputting the determined driving route to the work vehicle.

[0009] A work vehicle according to an embodiment of the present disclosure is a work vehicle that travels along a travel route acquired from an information processing device, and includes an information acquisition unit that detects the state of at least one point passed during travel, and an interface that outputs the state detection result as route state information. Equipped with. Effect of the Invention

[0010] According to one embodiment of the present disclosure, the safety of the travel of a work vehicle can be improved. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic diagram illustrating an example of a schematic configuration of an information processing system according to an embodiment. [Diagram 2] 1 is a block diagram showing a schematic configuration example of an information processing system according to an embodiment. [Diagram 3] 1 is a flowchart illustrating an example of a procedure of an information processing method executed by an information processing device according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described.

[0013] (Example of configuration of information processing system 1) 1 and 2, an information processing system 1 according to an embodiment of the present disclosure includes an information processing device 10 and a work vehicle 40. The information processing system 1 further includes, although not required, an information acquisition device 20. The information processing device 10, the work vehicle 40, and the information acquisition device 20 are communicatively connected to each other via a network 80 including, for example, the Internet and a mobile communication network.

[0014] The information processing system 1 determines a travel route for the work vehicle 40. Each component of the information processing system 1 will be described in detail below. In Fig. 1 and Fig. 2, for the sake of simplicity of explanation, the number of information processing devices 10 and information acquisition devices 20 provided in the information processing system 1 is one, but this is not limited to this and may be two or more. The number of work vehicles 40 is two in Fig. 1 and one in Fig. 2, but this is not limited to this and may be three or more. The number of information processing devices 10, information acquisition devices 20, and work vehicles 40 provided in the information processing system 1 may be determined arbitrarily.

[0015] <Information processing device 10> The information processing device 10 may be configured as a computer such as a server device. For example, the information processing device 10 may be configured as a server belonging to a cloud computing system or other computing system. The information processing device 10 is not limited to these and may be configured to include any general-purpose electronic device such as a PC (Personal Computer), or may be configured to include other electronic devices dedicated to the information processing system 1. The information processing device 10 is capable of communicating with the information acquisition device 20 and the work vehicle 40 via a network 80. The information processing device 10 may be mounted on the work vehicle 40.

[0016] In this embodiment, the information processing device 10 acquires information regarding the state of a point where the work vehicle 40 may travel. Information regarding the state of a point where the work vehicle 40 may travel is also referred to as route state information. The information processing device 10 determines whether the work vehicle 40 can travel to a certain point based on the route state information of the point. The information processing device 10 may determine, as the travel route of the work vehicle 40, a route that passes through a point determined as a point where the work vehicle 40 can travel.

[0017] In other words, the information processing device 10 assumes at least one travel route for the work vehicle 40 and acquires information on the state of at least one point through which each assumed travel route passes. Information on the state of the points through which the travel route passes is included in route state information. The information processing device 10 determines the travel route for the work vehicle 40 based on the route state information.

[0018] As shown in FIG. 2, the information processing device 10 includes a control unit 12, a storage unit 14, and an interface 16.

[0019] The control unit 12 includes at least one processor, at least one dedicated circuit, or a combination of these. The processor may include a general-purpose processor such as a central processing unit (CPU) or a graphics processing unit (GPU), or a dedicated processor specialized for a specific process. The dedicated circuit may include, for example, a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC). The control unit 12 executes processes related to the operation of the information processing device 10 while controlling each unit of the information processing device 10.

[0020] The storage unit 14 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or a combination of at least two of these. The semiconductor memory may include, for example, a random access memory (RAM) or a read only memory (ROM). The RAM may include, for example, a static random access memory (SRAM) or a dynamic random access memory (DRAM). The ROM may include, for example, an electrically erasable programmable read only memory (EEPROM). The storage unit 14 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 14 stores programs and data used in the operation of the information processing device 10, and data obtained by the operation of the information processing device 10. The information stored in the storage unit 14 may be updatable with information acquired from the network 80 via the interface 16, for example.

[0021] The interface 16 includes at least one external communication interface that connects to the network 80. The communication interface may be either a wired communication interface or a wireless communication interface. In the case of wired communication, the communication interface may include, for example, a LAN (Local Area Network) interface or a USB (Universal Serial Bus). In the case of wireless communication, the communication interface may include, for example, an interface compatible with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th generation), or 5G (5th generation), or an interface compatible with short-range wireless communication such as Bluetooth (registered trademark). The interface 16 receives data used for the operation of the information processing device 10 from the information acquisition device 20 or the work vehicle 40, and outputs data obtained by the operation of the information processing device 10 to an external device such as the work vehicle 40.

[0022] The interface 16 may further include an input device. The interface 16 may input information through the input device. The input device may include, for example, a touch panel or a touch sensor, or a pointing device such as a mouse. The input device may include a physical key. The input device may include a voice input device such as a microphone. The input device is not limited to these examples and may include various other devices.

[0023] The interface 16 may further include an output device. The interface 16 may output information by the output device. The output device may include, for example, a display device that outputs visual information such as an image, a character, or a figure. The display device may include, for example, an LCD (Liquid Crystal Display), an organic EL (Electro-Luminescence) display or an inorganic EL display, or a PDP (Plasma Display Panel). The display device is not limited to these displays and may include displays of various other types. The display device may include a light-emitting device such as an LED (Light Emitting Diode) or an LD (Laser Diode). The display device may include various other devices. The output device may include, for example, an audio output device such as a speaker that outputs audio information such as sound. The output device is not limited to these examples and may include various other devices.

[0024] The functions of the information processing device 10 are realized by executing a program relating to the information processing method of this embodiment in a processor corresponding to the control unit 12. That is, the functions of the information processing device 10 are realized by software. The program causes a computer to execute the operations of the information processing device 10, thereby causing the computer to function as the information processing device 10. That is, the computer functions as the information processing device 10 by executing the operations of the information processing device 10 in accordance with the program.

[0025] In this embodiment, the program can be recorded on a computer-readable recording medium. The computer-readable recording medium includes a non-transitory computer-readable medium, such as a magnetic recording device, an optical disc, a magneto-optical recording medium, or a semiconductor memory. The program is distributed, for example, by selling, transferring, or lending a portable recording medium such as a DVD (digital versatile disc) or a CD-ROM (compact disc read only memory) on which the program is recorded. The program may also be distributed by storing the program in the storage of an external server and transmitting the program from the external server to another computer. The program may also be provided as a program product.

[0026] <Information acquisition device 20> The information acquisition device 20 may be configured to include various cameras that capture images. The information acquisition device 20 may acquire, as the route status information, an image of at least one point through which the travel route of the work vehicle 40 passes. The information acquisition device 20 may acquire, as the route status information, an image of the surroundings of at least one point through which the travel route of the work vehicle 40 passes. The information acquisition device 20 may acquire an image within a predetermined range from at least one point through which the travel route of the work vehicle 40 passes.

[0027] The information acquisition device 20 may be configured to include a distance measurement sensor that measures the distance to at least one point through which the travel route of the work vehicle 40 passes, or to an object that exists within a predetermined range from that point. The information acquisition device 20 may acquire, as the route status information, distance information or a distance map to at least one point through which the travel route of the work vehicle 40 passes, or to an object that exists within a predetermined range from that point. The information acquisition device 20 may be configured to acquire various other information as route status information, without being limited to this information.

[0028] The information acquisition device 20 may be configured as a moving body equipped with a camera or a sensor. The moving body may be configured as a vehicle other than the work vehicle 40. The moving body may be configured as an air vehicle such as a drone. The moving body may be configured as a robot. The moving body is not limited to these and may be configured in various forms.

[0029] <Work vehicle 40> The work vehicle 40 may include an agricultural work vehicle for performing agricultural work. The agricultural work vehicle may include, for example, a tractor. The agricultural work vehicle may specifically include a vehicle for sowing seeds or planting seedlings. The agricultural work vehicle may include a vehicle for harvesting crops by cutting them, or a vehicle for digging up crops from the soil and harvesting them. The work vehicle 40 is not limited to an agricultural work vehicle, and may include vehicles for performing various other tasks. The work vehicle 40 may include a vehicle driven by gasoline, diesel, heavy oil, or the like. The work vehicle 40 may include an electric vehicle such as a BEV (Battery Electric Vehicle), a HEV (Hybrid Electric Vehicle), a PHEV (Plug-in Hybrid Electric Vehicle), or a FCEV (Fuel Cell Electric Vehicle). The work vehicle 40 is not limited to these, and may include vehicles driven by various other methods. The work vehicle 40 may be a manned vehicle or any autonomous vehicle that runs unmanned.

[0030] The work vehicle 40 performs farm work on farmland and travels on farm roads. Farm roads may include public roads or private roads. When the work vehicle 40 performs farm work, it is also called an agricultural work vehicle.

[0031] The work vehicle 40 may be equipped with a drive unit. The drive unit includes a drive mechanism related to the movement or running of the work vehicle 40. The drive unit includes a drive mechanism related to the operation of the work performed by the work vehicle 40. The drive unit may include, for example, a rotation mechanism or a slide mechanism driven by a motor or an engine.

[0032] As shown in FIG. 2, the work vehicle 40 includes a control unit 42. The control unit 42 includes at least one processor, at least one dedicated circuit, or a combination thereof. The processor may include a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a particular process. The dedicated circuit may include, for example, an FPGA or ASIC. The control unit 42 executes processes related to the operation of the work vehicle 40 while controlling each part of the work vehicle 40.

[0033] The control unit 42 may include a memory unit. The memory unit includes one or more memories. The memory may be, for example, but is not limited to, a semiconductor memory, a magnetic memory, or an optical memory. Each memory included in the memory unit may function as, for example, a main memory device, an auxiliary memory device, or a cache memory. The memory unit stores any information used in the operation of the work vehicle 40. For example, the memory unit may store a system program, an application program, embedded software, and the like. The information stored in the memory unit may be updatable with information obtained from the network 80.

[0034] The work vehicle 40 further includes an interface 44. The interface 44 may be configured to include a communication interface. The communication interface includes at least one external communication interface that connects to the network 80. The communication interface may include, but is not limited to, an interface compatible with a mobile communication standard such as LTE, 4G, or 5G, or an interface compatible with short-range wireless communication such as Bluetooth (registered trademark). The communication interface receives data used in the operation of the work vehicle 40, and transmits data obtained by the operation of the work vehicle 40 to an external device such as the information processing device 10.

[0035] The work vehicle 40 further includes an information acquisition unit 46. The information acquisition unit 46 may be configured to include various cameras that capture images. The information acquisition unit 46 may acquire images of the travel route of the work vehicle 40 or the surroundings of the travel route as route status information. The information acquisition unit 46 may be configured to include a distance measurement sensor that measures the distance to an object on the travel route of the work vehicle 40 or in the surroundings of the travel route. The information acquisition unit 46 may acquire distance information to an object on the travel route of the work vehicle 40 or in the surroundings of the travel route, or a distance map as route status information. The information acquisition unit 46 may be configured to acquire various other information as route status information, without being limited to these pieces of information.

[0036] The information acquisition unit 46 may be configured to include a position information acquisition device. The position information acquisition device includes, for example, a receiver compatible with the Global Positioning System (GPS), but is not limited to this, and may include a receiver compatible with any satellite positioning system. The position information acquisition device may acquire position information of the work vehicle 40 constantly, or may acquire the information periodically or non-periodically.

[0037] The information acquisition unit 46 may be configured to acquire driving data of the work vehicle 40. The driving data may include information relating to the actual movement of the drive units and the like when the work vehicle 40 is driving. The driving data may include the acceleration of each part of the work vehicle 40, or the detection results of the forces acting on each part of the work vehicle 40 when the work vehicle 40 is driving. The driving data is not limited to these examples, and may include the detection results of various parameters including physical quantities related to the operation of the work vehicle 40 when the work vehicle 40 is driving.

[0038] The information acquiring unit 46 outputs the acquired information to the information processing device 10. The information acquiring unit 46 may output the acquired information to the information processing device 10 via the interface 44.

[0039] The work vehicle 40 may be equipped with the information processing device 10. The control unit 42 may be configured to function as the information processing device 10.

[0040] (Example of operation of information processing system 1) In the information processing system 1 according to this embodiment, the information processing device 10 determines a travel route for the work vehicle 40 based on route state information. The information processing device 10 may determine a route for the work vehicle 40 as an agricultural work vehicle that passes through farmland or other than public roads, such as farm roads, as the travel route. The information processing device 10 may determine a route for the work vehicle 40 as a construction vehicle that passes through other than public roads, such as a construction site or construction access roads, as the travel route. In other words, the information processing device 10 may determine a route that passes through other than public roads, at least in part, as the travel route for the work vehicle 40. An example of the operation of the information processing device 10 when determining a travel route for the work vehicle 40 as an agricultural work vehicle will be described below.

[0041] <Getting route status information> The control unit 12 of the information processing device 10 acquires route state information representing the state of at least one point through which at least one travel route of the work vehicle 40 passes, via the interface 16. The control unit 12 may store the acquired route state information in the memory unit 14.

[0042] The control unit 12 may set candidate routes for the travel route of the work vehicle 40, and acquire route status information representing the status of at least one point that the candidate route passes through via the interface 16. The control unit 12 may pre-register candidate routes for the travel route of the work vehicle 40. A pre-registered route is also referred to as a registered route. The control unit 12 may acquire information representing the status of at least one point that the registered route passes through via the interface 16. The information representing the status of at least one point that the registered route passes through is also referred to as registered route information.

[0043] In the information processing system 1, the work vehicle 40 may acquire route state information. Specifically, the work vehicle 40 may acquire information indicating the state of a point where the work vehicle 40 has traveled by the information acquisition unit 46, and output the information to the information processing device 10. The information acquisition unit 46 may acquire, for example, travel data of the work vehicle 40 at a point where the work vehicle 40 has traveled as route state information. The control unit 12 may calculate the amount of slippage of the work vehicle 40 caused by mud, etc., at at least one point based on the travel data of the work vehicle 40. The control unit 12 may calculate the magnitude of vibration of the work vehicle 40 caused by unevenness, etc., of the road surface, at at least one point based on the travel data of the work vehicle 40.

[0044] The information acquisition unit 46 may, for example, acquire an image of a point where the work vehicle 40 has traveled, or an image within a predetermined range from a point where the work vehicle 40 has traveled, as route status information, and output it to the information processing device 10. The information acquisition unit 46 may acquire an image of farmland or the like located around a point where the work vehicle 40 has traveled, as route status information, and output it to the information processing device 10. The information acquisition unit 46 may, for example, acquire distance data from an object present at a point where the work vehicle 40 has traveled, or an object present within a predetermined range from that point, as route status information, and output it to the information processing device 10.

[0045] The control unit 12 may acquire route condition information from a work vehicle 40 that has actually traveled the candidate route. The control unit 12 may acquire route condition information from a work vehicle 40 that has traveled through points through which the candidate route passes.

[0046] In the information processing system 1, the information acquisition device 20 may acquire route status information. The information acquisition device 20 may acquire route status information of at least one point through which a candidate route set by the control unit 12 passes.

[0047] The information acquisition device 20 may, for example, capture an image of at least one point through which the candidate route passes, or an image within a predetermined range from that point, and output the image as route status information to the information processing device 10. The information acquisition device 20 may, for example, acquire distance data from a point through which the work vehicle 40 has traveled, or from that point to an object present within a predetermined range, as route status information, and output the image to the information processing device 10.

[0048] The control unit 12 may move the information acquisition device 20 to at least one point on the set candidate route. The control unit 12 may cause the information acquisition device 20 to acquire route status information of the point to which the information acquisition device 20 has been moved, and may acquire the route status information of the point from the information acquisition device 20.

[0049] The control unit 12 may analyze in real time the route state information acquired from the information acquisition device 20 or the information acquisition unit 46 of the work vehicle 40, and detect an abnormality. When the control unit 12 detects an abnormality, it may request the information acquisition device 20 or the information acquisition unit 46 to take more detailed images or acquire more detailed information, or may request the information acquisition device 20 or the information acquisition unit 46 to take a video.

[0050] The information acquisition device 20 or the information acquisition section 46 may analyze the captured image or detected information in real time, and output the information to the information processing device 10 only when an abnormality is detected.

[0051] In this way, the control unit 12 can obtain detailed information only when an abnormality is detected, and as a result, the load on the information processing device 10 can be reduced.

[0052] <Determining driving route based on route condition information> The control unit 12 determines a driving route for the work vehicle 40 based on the route condition information. Specifically, the control unit 12 determines whether the work vehicle 40 can travel through at least one point that is passed by a route that is a candidate for the driving route, based on route condition information for that point. The control unit 12 determines the driving route for the work vehicle 40 so that the work vehicle 40 passes through the points through which the work vehicle 40 can travel. In other words, the control unit 12 determines the driving route for the work vehicle 40 so that the work vehicle 40 does not pass through the points through which the work vehicle 40 cannot travel.

[0053] A point that is a target for determining whether the work vehicle 40 can travel through is also referred to as a judgment target point. The control unit 12 may determine that the work vehicle 40 can travel through the judgment target point when the state of the judgment target point satisfies a predetermined condition. The control unit 12 may set, as a predetermined condition, that the road surface at the judgment target point does not have unevenness of a predetermined value or more. The control unit 12 may set, as a predetermined condition, that an object larger than a predetermined size does not exist at the judgment target point or within a predetermined range from the judgment target point. The control unit 12 may set, as a predetermined condition, that the road surface at the judgment target point or within a predetermined range from the judgment target point can withstand gravity acting from the work vehicle 40. The control unit 12 may set, as a predetermined condition, that the road surface at the judgment target point or within a predetermined range from the judgment target point can withstand vibrations, impacts, etc. when the work vehicle 40 travels. The control unit 12 may set, as a predetermined condition, that the water level of a river, pond, etc. within a predetermined range from the judgment target point is below a predetermined water level (for example, a warning water level, etc.).

[0054] The control unit 12 may acquire information representing the standard state of the determination target point. The information representing the standard state is also referred to as standard state information. The standard state may be, for example, a state in which it is determined that the work vehicle 40 can travel through the determination target point. The standard state may be a normal state of the determination target point. The normal state may be, for example, a state of the determination target point that is maintained for a number of days equal to or greater than a predetermined percentage within a predetermined period.

[0055] The control unit 12 may determine whether the work vehicle 40 can travel through the determination target point based on a comparison between standard state information representing the standard state of the determination target point and route state information representing the detected state (current state) of the determination target point. The control unit 12 may determine that the state of the determination target point is the standard state when the difference between the standard state information and the route state information satisfies a predetermined condition.

[0056] Specifically, the control unit 12 may generate the difference between the standard state information and the route state information for various parameters. The control unit 12 may calculate, for example, the difference in the magnitude of unevenness of the road surface at the judgment target point as the difference between the standard state information and the route state information. The control unit 12 may calculate, for example, the difference in the number of objects present at the judgment target point or within a predetermined range from the judgment target point as the difference between the standard state information and the route state information. The control unit 12 may calculate, for example, the difference in the size of objects present at the judgment target point or within a predetermined range from the judgment target point as the difference between the standard state information and the route state information. The control unit 12 may calculate, for example, the difference in the load that the road surface at the judgment target point can withstand as the difference between the standard state information and the route state information. The control unit 12 may calculate, for example, the difference in the water level of a river, pond, etc. within a predetermined range from the judgment target point as the difference between the standard state information and the route state information. The control unit 12 may calculate, as the difference between the standard state information and the route state information, for example, the difference in the amount of slippage or the magnitude of vibration that occurs in the work vehicle 40 traveling through the determination target point.

[0057] The control unit 12 may set a judgment condition for the difference calculated for each parameter. The judgment condition may include that the absolute value of the difference is less than a predetermined value. The control unit 12 may judge that the state of the judgment target point is a standard state when the differences of all parameters satisfy the judgment condition. The control unit 12 may judge that the work vehicle 40 can travel through the judgment target point when the differences of all parameters satisfy the judgment condition. In other words, the control unit 12 may judge that the state of the judgment target point is not a standard state or that the work vehicle 40 cannot travel through the judgment target point when the difference of at least one parameter does not satisfy the judgment condition. The control unit 12 may judge that the state of the judgment target point is a standard state or that the work vehicle 40 can travel through the judgment target point when the difference of a predetermined percentage or more of the multiple parameters satisfy the judgment condition.

[0058] The control unit 12 may appropriately set the judgment conditions in order to tighten or loosen the constraints for determining the travel route of the work vehicle 40. The control unit 12 may also appropriately set the proportion (predetermined proportion) of parameters that should satisfy the judgment conditions among the multiple parameters.

[0059] The control unit 12 determines a route that does not pass through points that it has determined that the work vehicle 40 cannot travel on as the travel route for the work vehicle 40. The control unit 12 may also determine a route that passes through points that it has determined that the work vehicle 40 can travel on as the travel route for the work vehicle 40. If the control unit 12 cannot generate a route connecting points that it has determined that the work vehicle 40 can travel on, it may repeat the determination on the route state information for other points to be determined.

[0060] The control unit 12 outputs the determined driving route to the work vehicle 40. The work vehicle 40 may travel along the driving route acquired from the information processing device 10, either automatically by the control unit 42 or by a human driver. The work vehicle 40 may display the driving route or output audio guidance via the interface 44 to allow the driver to recognize the acquired driving route.

[0061] <Expiration date of route state information> The conditions of points along a travel route may change over time. For example, rain may cause changes in water levels or loosening of the ground. Wind may cause obstacles on the route. Earthquakes may cause deformation of the terrain. The conditions of points along a route may also be changed artificially.

[0062] Taking into consideration changes in the conditions of points through which the travel route passes, the control unit 12 may set an expiration date for the route state information. When the control unit 12 acquires route state information for a certain point from the work vehicle 40 or the information acquisition device 20, the control unit 12 may also acquire the date and time when the state of the point was detected. The control unit 12 may store the route state information and the date and time when the information was detected in the memory unit 14 in association with each other. The control unit 12 may set an expiration date for the route state information based on the date and time when the route state information was detected. The control unit 12 may appropriately set the length of the expiration date based on a weather forecast or the like. For example, when it is expected that rain or wind will intensify, the control unit 12 may estimate that the conditions of each point through which the travel route passes are likely to change, and set the expiration date to a short period.

[0063] When judging the state of a judgment target point, the control unit 12 takes into consideration the expiration date set in the route state information that represents the state of the judgment target point. If the expiration date of the route state information for a judgment target point has passed, the control unit 12 does not judge the state of the judgment target point or judge whether the work vehicle 40 can travel through the judgment target point. The control unit 12 judges the state of the judgment target point and judges whether the work vehicle 40 can travel through the judgment target point based only on route state information that is within the expiration date.

[0064] The control unit 12 may update information of the route status information that has expired. A point corresponding to route status information that has expired is also referred to as an update target point. The control unit 12 may make the work vehicle 40 travel through the update target point to acquire route status information that represents the latest state of the update target point. The control unit 12 may move the information acquisition device 20 to the update target point to acquire route status information that represents the latest state of the update target point. The control unit 12 may move an aircraft to the update target point as the information acquisition device 20 to acquire route status information that represents the latest state of the update target point. The control unit 12 may make a vehicle smaller than the work vehicle 40 travel through the update target point as the information acquisition device 20 to acquire route status information that represents the latest state of the update target point. By using an aircraft or a small vehicle, the entry of the work vehicle 40 into a point where the work vehicle 40 cannot travel can be avoided. As a result, the safety of the travel of the work vehicle 40 can be improved.

[0065] The control unit 12 may regard each point as an update target point and acquire route status information representing the latest status of each update target point, regardless of the validity period of the route status information, for example, when a typhoon passes, when the amount of rain or wind speed exceeds a predetermined value, or when an earthquake occurs, etc. In this way, the safety of the travel of the work vehicle 40 can be improved.

[0066] <Example of information processing procedure> The control unit 12 of the information processing device 10 according to this embodiment may execute an information processing method including, for example, the steps of the flowchart shown in Fig. 3 in order to determine a travel route for the work vehicle 40. The information processing method may be realized as an information processing program executed by the control unit 12. The information processing program may be stored in a non-transitory computer-readable medium.

[0067] The control unit 12 acquires route state information of a determination target point (step S1). The control unit 12 determines whether the route state information is within the validity period (step S2). If the route state information is past the validity period, that is, if the route state information is not within the validity period (step S2: NO), the control unit 12 proceeds to the procedure of step S8.

[0068] If the route state information is within the validity period (step S2: YES), the control unit 12 calculates the difference between the route state information and the standard state information (step S3). The control unit 12 determines whether the difference satisfies a predetermined condition (step S4). If the difference does not satisfy the predetermined condition (step S4: NO), the control unit 12 proceeds to the procedure of step S8.

[0069] If the difference satisfies a predetermined condition (step S4: YES), the control unit 12 determines that the determination target point is a point where the work vehicle 40 can travel (step S5). The control unit 12 determines whether it is possible to determine a travel route for the work vehicle 40 that passes through the point where it has been determined that the work vehicle 40 can travel (step S6). If the control unit 12 is unable to determine a travel route for the work vehicle 40 (step S6: NO), the control unit 12 proceeds to the procedure of step S8.

[0070] If the control unit 12 can determine the travel route of the work vehicle 40 (step S6: YES), it determines the travel route of the work vehicle 40 and outputs it to the work vehicle 40 (step S7). After executing the procedure of step S7, the control unit 12 ends the execution of the procedure of the flowchart in FIG.

[0071] If the control unit 12 determines in the determination procedure of step S2 that the route state information is not within the validity period, if the control unit 12 determines in the determination procedure of step S4 that the difference does not satisfy the predetermined condition, or if the control unit 12 determines in the determination procedure of step S6 that the travel route of the work vehicle 40 cannot be determined, it acquires route state information of other determination target points (step S8). After executing the procedure of step S8, the control unit 12 returns to the procedure of step S2 and repeats the determination of the state of the determination target points until the travel route of the work vehicle 40 can be determined.

[0072] <Summary> As described above, the information processing system 1 and the information processing device 10 according to this embodiment can determine the travel route of the work vehicle 40 based on the route condition information. In this way, the safety of the travel of the work vehicle 40 can be improved.

[0073] The control unit 12 of the information processing device 10 can determine the travel route of the work vehicle 40 or another work vehicle 40 based on the route state information acquired by the work vehicle 40 actually traveling. The work vehicle 40 that acquires the route state information is also referred to as the first work vehicle. The other work vehicle 40 different from the first work vehicle is also referred to as the second work vehicle. In other words, the control unit 12 may determine the travel route of the second work vehicle based on information that represents the state of the point where the first work vehicle actually traveled among the work vehicles 40. In this way, the work vehicles 40 can use the route state information of each other. Dangerous places on private land such as farmland or private roads such as farm roads are less likely to be found than dangerous places on public roads. By being able to determine the travel route using the route state information detected by the work vehicle 40, the work vehicle 40 itself can detect dangerous places. As a result, the safety of the travel of the work vehicle 40 can be improved.

[0074] The information processing device 10 may be mounted on the work vehicle 40. In this case, the work vehicle 40 can determine a travel route by the information processing device 10 mounted on the work vehicle 40 itself. In this way, the travel route is determined based on the latest state acquired by the work vehicle 40 itself. As a result, the safety of the travel of the work vehicle 40 can be improved.

[0075] As described above, the route status information includes information that represents the status of a predetermined range from the determination target point. The predetermined range from which the route status information is obtained may be set appropriately based on the specifications of the work vehicle 40. The predetermined range may be set, for example, based on the size or weight of the work vehicle 40. For example, the larger the work vehicle 40, the wider the predetermined range may be set.

[0076] Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art may make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each component or step can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined or divided into one.

[0077] For example, in the above-described embodiment, the configuration and operation of the information processing device 10 may be distributed among a plurality of computers that can communicate with each other. Also, for example, an embodiment in which some of the functions of the information processing device 10 are provided in the control unit 42 or the information acquisition device 20 may be provided.

[0078] Also, for example, an embodiment is possible in which a general-purpose computer functions as the information processing device 10 according to the above-described embodiment. Specifically, a program describing the processing contents for realizing each function of the information processing device 10 according to the above-described embodiment is stored in the memory of the general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be realized as a program executable by a processor, or a non-transitory computer-readable medium that stores the program.

[0079] Some of the embodiments of the present disclosure will be described below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Appendix 1] an interface for acquiring route state information representing the state of points through which at least one travel route of the work vehicle passes; a control unit that determines a travel route for the work vehicle based on the route state information and outputs the determined travel route to the work vehicle; An information processing device comprising: [Appendix 2] The information processing device described in [Appendix 1], wherein the control unit determines a route for the work vehicle that passes through at least a portion of a public road. [Appendix 3] The information processing device described in [Appendix 1] or [Appendix 2], wherein the interface obtains, as the route status information, information from the work vehicle that represents the status of points that the work vehicle has actually traveled. [Appendix 4] The information processing device described in [Appendix 3], wherein the interface acquires, as the route status information, driving data of the work vehicle at points where the work vehicle has actually traveled. [Appendix 5] The information processing device according to any one of [Appendix 1] to [Appendix 4], wherein the interface acquires the route state information from an information acquisition device. [Appendix 6] The information processing device according to any one of [Appendix 1] to [Appendix 5], wherein the interface acquires, as the route status information, an image within a predetermined range including points through which the driving route passes. [Appendix 7] The interface is an information processing device described in any one of [Appendix 1] to [Appendix 6], which obtains, as the route status information, registered route information representing the status of points passing through a registered route that has been registered in advance as a candidate for a driving route for the work vehicle. [Appendix 8] The control unit determines a driving route of the work vehicle based on information regarding the difference between the route state information and standard state information representing the standard state of the point corresponding to the route state information. [Appendix 9] A storage unit for storing the route state information, The information processing device according to any one of [Supplementary Note 1] to [Supplementary Note 8], wherein the control unit associates an expiration date with the route state information and stores the information in the storage unit. [Appendix 10] The information processing device described in [Appendix 9], wherein the control unit determines a driving route of the work vehicle based on information within the validity period among the route status information stored in the memory unit. [Appendix 11] The information processing device described in [Appendix 9] or [Appendix 10], wherein the control unit causes the work vehicle to travel through an update target point corresponding to information in the route status information that has passed the expiration date, and obtains information representing the status of the update target point. [Appendix 12] The control unit acquires information representing the state of an update target point corresponding to information among the route status information whose expiration date has passed from an information acquisition device. [Appendix 13] The control unit is an information processing device described in [Appendix 12], which moves an aircraft or a vehicle smaller than the work vehicle to the update target point as the information acquisition device and acquires information representing the state of the update target point. [Appendix 14] The control unit determines a driving route of a second work vehicle, which is different from the first work vehicle, among the work vehicles, based on information representing the condition of a point where a first work vehicle among the work vehicles actually traveled. [Appendix 15] An information processing device described in any one of [Appendix 1] to [Appendix 14], which is installed in the work vehicle. [Appendix 16] An information processing system comprising: an information processing device according to any one of [Appendix 1] to [Appendix 15]; and the work vehicle. [Appendix 17] Obtaining route state information representing the state of points through which at least one travel route of the work vehicle passes; determining a travel route for the work vehicle based on the route state information, and outputting the determined travel route to the work vehicle; An information processing method comprising: [Appendix 18] The information processing method described in [Appendix 17] further includes determining, as the driving route for the work vehicle, a route that passes at least in part on a non-public road. [Appendix 19] The information processing method described in [Appendix 17] or [Appendix 18], further comprising determining a driving route for the work vehicle based on information regarding a difference between the route state information and standard state information representing a standard state of a point corresponding to the route state information. [Appendix 20] A work vehicle that travels along a travel route acquired from an information processing device, An information acquisition unit that detects the state of at least one point passed during travel; An interface that outputs the state detection result as route state information. A work vehicle equipped with [Explanation of symbols]

[0080] 1. Information Processing Systems 10 Information processing device (12: control unit, 14: storage unit, 16: interface) 20 Information acquisition device 40 work vehicle (42: control unit, 44: interface, 46: information acquisition unit) 80 Network

Claims

1. an interface for acquiring route status information that indicates a status related to the safety of travel of a work vehicle at points through which at least one travel route of the work vehicle passes, the route status information being associated with an expiration date; a control unit that determines whether a state of a determination point, which is a target for determining whether the work vehicle can travel, satisfies a predetermined condition based on the route state information within the validity period, determines a travel route of the work vehicle so that the work vehicle passes through the point determined to satisfy the predetermined condition, and outputs the determined travel route to the work vehicle; Equipped with The predetermined condition includes that the road surface at the judgment point or within a first predetermined range from the judgment point is able to withstand vibration or impact caused by the work vehicle traveling, or that the water level of a river or pond within a second predetermined range from the judgment point is less than a predetermined water level. Information processing device.

2. The information processing device according to claim 1 , wherein the control unit determines a route for the work vehicle that at least partially passes through a road other than a public road.

3. The information processing device according to claim 1 , wherein the interface acquires, as the route state information, information representing states of points through which the work vehicle has actually traveled from the work vehicle.

4. The information processing device according to claim 3 , wherein the interface acquires, as the route state information, travel data of the work vehicle at points where the work vehicle has actually traveled.

5. The information processing device according to claim 1 , wherein the interface acquires the route status information from an information acquisition device.

6. The information processing apparatus according to claim 1 , wherein the interface acquires, as the route state information, an image within a predetermined range including points through which the travel route passes.

7. The information processing device according to claim 1 , wherein the interface acquires, as the route state information, registered route information that represents states of points passing through a registered route that is registered in advance as a candidate for a travel route of the work vehicle.

8. The information processing device according to claim 1 , wherein the control unit determines a travel route of the work vehicle based on information regarding a difference between the route state information and standard state information that represents a standard state of a point corresponding to the route state information.

9. A storage unit for storing the route state information, The information processing device according to claim 1 , wherein the control unit stores the route status information in the storage unit in association with the expiration date.

10. The information processing device according to claim 9 , wherein the control unit determines a travel route of the work vehicle based on information within the validity period out of the route state information stored in the storage unit.

11. The information processing device according to claim 9 , wherein the control unit acquires information representing a state of the update target point by making the work vehicle travel through the update target point corresponding to information of the route status information whose validity period has expired.

12. The information processing device according to claim 9 , wherein the control unit acquires, from an information acquisition device, information representing a state of an update target point corresponding to information of the route status information whose validity period has expired.

13. The information processing device according to claim 12 , wherein the control unit moves an air vehicle or a vehicle smaller than the work vehicle to the update target point as the information acquisition device, and acquires information representing a state of the update target point.

14. 2. The information processing device according to claim 1, wherein the control unit determines a travel route of a second work vehicle, which is different from the first work vehicle, among the work vehicles, based on information representing a state of a point where a first work vehicle among the work vehicles has actually traveled.

15. The information processing device according to claim 1 , which is mounted on the work vehicle.

16. An information processing system comprising: the information processing device according to any one of claims 1 to 15; and the work vehicle.

17. Acquiring route status information representing a status related to the safety of travel of a work vehicle at points through which at least one travel route of the work vehicle passes, the route status information being associated with an expiration date; determining whether a state of a determination point, which is a target for determining whether the work vehicle can travel, satisfies a predetermined condition based on the route state information within the validity period, determining a travel route for the work vehicle so that the work vehicle passes through the point determined to satisfy the predetermined condition, and outputting the determined travel route to the work vehicle; Including, The predetermined condition includes that the road surface at the determination point or within a first predetermined range from the determination point is able to withstand vibration or impact caused by the work vehicle traveling, or that the water level of a river or pond within a second predetermined range from the determination point is below a predetermined water level. Information processing methods.

18. The information processing method according to claim 17, further comprising: determining, as the travel route for the work vehicle, a route that at least a portion of which passes through a non-public road.

19. 19. The information processing method according to claim 17 or 18, further comprising determining a travel route for the work vehicle based on information regarding a difference between the route state information and standard state information representing a standard state of a point corresponding to the route state information.

20. An information processing method as described in claim 17 or 18, further comprising driving the work vehicle through an update target point corresponding to information among the route status information that has expired, and obtaining information representing the status of the update target point.

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