Path planning system for autonomous agricultural machinery

Abstract

This route planning system for an automatically operated farm machine comprises: a storage device that stores a map including a plurality of fields, a plurality of stand-by sites, and roads connecting the plurality of fields with the plurality of stand-by sites; and a processing device that generates a route on the map for each working day of the farm machine. The processing device determines, on the basis of information indicating at least one of the growth situation of crops in the plurality of fields, the progress situation of farm work in the plurality of fields, the planting situation in the plurality of fields, and the weather condition, a specific stand-by site to which the farm machine is to be moved after completing the last farm work of each working day, from among the plurality of stand-by sites, and generates a route from the field where the last farm work takes place to the specific stand-by site.

Description

[Technical field]

[0001] The present disclosure relates to a path planning system for autonomous agricultural machinery. [Background technology]

[0002] Research and development is underway to automate agricultural machinery used in fields. For example, work vehicles such as tractors, combine harvesters, and rice transplanters that can travel autonomously in fields using positioning systems such as the Global Navigation Satellite System (GNSS) have been put to practical use. Research and development is also underway for work vehicles that can travel autonomously not only in fields but also outside of fields.

[0003] Patent Documents 1 and 2 disclose examples of systems that automatically drive an unmanned work vehicle between two farm fields separated from each other by a road. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-073602 [Patent Document 2] Patent Publication No. 2021-029218 Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides techniques for more efficiently planning paths for autonomous agricultural machinery. [Means for solving the problem]

[0006] A path planning system according to one aspect of the present disclosure is a path planning system for an autonomously operated agricultural machine. The path planning system includes a storage device that stores a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations, and a processing device that generates a route for the agricultural machine on the map for each work day. The processing device determines a specific waiting location to which the agricultural machine moves after performing the last agricultural work on each work day from among the plurality of waiting locations based on information indicating at least one of the growth status of crops in the plurality of fields, the progress status of agricultural work in the plurality of fields, the planting status in the plurality of fields, and weather conditions, and generates a route from the field where the last agricultural work is performed to the specific waiting location.

[0007] A route planning system according to another aspect of the present disclosure is a route planning system for an agricultural machine that operates autonomously across multiple regions. The route planning system includes a storage device that stores a map of an area including the multiple regions, and a processing device. The processing device determines a time when the agricultural machine will perform the agricultural work in each of the multiple regions based on information indicating an approximate time for each region for the agricultural work to be performed by the agricultural machine, and generates a route for the agricultural machine on the map so that the agricultural machine performs the agricultural work at the time determined for each region.

[0008] 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

[0009] According to an embodiment of the present disclosure, it is possible to more efficiently plan paths for autonomously driven agricultural machines. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram for explaining an overview of an agricultural management system according to a first exemplary embodiment of the present disclosure. [Diagram 2] FIG. 1 is a side view showing a schematic example of a work vehicle and an implement coupled to the work vehicle. [Diagram 3] FIG. 2 is a block diagram showing an example of the configuration of a work vehicle and an implement. [Figure 4] FIG. 1 is a conceptual diagram showing an example of a work vehicle performing positioning using RTK-GNSS. [Diagram 5] 4 is a diagram showing an example of an operation terminal and an operation switch group provided inside the cabin. FIG. [Figure 6] 2 is a block diagram illustrating an example of a hardware configuration of a management device and a terminal device. [Figure 7] 1 is a diagram illustrating an example of a work vehicle that automatically travels along a target route in a farm field; [Figure 8] 4 is a flowchart showing an example of a steering control operation during automatic driving. [Figure 9A] 1 is a diagram showing an example of a work vehicle traveling along a target route P. FIG. [Figure 9B] FIG. 13 is a diagram showing an example of a work vehicle in a position shifted to the right from a target route P. [Figure 9C] FIG. 13 is a diagram showing an example of a work vehicle in a position shifted to the left from a target route P. [Figure 9D] 1 is a diagram showing an example of a work vehicle facing in an inclined direction with respect to a target route P. FIG. [Figure 10] FIG. 1 is a diagram illustrating an example of a situation in which a plurality of work vehicles are automatically traveling on roads inside and outside a farm field. [Figure 11] FIG. 13 is a diagram illustrating an example of a setting screen displayed on the terminal device. [Figure 12]FIG. 11 is a diagram showing an example of a farm work schedule created by the management device. [Figure 13] FIG. 2 is a diagram showing an example of a map to be referred to when planning a route; [Figure 14] FIG. 1 is a diagram illustrating an example of a global route. [Figure 15] FIG. 13 is a diagram showing another example of a global path. [Figure 16] FIG. 1 is a diagram showing an example of global and local paths generated in an environment where obstacles are present; [Figure 17] FIG. 13 is a diagram showing another example of a map of an area including multiple waiting locations. [Figure 18] FIG. 13 is a diagram showing an example of a table showing a correspondence relationship between waiting locations and farm fields. [Figure 19] FIG. 13 is a diagram showing an example of a map clearly indicating the correspondence between waiting locations and farm fields. [Figure 20] FIG. 2 is a diagram showing an example of a table for managing the growing conditions of crops in each farm field. [Figure 21] 21 is a table showing an example of the distribution of work days for a plurality of farm fields corresponding to the example shown in FIG. 20. [Figure 22] FIG. 2 is a diagram showing an example of a table for managing the progress of agricultural work in each farm field. [Figure 23] FIG. 23 is a diagram showing an example of distribution of work days for a plurality of farm fields corresponding to the example shown in FIG. 22. [Figure 24] 13 is a diagram showing an example of a correspondence relationship between crop information and the number of fields belonging to each waiting location. FIG. [Diagram 25] FIG. 25 is a diagram showing the distribution of work days for a plurality of farm fields corresponding to the example shown in FIG. 24. [Figure 26] FIG. 13 is a diagram showing an example of a relationship between weather conditions and specific waiting locations on each work day. [Figure 27] FIG. 27 is a diagram showing an example of days when farm work is performed and a specific waiting location that is selected in the example shown in FIG. 26. [Figure 28] 10 is a flowchart illustrating an example of an operation of a management device. [Figure 29]FIG. 2 is a diagram for explaining an overview of an agricultural management system according to a second exemplary embodiment of the present disclosure. [Diagram 30] 10 is a flowchart illustrating an example of an operation executed by a management device. [Diagram 31] FIG. 2 is a diagram illustrating an example of an area in which an agricultural machine moves. [Diagram 32] FIG. 11 is a diagram showing an example of information indicating a guideline for agricultural work seasons by region. [Diagram 33] FIG. 11 is a diagram showing another example of information indicating a guideline for agricultural work timings by region. [Diagram 34] FIG. 2 is a diagram showing an example of a work plan for each agricultural work. [Diagram 35] FIG. 13 is a diagram illustrating an example of a setting screen displayed on the terminal device. [Diagram 36] FIG. 2 is a diagram showing an example of a map to be referred to when planning a route; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (Definition of terms) 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, agricultural drones, and agricultural mobile robots. Not only may a work vehicle such as a tractor function as an "agricultural machinery" by itself, but also may a work vehicle and an implement attached to or towed by the work vehicle function as a whole as one "agricultural machinery". 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 referred to as "ground work" or simply "work". Traveling while performing agricultural work by a vehicle-type agricultural machine may be referred to as "work travel".

[0012] "Autonomous driving" means that the movement of the agricultural machine is controlled by the action of a control device, not by manual operation by the 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 (for example, the operation of the working machine) 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 the 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 move partially based on the instruction of a user. 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.

[0013] A "work plan" is data that determines a schedule for one or more agricultural works to be performed by an agricultural machine. The work plan may include, for example, information indicating the order of agricultural works to be performed by the agricultural machine and the field on which each agricultural work is to be performed. The work plan may include information on the day and time on which each agricultural work is scheduled to be performed. A work plan including information on the day and time on which each agricultural work is scheduled to be performed is particularly referred to as a "work schedule" or simply as a "schedule." The work schedule may include information on the scheduled start time and / or scheduled end time of each agricultural work performed on each work day. The work plan or work schedule may include information on the content of the work, the implement to be used, and / or the type and amount of agricultural materials to be used for each agricultural work. Here, "agricultural materials" refers to materials used in agricultural work performed by an agricultural machine. Agricultural materials may be simply referred to as "materials." Agricultural materials may include materials consumed by agricultural work, such as pesticides, fertilizers, seeds, or seedlings. The work plan may be created by a processing device that communicates with the agricultural machine to manage the agricultural work, or a processing device mounted on the agricultural machine. The processing device can create a work plan based on information input by a user (such as a farm manager or farm worker) by operating a terminal device, for example. In this specification, a processing device that communicates with agricultural machines and manages agricultural work is referred to as a "management device." The management device may manage agricultural work of multiple agricultural machines. In that case, the management device may create a work plan including information on each agricultural work performed by each of the multiple agricultural machines. The work plan can be downloaded by each agricultural machine and stored in a storage device. Each agricultural machine can automatically head to a field to perform the scheduled agricultural work according to the work plan, and perform the agricultural work.

[0014] An "environmental map" is data that expresses the positions or areas of objects that exist in the environment in which the agricultural machine moves using a specified coordinate system. An environmental map may be simply referred to as a "map" or "map data". The coordinate system that defines the environmental map may be, for example, a world coordinate system such as a geographic coordinate system fixed relative to the Earth. The environmental map may include information other than the positions of objects that exist in the environment (for example, attribute information and other information). The environmental map includes maps of various formats, such as a point cloud map or a grid map. Data of a local map or a partial map that is generated or processed in the process of constructing the environmental map is also referred to as a "map" or "map data".

[0015] A "global path" refers to data on a path connecting a starting point to a destination point when an agricultural machine moves automatically, which is generated by a processing device that performs path planning. Generating a global path is called global path planning. In the following description, the global path is also called a "target path" or simply a "path". The global path may be defined, for example, by the coordinate values ​​of multiple points through which the agricultural machine must pass. A point through which the agricultural machine must pass is called a "waypoint", and a line segment connecting adjacent waypoints is called a "link".

[0016] A "local path" means a local path that can avoid obstacles and is generated sequentially when the agricultural machine moves automatically along the global path. The generation of a local path is called local path planning. The local path is generated sequentially based on data acquired by one or more sensing devices equipped in the agricultural machine while the agricultural machine is moving. The local path may be defined by a plurality of waypoints along a part of the global path. However, if an obstacle exists near the global path, a waypoint may be set to bypass the obstacle. The length of a link between waypoints in the local path is shorter than the length of a link between waypoints in the global path. The device that generates the local path may be the same as or different from the device that generates the global path. For example, a management device that manages farm work by the agricultural machine may generate the global path, and a control device mounted on the agricultural machine may generate the local path.

[0017] A "waiting place" is a place where an agricultural machine waits while not performing agricultural work. One or more waiting places may be provided in an environment in which the agricultural machine performs autonomous driving. The waiting place may be, for example, a warehouse, a garage, a barn, a parking lot, or other facility. The waiting place may be a place jointly managed or used by multiple users. The waiting place may be a warehouse, a barn, a garage, or a parking lot at the home or business of a farmer different from the user of the agricultural machine. Alternatively, the waiting place may be a place operated by a business that provides a service of lending autonomous agricultural machines to users. Multiple waiting places may be scattered throughout the environment in which the agricultural machine moves. Work such as replacement or maintenance of parts or implements of the agricultural machine, or replenishment of materials may be performed in the waiting place. In that case, parts, tools, or materials required for those works may be placed in the waiting place.

[0018] (Embodiment) 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.

[0019] 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.

[0020] Hereinafter, an embodiment in which the technology of the present disclosure is applied to a work vehicle such as a tractor, which is an example of agricultural machinery, will be mainly described. The technology of the present disclosure can be applied not only to work vehicles such as tractors, but also to other types of agricultural machinery. For example, the agricultural machinery may be an agricultural drone, that is, an unmanned aerial vehicle (UAV). The agricultural drone may be used for agricultural work that can be performed from the air, such as sowing, fertilizer spreading, or pesticide spraying. The agricultural drone may be used for sensing the growth status of crops from the air. Such a drone also corresponds to the agricultural machinery in this disclosure.

[0021] (Embodiment 1) FIG. 1 is a diagram for explaining an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. The agricultural management system shown in FIG. 1 includes an agricultural machine 100, a terminal device 400, and a management device 600. The terminal device 400 is a computer used by a user of the agricultural machine 100. The management device 600 is a computer managed by a business operator who operates the agricultural management system. The agricultural machine 100, the terminal device 400, and the management device 600 can communicate with each other via a network 80. Although one agricultural machine 100 is illustrated in FIG. 1, the agricultural management system may include a plurality of agricultural machines.

[0022] The agricultural machine 100 in this embodiment is a tractor. The agricultural machine 100 may be a work vehicle other than a tractor or another type of agricultural machine. An implement can be attached to one or both of the rear and front of the agricultural machine 100. The agricultural machine 100 can travel within a field while performing farm work according to the type of implement. The agricultural machine 100 may travel within or outside a field without an implement attached.

[0023] The agricultural machine 100 has an automatic driving function. That is, the agricultural machine 100 can travel by the action of a control device, not manually. The control device in this embodiment is provided inside the agricultural machine 100, and can control both the speed and steering of the agricultural machine 100. The agricultural machine 100 can travel automatically not only in a farm field, but also outside the field (for example, on a road).

[0024] The agricultural machine 100 includes devices used for positioning or self-location estimation, such as a GNSS receiver and a LiDAR sensor. The control device of the agricultural machine 100 automatically travels the agricultural machine 100 based on the position of the agricultural machine 100 and information on the target route generated by the management device 600. The control device controls the operation of the implement in addition to the travel control of the agricultural machine 100. This allows the agricultural machine 100 to perform farm work using the implement while automatically traveling in the field. Furthermore, the agricultural machine 100 can automatically travel along a road outside the field (e.g., a farm road or a general road) along a target route. When the agricultural machine 100 automatically travels along a road outside the field, it travels while generating a local route that can avoid obstacles along the target route based on data output from a sensing device such as a camera or a LiDAR sensor. The agricultural machine 100 may travel within the field while generating a local path as described above, or may travel along a target path without generating a local path and stop if an obstacle is detected.

[0025] The management device 600 is a computer that manages agricultural work performed by the agricultural machine 100. The management device 600 may be, for example, a server computer that centrally manages information related to farm fields and agricultural work on the cloud and supports agriculture by utilizing data on the cloud. The management device 600, for example, creates a work plan for the agricultural machine 100 and performs global path planning for the agricultural machine 100 in accordance with the work plan.

[0026] The management device 600 generates a global path (target path) in a different manner for inside the field and outside the field. The management device 600 generates a target path in the field based on information about the field. For example, the management device 600 can generate a target path in the field based on various information such as the outline of the field registered in advance, the area of ​​the field, the position of the entrance and exit of the field, the width of the agricultural machine 100, the width of the implement, the content of the work, the type of crop to be cultivated, the growing area of ​​the crop, the growing condition of the crop, or the spacing between the rows of crops or ridges. The management device 600 generates a target path in the field based on information input by the user using the terminal device 400 or other devices, for example. The management device 600 may generate a path in the field so as to cover, for example, the entire work area where the work is performed. Alternatively, the management device 600 may generate a target route only outside the work area in the field, and may not generate a target route inside the work area. In that case, the agricultural machine 100 may recognize the crop rows or ridge rows based on data output from the camera or LiDAR sensor, and travel while generating a local route along the recognized crop rows or ridge rows. On the other hand, the management device 600 generates a target route outside the field according to a work plan. For example, the management device 600 can generate a target route outside the field based on various information such as the order of farm work indicated by the work plan, the position of the field where each farm work is performed, the position of the entrance and exit of the field, the scheduled start time and scheduled end time of each farm work, road surface conditions, weather conditions, or traffic conditions.

[0027] The management device 600 may further generate and edit an environmental map based on data collected by the agricultural machine 100 or other moving bodies using a sensing device such as a LiDAR sensor. The management device 600 transmits data of the generated work plan, target route, and environmental map to the agricultural machine 100. The agricultural machine 100 automatically moves and performs farm work based on the data.

[0028] Note that the global path plan and the generation (or editing) of the environmental map may be performed by other devices, not limited to the management device 600. For example, a control device of the agricultural machine 100 may generate or edit the global path plan or the environmental map. In this manner, a device that generates an environmental map, a device that generates a work plan, and a device that performs a path plan may be distributed in different locations.

[0029] The terminal device 400 is a computer used by a user located away from the agricultural machine 100. The terminal device 400 shown in FIG. 1 is a laptop computer, but is not limited to this. The terminal device 400 may be a stationary computer such as a desktop PC (personal computer), or may be a mobile terminal such as a smartphone or a tablet computer. The terminal device 400 displays on a display a setting screen for a user to input information required to create a work plan for the agricultural machine 100 (e.g., a schedule for each agricultural work). When the user inputs the required information on the setting screen and performs a transmission operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. The terminal device 400 may also be used to register one or more fields in which the agricultural machine 100 performs agricultural work.

[0030] The configuration and operation of the system in this embodiment will be described in more detail below.

[0031] [1. Configuration] 2 is a side view that diagrammatically illustrates an example of the agricultural machine 100 and an implement 300 connected to the agricultural machine 100. The agricultural machine 100 in this embodiment can operate in both a manual driving mode and an automatic driving mode. In the automatic driving mode, the agricultural machine 100 can travel unmanned. The agricultural machine 100 can be automatically driven both in a field and outside the field.

[0032] As shown in Fig. 2, the agricultural machine 100 includes a vehicle body 101, a prime mover (engine) 102, and a speed changer (transmission) 103. The vehicle body 101 is provided with wheels 104 with tires, and a cabin 105. The wheels 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 200, and a group of switches for operation are provided inside the cabin 105. When the agricultural machine 100 travels to perform work in a field, crawlers instead of tires may be attached to one or both of the front wheels 104F and the rear wheels 104R.

[0033] The agricultural machine 100 is equipped with a plurality of sensing devices that sense the surroundings of the agricultural machine 100. In the example of Fig. 2, the sensing devices include a plurality of cameras 120, a LiDAR sensor 140, and a plurality of obstacle sensors 130.

[0034] The cameras 120 may be provided, for example, on the front, rear, left and right sides of the agricultural machine 100. The cameras 120 capture images of the environment around the agricultural machine 100 and generate image data. Images captured by the cameras 120 may be transmitted to a terminal device 400 for remote monitoring. The images may be used to monitor the agricultural machine 100 during unmanned operation. The cameras 120 may also be used to generate images for recognizing surrounding objects or obstacles, white lines, signs, or indications when the agricultural machine 100 travels on roads outside the field (farm roads or general roads).

[0035] The LiDAR sensor 140 in the example of FIG. 2 is disposed at the lower front part of the vehicle body 101. The LiDAR sensor 140 may be disposed at another position. While the agricultural machine 100 is mainly traveling outside the field, the LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object present in the surrounding environment, or the two-dimensional or three-dimensional coordinate value of each measurement point. The sensor data output from the LiDAR sensor 140 is processed by a control device of the agricultural machine 100. The control device can estimate the self-position of the agricultural machine 100 by matching the sensor data with an environmental map. The control device can further detect objects such as obstacles present in the vicinity of the agricultural machine 100 based on the sensor data, and generate a local route along which the agricultural machine 100 should actually proceed, along the global route. The control device can also generate or edit an environmental map by using an algorithm such as SLAM (Simultaneous Localization and Mapping). The agricultural machine 100 may be equipped with multiple LiDAR sensors positioned in different locations and with different orientations.

[0036] The obstacle sensors 130 shown in FIG. 2 are provided at the front and rear of the cabin 105. The obstacle sensors 130 may be arranged at other locations. For example, one or more obstacle sensors 130 may be provided at any positions on the sides, front, and rear of the vehicle body 101. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 is used to detect surrounding obstacles during autonomous driving and to stop or detour the agricultural machine 100. A LiDAR sensor 140 may be used as one of the obstacle sensors 130.

[0037] The agricultural machine 100 further includes a GNSS unit 110. The GNSS unit 110 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the agricultural machine 100 based on the signals received by the antenna. The GNSS unit 110 receives satellite signals transmitted from a plurality of GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, for example, Michibiki), GLONASS, Galileo, and BeiDou. The GNSS unit 110 in this embodiment is provided on the upper part of the cabin 105, but may be provided in another position.

[0038] The GNSS unit 110 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 100. By supplementing the position data based on the satellite signals with data acquired by the IMU, the performance of positioning can be improved.

[0039] The control device of the agricultural machine 100 may use sensing data acquired by a sensing device such as the camera 120 or the LiDAR sensor 140 for positioning, in addition to the positioning result by the GNSS unit 110. When there are features that function as feature points in the environment in which the agricultural machine 100 travels, such as farm roads, forest roads, general roads, or orchards, the position and orientation of the agricultural machine 100 can be estimated with high accuracy based on the data acquired by the camera 120 or the LiDAR sensor 140 and an environmental map stored in advance in a storage device. The position of the agricultural machine 100 can be identified with higher accuracy by correcting or complementing the position data based on the satellite signal using the data acquired by the camera 120 or the LiDAR sensor 140.

[0040] 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 100 by changing the speed. The transmission 103 can also switch the agricultural machine 100 between forward and reverse.

[0041] 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 100 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 assisting 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 100.

[0042] 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 coupling device 108 can attach and detach the implement 300 to and from the agricultural machine 100. The coupling device 108 can change the position or attitude of the implement 300 by raising and lowering the three-point link using, for example, a hydraulic device. In addition, power can be transmitted from the agricultural machine 100 to the implement 300 via the universal joint. The agricultural machine 100 can make the implement 300 perform a predetermined task while pulling the implement 300. The coupling device may be provided at the front of the vehicle body 101. In that case, the implement can be connected to the front of the agricultural machine 100.

[0043] 2 is a rotary tiller, the implement 300 is not limited to a rotary tiller. For example, any implement, such as a seeder, a spreader, a transplanter, a mower, a rake, a baler, a harvester, a sprayer, or a harrow, can be connected to the agricultural machine 100 and used.

[0044] The agricultural machine 100 shown in Fig. 2 is capable of being driven by a person, but may be capable of being driven only unmanned. In that case, components necessary only for driven operation, such as the cabin 105, the steering device 106, and the driver's seat 107, may not be provided in the agricultural machine 100. The unmanned agricultural machine 100 can travel autonomously or by remote control by a user.

[0045] 3 is a block diagram showing an example of the configuration of the agricultural machine 100 and the implement 300. The agricultural machine 100 and the implement 300 can communicate with each other via a communication cable included in the coupling device 108. The agricultural machine 100 can communicate with the terminal device 400 and the management device 600 via the network 80.

[0046] The agricultural machine 100 in the example of FIG. 3 includes a GNSS unit 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, and an operation terminal 200, as well as a sensor group 150 for detecting an operating state of the agricultural machine 100, a control system 160, a communication device 190, an operation switch group 210, a buzzer 220, and a drive device 240. These components are connected to each other so as to be able to communicate with each other via a bus. The GNSS unit 110 includes a GNSS receiver 111, an RTK receiver 112, an inertial measurement unit (IMU) 115, and a processing circuit 116. The sensor group 150 includes a steering wheel sensor 152, a turning angle sensor 154, and an axle sensor 156. 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 (ECUs) 181 to 186. The implement 300 includes a drive device 340, a control device 380, and a communication device 390. Note that Fig. 3 shows components that are relatively highly related to the automatic driving operation of the agricultural machine 100, and does not show other components.

[0047] The GNSS receiver 111 in the GNSS unit 110 receives satellite signals transmitted from a plurality of GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is 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.

[0048] The GNSS unit 110 shown in FIG. 3 performs positioning of the agricultural machine 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of the agricultural machine 100 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 60 is used. The reference station 60 may be installed near a field where the agricultural machine 100 performs work travel (for example, within a position of 10 km from the agricultural machine 100). The reference station 60 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 the correction signal to the GNSS unit 110. The RTK receiver 112 includes an antenna and a modem, and receives the correction signal transmitted from the reference station 60. The processing circuit 116 of the GNSS unit 110 corrects the positioning result by the GNSS receiver 111 based on the correction signal. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position information including latitude, longitude, and altitude information is acquired by highly accurate positioning using RTK-GNSS. The GNSS unit 110 calculates the position of the agricultural machine 100 at a frequency of, for example, about 1 to 10 times per second.

[0049] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position information with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position information with the required accuracy can be obtained without using a correction signal transmitted from the reference station 60, the position information may be generated without using a correction signal. In that case, the GNSS unit 110 does not need to be equipped with the RTK receiver 112.

[0050] Even when RTK-GNSS is used, in a location where a correction signal from the reference station 60 cannot be obtained (for example, on a road far from a field), the position of the agricultural machine 100 is estimated by another method without relying on a signal from the RTK receiver 112. For example, the position of the agricultural machine 100 can be estimated by matching data output from the LiDAR sensor 140 and / or the camera 120 with a highly accurate environmental map.

[0051] The GNSS unit 110 in this embodiment further includes an IMU 115. The IMU 115 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 115 may include an orientation sensor such as a three-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, speed, displacement, and attitude of the agricultural machine 100. The processing circuit 116 can estimate the position and orientation of the agricultural machine 100 with higher accuracy based on the signal output from the IMU 115 in addition to the satellite signal and the correction signal. The signal output from the IMU 115 can be used to correct or complement the position calculated based on the satellite signal and the correction signal. The IMU 115 outputs signals at a higher frequency than the GNSS receiver 111. Using the high-frequency signal, the processing circuit 116 can measure the position and orientation of the agricultural machine 100 at a higher frequency (for example, 10 Hz or more). Instead of the IMU 115, a three-axis acceleration sensor and a three-axis gyroscope may be separately provided. The IMU 115 may be provided as a device separate from the GNSS unit 110.

[0052] The camera 120 is an imaging device that captures the environment around the agricultural machine 100. The camera 120 includes an image sensor, such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 120 may also include an optical system including one or more lenses, and a signal processing circuit. The camera 120 captures the environment around the agricultural machine 100 while the agricultural machine 100 is traveling, and generates image (e.g., video) data. The camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or more. The images generated by the camera 120 can be used, for example, when a remote monitor checks the environment around the agricultural machine 100 using the terminal device 400. The images generated by the camera 120 may be used for positioning or obstacle detection. As shown in FIG. 2, multiple cameras 120 may be provided at different positions on the agricultural machine 100, or a single camera may be provided. A visible camera for generating a visible light image and an infrared camera for generating an infrared image may be provided separately. Both a visible camera and an infrared camera may be provided as cameras for generating images for monitoring. The infrared camera may also be used to detect obstacles at night.

[0053] The obstacle sensor 130 detects objects present around the agricultural machine 100. The obstacle sensor 130 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 130, the obstacle sensor 130 outputs a signal indicating the presence of an obstacle. A plurality of obstacle sensors 130 may be provided at different positions of the agricultural machine 100. For example, a plurality of laser scanners and a plurality of ultrasonic sonars may be disposed at different positions of the agricultural machine 100. By providing such a large number of obstacle sensors 130, blind spots in monitoring obstacles around the agricultural machine 100 can be reduced.

[0054] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the agricultural machine 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F which are steered wheels. The measurement values ​​by the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the control device 180.

[0055] The axle sensor 156 measures the rotational speed of the axle connected to the wheel 104, that is, the number of rotations per unit time. The axle sensor 156 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value indicating, for example, the number of rotations per minute (unit: rpm) of the axle. The axle sensor 156 is used to measure the speed of the agricultural machine 100.

[0056] The drive device 240 includes various devices necessary for the agricultural machine 100 to travel and drive the implement 300, such as the prime mover 102, the transmission 103, the steering device 106, and the coupling device 108 described above. The prime mover 102 may include an internal combustion engine, such as a diesel engine. The drive device 240 may include an electric motor for traction instead of or in addition to the internal combustion engine.

[0057] The buzzer 220 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 220 emits a warning sound when an obstacle is detected during automatic driving. The buzzer 220 is controlled by the control device 180.

[0058] 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 the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, the sensor group 150, and the control device 180. The data stored in the storage device 170 may include map data (environmental map) of the environment in which the agricultural machine 100 travels, and data of a global route (target route) for automatic driving. The environmental map includes information on a plurality of farm fields in which the agricultural machine 100 performs farm work and roads in the surrounding areas. The environmental map and the target route may be generated by a processor in the management device 600. Note that the control device 180 in this embodiment has a function of generating or editing the environmental map and the target route. The control device 180 can edit the environmental map and the target route acquired from the management device 600 according to the travel environment of the agricultural machine 100. The storage device 170 also stores data of the work plan received by the communication device 190 from the management device 600. The work plan includes information on a plurality of farm works to be performed by the agricultural machine 100 over a plurality of work days. The work plan may be, for example, work schedule data including information on the scheduled time of each farm work to be performed by the agricultural machine 100 on each work day. The storage device 170 also stores computer programs that cause each ECU in the control device 180 to execute various operations, which will be described later. Such computer programs may be provided to the agricultural machine 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or an electric communication line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0059] The control device 180 includes a plurality of ECUs, such as an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for implement control, an ECU 184 for automatic driving control, an ECU 185 for route generation, and an ECU 186 for map generation.

[0060] The ECU 181 controls the speed of the agricultural machine 100 by controlling the prime mover 102 , the transmission 103 , and the brakes included in the drive device 240 .

[0061] The ECU 182 controls the steering of the agricultural machine 100 by controlling the hydraulic device or electric motor included in the steering device 106 based on the measurement values ​​of the steering wheel sensor 152 .

[0062] 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 implement 300 to perform a desired operation. The ECU 183 also generates a signal that controls the operation of the implement 300, and transmits the signal from the communication device 190 to the implement 300.

[0063] The ECU 184 performs calculations and control to realize autonomous driving based on data output from the GNSS unit 110, the camera 120, the obstacle sensor 130, the LiDAR sensor 140, and the sensor group 150. For example, the ECU 184 identifies the position of the agricultural machine 100 based on data output from at least one of the GNSS unit 110, the camera 120, and the LiDAR sensor 140. In the field, the ECU 184 may determine the position of the agricultural machine 100 based only on the data output from the GNSS unit 110. The ECU 184 may estimate or correct the position of the agricultural machine 100 based on data acquired by the camera 120 or the LiDAR sensor 140. By using the data acquired by the camera 120 or the LiDAR sensor 140, the accuracy of positioning can be further improved. On the other hand, outside the field, the ECU 184 estimates the position of the agricultural machine 100 by using the data output from the LiDAR sensor 140 or the camera 120. For example, the ECU 184 may estimate the position of the agricultural machine 100 by matching data output from the LiDAR sensor 140 or the camera 120 with an environmental map. During the automatic driving, the ECU 184 performs calculations necessary for the agricultural machine 100 to travel along a target path or a local path based on the estimated position of the agricultural machine 100. The ECU 184 sends a speed change command to the ECU 181 and sends a steering angle change command to the ECU 182. In response to the speed change command, the ECU 181 changes the speed of the agricultural machine 100 by controlling the prime mover 102, the transmission 103, or the brake. In response to the steering angle change command, the ECU 182 changes the steering angle by controlling the steering device 106.

[0064] The ECU 185 sequentially generates local routes that can avoid obstacles while the agricultural machine 100 is traveling on a road along a target route. The ECU 185 recognizes obstacles present around the agricultural machine 100 based on data output from the camera 120, the obstacle sensor 130, and the LiDAR sensor 140 while the agricultural machine 100 is traveling. The ECU 185 generates local routes to avoid the recognized obstacles. The ECU 185 may have a function of performing global route planning instead of the management device 600. In that case, the ECU 185 determines the destination of the agricultural machine 100 based on the work plan stored in the storage device 170, and determines a target route from the start point of the movement of the agricultural machine 100 to the destination point. The ECU 185 can create a target route, for example, a route that can reach the destination in the shortest time, based on an environmental map including road information stored in the storage device 170.

[0065] The ECU 186 generates or edits a map of the environment in which the agricultural machine 100 travels. In this embodiment, an environmental map generated by an external device such as the management device 600 is transmitted to the agricultural machine 100 and recorded in the storage device 170, but the ECU 186 can also generate or edit the environmental map instead. When the ECU 186 generates the environmental map, the environmental map may be generated based on sensor data output from the LiDAR sensor 140. When generating the environmental map, the ECU 186 sequentially generates three-dimensional point cloud data based on sensor data output from the LiDAR sensor 140 while the agricultural machine 100 is traveling. The ECU 186 can generate the environmental map by connecting the point cloud data sequentially generated using an algorithm such as SLAM. The environmental map generated in this manner is a highly accurate three-dimensional map and can be used for self-location estimation by the ECU 184. A two-dimensional map used for global route planning can be generated based on this three-dimensional map. In this specification, the 3D map used for self-localization and the 2D map used for global route planning are both referred to as “environment maps.” The ECU 186 can also edit the map by adding various attribute information related to structures, road surface conditions, road passability, etc., recognized based on data output from the camera 120 or the LiDAR sensor 140.

[0066] Through the operation of these ECUs, the control device 180 realizes automatic driving. During automatic driving, the control device 180 controls the drive device 240 based on the measured or estimated position of the agricultural machine 100 and the target route. In this way, the control device 180 can cause the agricultural machine 100 to travel along the target route.

[0067] The multiple ECUs included in the control device 180 can communicate with each other according to a vehicle bus standard such as CAN (Controller Area Network). A faster communication method such as in-vehicle Ethernet (registered trademark) may be used instead of CAN. In FIG. 3, each of the ECUs 181 to 186 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An in-vehicle computer that integrates at least some of the functions of the ECUs 181 to 186 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 186, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors.

[0068] The communication device 190 is a device including circuits for communicating with the implement 300, the terminal device 400, and the management device 600. The communication device 190 includes a circuit for transmitting and receiving signals conforming to the ISOBUS standard, such as ISOBUS-TIM, between the communication device 390 of the implement 300. This allows the implement 300 to perform a desired operation and to acquire information from the implement 300. The communication device 190 may further include an antenna and a communication circuit for transmitting and receiving signals between the communication devices of the terminal device 400 and the management device 600 via the network 80. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may have a function for communicating with a mobile terminal used by a monitor who is located near the agricultural machine 100. Communication between such mobile terminals may be performed in accordance with any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G or 5G, or Bluetooth (registered trademark).

[0069] The operation terminal 200 is a terminal through which a user executes operations related to the traveling of the agricultural machine 100 and the operation of the implement 300, and is also referred to as a virtual terminal (VT). The operation terminal 200 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 200, 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 300. At least some of these operations may also be realized by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the agricultural machine 100. A user at a location away from the agricultural machine 100 may operate the detached operation terminal 200 to control the operation of the agricultural machine 100. The user may operate a computer on which necessary application software is installed, such as a terminal device 400, instead of the operation terminal 200, to control the operation of the agricultural machine 100.

[0070] 5 is a diagram showing an example of the operation terminal 200 and the operation switch group 210 provided inside the cabin 105. Inside the cabin 105, the switch group 210 including a plurality of switches that can be operated by a user is arranged. The operation switch group 210 may include, for example, a switch for selecting a gear stage of the main transmission or the sub transmission, a switch for switching between an automatic driving mode and a manual driving mode, a switch for switching between forward and reverse, and a switch for raising and lowering the implement 300. Note that when the agricultural machine 100 only performs unmanned operation and does not have a function of manned operation, the agricultural machine 100 does not need to be provided with the operation switch group 210.

[0071] The drive device 340 in the implement 300 shown in Fig. 3 performs operations necessary for the implement 300 to perform a predetermined task. The drive device 340 includes devices according to the application of the implement 300, such as a hydraulic device, an electric motor, or a pump. The control device 380 controls the operation of the drive device 340. The control device 380 causes the drive device 340 to perform various operations in response to signals transmitted from the agricultural machine 100 via the communication device 390. In addition, a signal according to the state of the implement 300 can also be transmitted from the communication device 390 to the agricultural machine 100.

[0072] Next, the configurations of the management device 600 and the terminal device 400 will be described with reference to Fig. 6. Fig. 6 is a block diagram illustrating a schematic hardware configuration of the management device 600 and the terminal device 400.

[0073] The management device 600 includes a storage device 650, a processor 660, a ROM (Read Only Memory) 670, a RAM (Random Access Memory) 680, and a communication device 690. These components are connected to each other via a bus so that they can communicate with each other. The management device 600 can function as a cloud server that manages the schedule of farm work in a field performed by the agricultural machine 100 and supports agriculture by utilizing the data it manages. A user can input information required for creating a work plan using the terminal device 400 and upload the input information to the management device 600 via the network 80. The management device 600 can create a schedule of farm work, i.e., a work plan, based on the information. The management device 600 can also generate or edit an environmental map and perform global path planning for the agricultural machine 100. Instead of the management device 600 generating an environmental map, the environmental map may be distributed from a computer external to the management device 600.

[0074] The communication device 690 is a communication module for communicating with the agricultural machine 100 and the terminal device 400 via the network 80. The communication device 690 can perform wired communication conforming to a communication standard such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may perform wireless communication conforming to the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0075] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 660 may be realized by a microprocessor or a microcontroller. Alternatively, the processor 660 may be a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), or an application specific standard product (ASSP). The processor 660 sequentially executes a computer program stored in the ROM 670, which describes a set of instructions for executing at least one process, to realize a desired process.

[0076] The ROM 670 is, for example, a writable memory (e.g., PROM), a rewritable memory (e.g., flash memory), or a read-only memory. The ROM 670 stores a program that controls the operation of the processor 660. The ROM 670 does not need to be a single storage medium, and may be a collection of multiple storage media. A part of the collection of multiple storage media may be a removable memory.

[0077] The RAM 680 provides a working area for temporarily loading, at boot time, the control program stored in the ROM 670. The RAM 680 does not have to be a single storage medium, and may be a collection of multiple storage media.

[0078] The storage device 650 mainly functions as a database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. An example of a magnetic storage device is a hard disk drive (HDD). An example of a semiconductor storage device is a solid state drive (SSD). The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage.

[0079] The terminal device 400 includes an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are connected to each other via a bus so as to be able to communicate with each other. The input device 420 is a device for converting instructions from a user into data and inputting the data to a computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The processor 460, the ROM 470, the RAM 480, the storage device 450, and the communication device 490 are described in the hardware configuration example of the management device 600, and the description thereof will be omitted.

[0080] [2. Operation] Next, the operations of the agricultural machine 100, the terminal device 400, and the management device 600 will be described.

[0081] [2-1. Automatic driving operation] First, an example of the operation of automatic travel by the agricultural machine 100 will be described. The agricultural machine 100 in this embodiment can automatically travel both in and outside the field. In the field, the agricultural machine 100 drives the implement 300 while traveling along a preset target route to perform a predetermined agricultural work. When an obstacle is detected by the obstacle sensor 130 while traveling in the field, the agricultural machine 100 stops traveling, emits a warning sound from the buzzer 220, and transmits a warning signal to the terminal device 400 or the management device 600. In the field, the positioning of the agricultural machine 100 is mainly performed based on data output from the GNSS unit 110. On the other hand, outside the field, the agricultural machine 100 automatically travels along a target route set on a farm road or a general road outside the field. While traveling outside the field, the agricultural machine 100 travels while generating a local route based on data acquired by the camera 120 or the LiDAR sensor 140. When the agricultural machine 100 detects an obstacle outside the field, the agricultural machine 100 avoids the obstacle or stops there. Outside the field, the position of the agricultural machine 100 is estimated based on the positioning data output from the GNSS unit 110 as well as the data output from the LiDAR sensor 140 or the camera 120.

[0082] Hereinafter, a description will be given first of the operation of the agricultural machine 100 when it travels automatically within a field. The operation of the agricultural machine 100 when it travels automatically outside a field and the processing of the global path planning and the local path planning outside a field will be described later.

[0083] FIG. 7 is a diagram illustrating an example of an agricultural machine 100 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 100 performs work using the implement 300, and a headland 74 located near the outer periphery of the field. Which area of ​​the field on the map corresponds to the working area 72 or 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. Although each main route P1 illustrated in FIG. 7 is a straight route, each main route P1 may include a curved portion. The main path P1 may be automatically generated, for example, by a user performing an operation of specifying two points (points A and B in FIG. 7) near the edge of the field while viewing a map of the field displayed on the display of the operation terminal 200 or the terminal device 400. In this case, the management device 600 generates a target path in the field by setting multiple main paths P1 parallel to a line segment connecting point A and point B specified by the user, and connecting the main paths P1 with a turning path P2. The dashed line in FIG. 7 represents the working width of the implement 300. The working width may be set and recorded by the user operating the operation terminal 200 or the terminal device 400. Alternatively, the working width may be automatically recognized and recorded when the implement 300 is connected to the agricultural machine 100. The interval between the multiple main paths P1 may be set according to the working width. In this way, 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 100 automatically travels back and forth from a work start point to a work end point along a target route as shown in Fig. 7. Note that the target route shown in Fig. 7 is merely an example, and the target route may be determined in any manner.

[0084] Next, an example of control by the control device 180 during automatic operation in a farm field will be described.

[0085] FIG. 8 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. 8 while the agricultural machine 100 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 100 generated by the GNSS unit 110 while the agricultural machine 100 is traveling (step S121). Next, the control device 180 calculates the deviation between the position of the agricultural machine 100 and the target route (step S122). The deviation represents the distance between the position of the agricultural machine 100 at that time and the target route. The control device 180 determines 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 240 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 determines 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 100 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 the newly measured position of the agricultural machine 100. 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.

[0086] 8, the control device 180 controls the drive device 240 based only on the deviation between the position of the agricultural machine 100 identified by the GNSS unit 110 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 orientation of the agricultural machine 100 identified by the GNSS unit 110 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 240 in accordance with the deviation.

[0087] Hereinafter, an example of steering control by the control device 180 will be described more specifically with reference to FIGS. 9A to 9D.

[0088] FIG. 9A is a diagram showing an example of the agricultural machine 100 traveling along the target path P. FIG. 9B is a diagram showing an example of the agricultural machine 100 at a position shifted to the right from the target path P. FIG. 9C is a diagram showing an example of the agricultural machine 100 at a position shifted to the left from the target path P. FIG. 9D is a diagram showing an example of the agricultural machine 100 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 100 measured by the GNSS unit 110 is expressed as r(x, y, θ). (x, y) are coordinates indicating the position of the reference point of the agricultural machine 100 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the earth. In the examples shown in FIGS. 9A to 9D, the reference point of the agricultural machine 100 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 100. In the illustrated examples, the target path P is parallel to the Y axis, but generally, the target path P is not necessarily parallel to the Y axis.

[0089] As shown in FIG. 9A, if the position and orientation of the agricultural machine 100 do not deviate from the target path P, the control device 180 maintains the steering angle and speed of the agricultural machine 100 without changing them.

[0090] As shown in Fig. 9B, when the position of the agricultural machine 100 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 100 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.

[0091] 9C, when the position of the agricultural machine 100 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 100 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.

[0092] As shown in FIG. 9D, when the position of the agricultural machine 100 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 for determining the steering angle (i.e., the control gain).

[0093] 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 100. By applying these control techniques, it is possible to smooth the control that brings the agricultural machine 100 closer to the target path P.

[0094] When an obstacle is detected by one or more obstacle sensors 130 during traveling, the control device 180 stops the agricultural machine 100. At this time, the control device 180 may cause the buzzer 220 to emit a warning sound or transmit a warning signal to the terminal device 400 or the management device 600. When it is possible to avoid the obstacle, the control device 180 may control the drive device 240 so as to avoid the obstacle.

[0095] The agricultural machine 100 in this embodiment is capable of autonomous driving not only in a field but also outside the field. Outside the field, the control device 180 can detect an object (e.g., another vehicle or a pedestrian) that is present at a position relatively far from the agricultural machine 100 based on data output from the camera 120 or the LiDAR sensor 140. The control device 180 can realize autonomous driving on roads outside the field by generating a local route so as to avoid the detected object and performing speed control and steering control along the local route.

[0096] In this manner, the agricultural machine 100 in this embodiment can automatically travel inside and outside the field without being manned. FIG. 10 is a diagram that illustrates an example of a situation in which a plurality of agricultural machines 100 are automatically traveling inside the field 70 and on the road 76 outside the field 70. The storage device 170 records an environmental map and a target route of an area including a plurality of fields and roads in the vicinity. The environmental map and the target route can be generated by the management device 600 or the ECU 185. When the agricultural machine 100 travels on a road, the agricultural machine 100 travels along the target route while sensing the surroundings using the sensing devices such as the camera 120 and the LiDAR sensor 140 with the implement 300 raised. During travel, the control device 180 sequentially generates local routes and causes the agricultural machine 100 to travel along the local routes. This allows the agricultural machine 100 to travel automatically while avoiding obstacles. The target route may be changed during travel depending on the situation.

[0097] [2-2. Creating a work plan] The agricultural machine 100 in this embodiment automatically moves between fields and performs farm work in each field according to the work plan generated by the management device 600. The work plan includes information on one or more farm works to be performed by the agricultural machine 100. For example, the work plan includes one or more farm works to be performed by the agricultural machine 100 and information on the field on which each farm work is performed. The work plan may include a plurality of farm works to be performed by the agricultural machine 100 over a plurality of work days and information on the field on which each farm work is performed. More specifically, the work plan may be a database including information on a work schedule indicating which farm work is performed by which agricultural machine in which field at which time for each work day. An example of a case where the work plan is data on such a work schedule will be described below. The work plan may be created by the processor 660 of the management device 600 based on information input by a user using the terminal device 400. An example of a method for creating a work schedule will be described below.

[0098] Fig. 11 is a diagram showing an example of a setting screen 760 displayed on the display device 430 of the terminal device 400. In response to a user's operation using the input device 420, the processor 460 of the terminal device 400 starts up application software for creating a schedule, and causes the display device 430 to display a setting screen 760 as shown in Fig. 11. The user can input information required for creating a work schedule on this setting screen 760.

[0099] 11 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. 11 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 420. 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 650 of the management device 600. A cultivation plan is a plan for which crop is to be cultivated (i.e. planted) in which field. A cultivation plan is made by a manager who manages multiple fields before planting crops in the fields. In the example of FIG. 11, a cultivation plan for the rice variety "Koshihibuki" is selected. In this case, the contents set on the setting screen 760 are associated with the cultivation plan for "Koshihibuki".

[0102] The fields in the map are displayed in the field selection section 764. The user can select any field from the displayed fields. In the example of FIG. 11, 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. 11, "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. 11, "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 420. 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 section 768 is a section for setting the agricultural machine to be used in the agricultural work. For example, the type or model of the agricultural machine registered in advance by the management device 600, and the type or model of the usable implement, etc., may be displayed in the machine selection section 768. The user can select a specific machine from the displayed machines. In the example of FIG. 11, 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 management device 600. 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 420 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 490 of the terminal device 400 transmits the entered information to the management device 600. The processor 660 of the management device 600 stores the received information in the storage device 650. The processor 660 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 650.

[0110] The information on agricultural work managed by the management device 600 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 agricultural work other than the agricultural work shown in FIG. 11 may be set.

[0111] FIG. 12 is a diagram showing an example of a schedule of farm work created by the management device 600. The schedule in this example includes information indicating the date and time when the farm work is performed, the field, the work content, and the implement to be used for each registered agricultural machine. In addition to the information shown in FIG. 12, the schedule may include other information according to the work content, such as the type of pesticide or the amount of pesticide to be sprayed. In accordance with such a schedule, the processor 660 of the management device 600 issues instructions for the farm work to the agricultural machine 100. The schedule may be downloaded by the control device 180 of the agricultural machine 100 and also stored in the storage device 170. In this case, the control device 180 may autonomously start operating in accordance with the schedule stored in the storage device 170.

[0112] In this embodiment, the work plan is created by the management device 600, but the work plan may be created by another device. For example, the processor 460 of the terminal device 400 or the control device 180 in the agricultural machine 100 may have a function of generating or updating the work plan.

[0113] [2-3. Route planning] Next, an example of the operation of route planning in this embodiment will be described in more detail.

[0114] The management device 600 in this embodiment functions as a path planning system for the agricultural machine 100. The storage device 650 stores a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations. The processor 660 of the management device 600 functions as a processing device that generates a path (the above-mentioned global path) of the agricultural machine 100 on the map. The management device 600 generates a path of the agricultural machine 100 on each work day based on a work plan. For example, the management device 600 generates a path between fields and a path connecting the fields and waiting locations on each work day according to the schedule of farm work on each work day indicated by the work plan.

[0115] FIG. 13 is a diagram showing an example of a map referred to during route planning. This map is a two-dimensional digital map, and may be generated by the management device 600 or another device. The map shown in FIG. 13 includes information on the positions (e.g., latitude and longitude) of multiple fields 70 in which the agricultural machine 100 performs farm work and each point on roads 76 in the surrounding areas. This map also includes position information of multiple waiting locations 90 where the agricultural machine 100 temporarily waits. The waiting locations 90 are, for example, registered in advance by an administrator of the agricultural management system and recorded in the storage device 650. A map such as that shown in FIG. 13 may be created for the entire area in which the agricultural machine 100 can travel. Note that although the map shown in FIG. 13 is a two-dimensional map, a three-dimensional map may be used for route planning.

[0116] The waiting place 90 may be, for example, a place used in common by a plurality of agricultural machines. The waiting place 90 may be, for example, a facility such as a parking lot or a garage managed and operated by an operator who operates an agricultural management system, an agricultural cooperative, or a city, town, or village. If the waiting place 90 is a facility that is locked at night, the theft of the agricultural machine parked in the waiting place 90 can be prevented. A part of any of the fields may be used as the waiting place 90. Although three waiting places 90 are illustrated in FIG. 13, two or four or more waiting places 90 may be provided.

[0117] Before agricultural work begins on each work day, the management device 600 reads out from the storage device 650 a map of an area including the field where agricultural work is scheduled to be performed on that work day, and generates a route (global route) for the agricultural machine 100 based on the map.

[0118] FIG. 14 is a diagram showing an example of a route to be generated. FIG. 14 illustrates a group of fields 70A where farm work is performed on a certain work day, a group of fields 70B where farm work is performed on the next work day, and a group of fields 70C where farm work is performed on the next work day. FIG. 14 also illustrates three waiting locations 90A, 90B, and 90C where the agricultural machine 100 waits. In FIG. 14, for the sake of convenience, the groups of fields 70A, 70B, and 70C and the waiting locations 90A, 90B, and 90C are depicted as being relatively close to each other. In reality, the mutual distances between the groups of fields 70A, 70B, and 70C and the waiting locations 90A, 90B, and 90C may be long, for example, 500 m to 10 km or more.

[0119] In FIG. 14, among the routes generated by the management device 600, routes generated on the road 76 are indicated by arrows. Routes generated within the field are omitted from the illustration. Routes within the field are generated separately from routes outside the field, as described with reference to FIG. 7. The management device 600 generates an overall global route by connecting routes outside the field and routes within the field. The solid arrows in FIG. 14 indicate an example of a route of the agricultural machine 100 on a certain work day. The dashed arrows indicate an example of a route of the agricultural machine 100 on the next work day.

[0120] In the example shown in FIG. 14, the management device 600 generates a route starting from the standby location 90A and passing through the group of fields 70A in order to the standby location 90B as a route for one work day. This is because the standby location closest to the group of fields 70B in which agricultural work is scheduled for the next work day is the standby location 90B. The management device 600 generates a route starting from the standby location 90B and passing through the group of fields 70B in order to the standby location 90C as a route for the next work day. This is because the standby location closest to the group of fields 70C in which agricultural work is scheduled for the further next work day is the standby location 90C. In this way, the management device 600 generates a route from the field in which agricultural work is last performed on each work day to the standby location that is the shortest on average distance from the group of fields in which agricultural work is scheduled for the next work day. The agricultural machine 100 travels along the generated route.

[0121] In the example shown in FIG. 14, on a certain work day, the agricultural machine 100 departs from the standby location 90A, visits the group of fields 70A in which agricultural work is scheduled for that day in order, and performs the agricultural work indicated in the schedule in each field. In each field, the agricultural machine 100 performs the agricultural work while automatically traveling along a work travel route, for example, by the method described with reference to FIGS. 7 to 9D. When agricultural work is completed in one field, the agricultural machine 100 enters the next field and performs agricultural work in the same manner. In this way, when agricultural work is completed in the last field of the day, the agricultural machine 100 leaves the standby location 90A and visits the group of fields 70A in order, and performs the agricultural work indicated in the schedule in each field. 90B The agricultural machine 100 moves to a waiting area until the next work day. 90B On the next work day, the agricultural machine 100 waits at the waiting location. 90B The agricultural machine 100 departs from the farm 70B, visits the group of farm fields 70B in which farm work is scheduled for that day in order, and performs the farm work indicated in the schedule in each farm field. When the farm work in the last farm field of the day is completed, the agricultural machine 100 returns to the waiting area 90C and then move to the waiting area until the next work day. 90C Similarly, on the next work day, the agricultural machine 100 waits at the waiting location. 90CThe agricultural machine 100 departs from the farm, performs agricultural work in the group of fields 70C in order, and then heads to a prescribed waiting location. Through such operations, the agricultural machine 100 can be moved efficiently along an optimal route according to a schedule, and the scheduled agricultural work can be completed. By providing multiple waiting locations as in this example, the time and fuel consumption required for the agricultural machine 100 to move can be reduced compared to a case in which the agricultural machine 100 returns to the same location (e.g., a storage shed) every time. As a result, the efficiency of a series of agricultural works over multiple work days can be improved.

[0122] Next, an example of a method for generating a global route will be described in more detail with reference to FIG. 15. FIG. 15 is a diagram showing an example of a global route generated on a certain work day. In this example, the management device 600 generates a route from a waiting place 90 to the waiting place 90 via four fields 70. The management device 600 generates a first route 30A in the field 70, and generates a second route 30B on a road 76 around the field 70. In FIG. 15, the first route 30A is shown only for the lower left field 70, and the first routes in the other fields 70 are omitted.

[0123] The management device 600 generates a first path 30A as shown by a solid arrow in FIG. 15 inside each field 70 on the map. The management device 600 generates the first path 30A based on a setting made in advance by a user, as described with reference to FIG. 7. The first path 30A may be generated so as to cover the entire working area 72 while repeating a round trip from a start point S to an end point G. The interval between the rows in the first path 30A may be determined in consideration of the width and turning performance of the agricultural machine 100 and the implement 300. The management device 600 generates the first path 30A in the field 70 based on information on the registered field 70. For example, the management device 600 generates the first path 30A based on information such as the outer shape and area of ​​the registered field 70, and the range of the working area 73 and the headland 74 set by the user. The first path 30A may be generated for each field 70, for example, before the agricultural machine 100 starts operating under automatic driving conditions.

[0124] The management device 600 further 90 A route from the field 70 to the field 70 and a route connecting a plurality of fields 70 are generated as the second route 30B. In the example of FIG. 15, the management device 600 generates the second route 30B at the entrance of the field 70 in addition to the road 76, and generates a third route 30C connecting the second route 30B generated at the entrance and the start point S of the first route 30A. The management device 600 also generates the second route 30B at the exit of the field 70 in addition to the road 76, and generates a fourth route 30D connecting the second route 30B generated at the exit and the end point G of the first route 30A. In the example shown in FIG. 15, the entrance and exit of the field 70 are common, and hereinafter, this is referred to as the entrance and exit 71. Each field 70 may have a plurality of entrances and exits 71, and the entrance and exit may be provided at different locations. The environmental map includes, in addition to the position information of each field 70, position information of the entrance / exit 71 (or the entrance and exit) of each field 70. The management device 600 can generate the second route 30B based on the position information. The management device 600 generates the third route 30C and the fourth route 30D in an area of ​​the field 70 excluding an area where farm work has already been performed. This makes it possible to prevent the agricultural machine 100 from trampling over a work area 72 where farm work has already been performed.

[0125] The management device 600 can generate all routes for a predetermined period (e.g., half a day, one day, three days, etc.) by executing the above-mentioned route generation process for each farm field 70 and the roads 76 in the vicinity thereof. For example, on each work day, the management device 600 may generate all routes necessary to complete all farm work scheduled for that work day before the agricultural machine 100 starts traveling. Alternatively, the management device 600 may first generate a route for performing part of the farm work scheduled for each work day, and after that part of the farm work is completed, generate a route for performing the remaining farm work on that work day. Furthermore, the management device 600 may generate all routes necessary to complete all farm work scheduled for multiple work days at once. The management device 600 may change the route once generated according to various conditions such as the progress of the farm work, weather conditions, traffic conditions, or the condition of the farm roads.

[0126] The management device 600 generates the second route 30B along the road 76 according to a predetermined route generation algorithm. The management device 600 may use, for example, a Dijkstra algorithm or an A * The second route 30B can be generated according to a route generation algorithm based on a search algorithm such as a search ...

[0127] Through the above operations, the management device 600 can generate a global route from the starting point of the agricultural machine 100 to the destination point via one or more fields 70. The management device 600 may generate a route for the agricultural machine 100 for each predetermined period (one day, half a day, three hours, etc.), for example. The management device 600 generates a global route for the agricultural machine 100 so that the agricultural machine 100 performs farm work in a specified field 70 at a specified time according to a schedule created in advance. Information on the generated global route is transmitted to the agricultural machine 100 and recorded in the storage device 170. The ECU 184, which performs automatic driving control, controls the ECUs 181 and 182 so that the agricultural machine 100 travels along the global route. As a result, the agricultural machine 100 starts traveling along the global route.

[0128] When the agricultural machine 100 is traveling outside the field, an obstacle such as a pedestrian or another vehicle may be present on or near the global route. In order to prevent the agricultural machine 100 from colliding with the obstacle, the ECU 185 in the control device 180 sequentially generates a local route capable of avoiding the obstacle while the agricultural machine 100 is traveling. The ECU 185 generates the local route based on sensing data acquired by sensing devices (such as the obstacle sensor 130, the LiDAR sensor 140, and the camera 120) provided in the agricultural machine 100 while the agricultural machine 100 is traveling. The local route is defined by a plurality of waypoints along a part of the global route. The ECU 185 determines whether or not an obstacle is present on or near the path of the agricultural machine 100 based on the sensing data. If such an obstacle is present, the ECU 185 sets a plurality of waypoints to avoid the obstacle and generates a local route. If no obstacles exist, the ECU 185 generates a local path that is approximately parallel to the global path. Information indicating the generated local path is sent to the ECU 184 for automatic driving control. The ECU 184 controls the ECU 181 and the ECU 182 so that the agricultural machine 100 travels along the local path. This allows the agricultural machine 100 to travel while avoiding obstacles. Note that, if there are traffic lights on the road on which the agricultural machine 100 travels, the agricultural machine 100 may perform an operation such as recognizing the traffic light based on an image captured by the camera 120, stopping at a red light, and starting at a green light.

[0129] FIG. 16 is a diagram showing an example of a global route and a local route generated in an environment where an obstacle exists. In FIG. 16, the global route 30 is illustrated by a dotted arrow, and the local route 32 generated sequentially during traveling is illustrated by a solid arrow. The global route 30 is defined by a plurality of waypoints 30p. The local route 32 is defined by a plurality of waypoints 32p set at intervals shorter than the waypoints 30p. Each waypoint has, for example, position and orientation information. The management device 600 generates the global route 30 by setting the plurality of waypoints 30p at a plurality of locations including an intersection of the road 76. The intervals between the waypoints 30p may be relatively long, for example, about several meters to several tens of meters. The ECU 185 generates the local route 32 by setting the plurality of waypoints 32p based on the sensing data output from the sensing device while the agricultural machine 100 is traveling. The interval between the waypoints 32p on the local path 32 is shorter than the interval between the waypoints 30p on the global path 30. The interval between the waypoints 32p may be, for example, about several tens of centimeters (cm) to several meters (m). The local path 32 is generated within a relatively small range (for example, a range of about several meters) starting from the position of the agricultural machine 100. FIG. 16 illustrates an example of a series of local paths 32 generated while the agricultural machine 100 travels along a road 76 between fields 70 and turns left at an intersection. While the agricultural machine 100 is moving, the ECU 185 repeats the operation of generating a local path from the position of the agricultural machine 100 estimated by the ECU 184 to a point, for example, several meters ahead. The agricultural machine 100 travels along the local paths that are generated successively.

[0130] In the example shown in FIG. 16, an obstacle 40 (e.g., a person) is present ahead of the agricultural machine 100. In FIG. 16, an example of a range sensed by a sensing device such as the camera 120, the obstacle sensor 130, or the LiDAR sensor 140 mounted on the agricultural machine 100 is illustrated as a sector shape. In such a situation, the ECU 185 generates a local path 32 so as to avoid the obstacle 40 detected based on the sensing data. The ECU 185 determines whether there is a possibility that the agricultural machine 100 will collide with the obstacle 40 based on, for example, the sensing data and the width of the agricultural machine 100 (including the width of the implement if an implement is attached). If there is a possibility that the agricultural machine 100 will collide with the obstacle 40, the ECU 185 sets a plurality of waypoints 32p so as to avoid the obstacle 40, and generates the local path 32. The ECU 185 may recognize not only the presence or absence of the obstacle 40 but also the state of the road surface (for example, mud, depressions, etc.) based on the sensing data, and when a portion where it is difficult to travel is detected, generate the local route 32 so as to avoid such a portion. The agricultural machine 100 travels along the local route 32. When the obstacle 40 cannot be avoided no matter how the local route 32 is set, the control device 180 may stop the agricultural machine 100. At this time, the control device 180 may send a warning signal to the terminal device 400 or the management device 600 to call the attention of the supervisor. After stopping, when it is recognized that the obstacle 40 has moved and there is no longer a risk of collision, the control device 180 may resume the travel of the agricultural machine 100.

[0131] [2-4. Determining waiting locations according to the situation] Next, a more detailed example of a method for determining a waiting location for an agricultural machine will be described. In the following description, an example will be described in which a plurality of agricultural machines including the agricultural machine 100 perform automatic driving within a relatively wide area and perform agricultural work automatically in a plurality of fields in the area. The agricultural machine may perform automatic driving within a wide area including a plurality of areas with different weather conditions, for example. Such an agricultural machine may be used for a service that performs agricultural work on behalf of a user in a plurality of fields in each area.

[0132] FIG. 17 is a diagram showing an example of a map of an area where an agricultural machine performs farm work. 17 The map shown in is an explanatory map created by processing an aerial photograph created by the Geospatial Information Authority of Japan. The map actually used is not necessarily based on the aerial photograph created by the Geospatial Information Authority of Japan, and may have any data format. The map is generated for the entire area where the agricultural machine travels, and is recorded in the storage device 650.

[0133] The map shown in FIG. 17 includes information on a plurality of fields 70, a plurality of waiting locations 90, and the positions (e.g., latitude and longitude) of each point on the roads 76 surrounding the fields 70. On the map shown in FIG. 17, the positions of the waiting locations 90 are indicated by triangle marks. The waiting locations 90 may be facilities such as warehouses, garages, or parking lots managed by an operator who operates the agricultural management system. A part of any of the fields may be used as the waiting locations 90.

[0134] Each agricultural machine operates automatically under the management of the management device 600 and performs the agricultural work assigned to it. The map is created in advance so as to cover the entire area in which all agricultural machines operated under the management of the management device 600 move. Each agricultural machine may be, for example, a tractor such as the above-mentioned agricultural machine 100, or may be another type of agricultural mobile body such as a rice transplanter, a combine harvester, a vegetable harvester, or an agricultural drone.

[0135] Five waiting locations 90 are illustrated in FIG. 17. The waiting locations 90 may be set at intervals of, for example, several hundred meters to several kilometers. The number and distribution of the waiting locations 90 are determined according to various conditions such as the number of agricultural machines in operation, the distribution of the fields 70, the size of the area in which the agricultural machines are operated, and the road traffic environment. The waiting locations 90 are registered, for example, by an administrator of the agricultural management system. Position information of each waiting location 90 and information indicating the field group corresponding to each waiting location 90 are recorded in advance in the storage device 650.

[0136] The management device 600 in this embodiment determines a specific waiting location to which each agricultural machine moves after performing the last agricultural work on each work day from among the multiple waiting locations 90, based on information indicating at least one of the growth status of crops in the multiple farm fields 70, the progress status of farm work, the planting status, and the weather status. The management device 600 generates a route from the farm field in which the last agricultural work is performed on that work day to the specific waiting location. This makes it possible to appropriately select the specific waiting location to which the agricultural machine moves after performing the last agricultural work on each work day in accordance with various conditions, such as the growth status of crops, the progress status of farm work, the planting status, or the weather status.

[0137] Crop growth conditions, agricultural work progress, planting conditions, or weather conditions affect work plans. For example, if crop growth or agricultural work progress is faster or slower than planned, it becomes necessary to review the work plan. Alternatively, if the originally planned agricultural work cannot be carried out due to bad weather, it becomes necessary to review the subsequent work plan. In addition, if the optimal timing of agricultural work differs depending on the type of crop, it may become necessary to adjust the work plan according to the type of crop being planted.

[0138] In preparation for such a case, the management device 600 in this embodiment monitors at least one of the growth status of the crops in each field, the progress status of the farm work, the planting status, and the weather status. When generating a route for the agricultural machine on each work day, the management device 600 determines a waiting location after the work on that work day is completed based on at least one of the growth status of the crops, the progress status of the farm work, the planting status, and the weather status. For example, the management device 600 determines a distribution of work days in the fields located around each of the multiple waiting locations based on at least one of the growth status of the crops, the progress status of the farm work, the planting status, and the weather status. Based on the determined distribution of work days, the management device 600 determines a specific waiting location to which the agricultural machine will head after performing the last farm work on each work day. For example, when determining a specific waiting location for each work day, the management device 600 may identify a group of fields where agricultural work will be performed on the next work day based on the distribution of work days in the fields located around each waiting location, and determine the waiting location closest to the group of fields as the specific waiting location. Here, the waiting location closest to the group of fields means, among multiple waiting locations, the waiting location with the smallest average straight-line distance or travel distance from multiple fields included in the group of fields. Such an operation can shorten the travel distance of the agricultural machine, resulting in effects such as shortening travel time and reducing fuel consumption.

[0139] In this embodiment, data (e.g., a table) indicating the correspondence between a plurality of waiting locations and a plurality of fields is pre-recorded in the storage device 650. Fig. 18 is a diagram showing an example of a table indicating an example of the correspondence between waiting locations and fields. In this table, of 100 fields (fields #1 to #100), fields #1 to #30 are associated with waiting location A, fields #31 to #60 are associated with waiting location B, and fields #61 to #100 are associated with waiting location C. In the following description, when a certain field is associated with a certain waiting location, the field is said to "belong to" the waiting location. A table such as that shown in FIG. 18 may be generated, for example, when the standby location closest to fields #1-#30 is standby location A, the standby location closest to fields #31-#60 is standby location B, and the standby location closest to fields #61-#100 is standby location C. By referring to such a table, the management device 600 can determine the standby location closest to the fields where agricultural work scheduled for the next work day will be performed. Note that the table shown in FIG. 18 is an example, and the number of standby locations is not limited to three, and may be four or more. Furthermore, the number of fields associated with each standby location is arbitrary and is not limited to the number shown in the figure. This also applies to the subsequent figures.

[0140] FIG. 19 is a diagram showing an example of a map clearly indicating the correspondence between waiting places and fields. A group of fields 70A belonging to a waiting place 90A, a group of fields 70B belonging to a waiting place 90B, and a group of fields 70C belonging to a waiting place 90C are shown in different patterns. In this way, each of the fields in which farm work is automatically performed by the agricultural machine 100 is associated with one waiting place that is relatively close to the field. Note that each field does not necessarily need to be associated with the nearest waiting place. There are cases where it is better to group neighboring fields into the same group according to attributes such as the crop planted or the owner. In such cases, a group of fields, rather than each individual field, may be associated with one waiting place. In such a case, some of the fields in the group may be associated with a waiting place different from the nearest waiting place (for example, the second nearest waiting place).

[0141] The management device 600 in this embodiment generates a work plan for each agricultural machine, for example, as illustrated in FIG. 12, based on data acquired from one or more users. The management device 600 determines a route for each agricultural machine on each work day based on the work plan, and instructs each agricultural machine to move along the route to perform agricultural work. The work plan defines the distribution of work days in a plurality of fields in which each agricultural machine performs agricultural work. The management device 600 determines a specific waiting place to which each agricultural machine moves after finishing agricultural work on each work day according to the distribution of work days indicated by the work plan. In determining the specific waiting place, the management device 600 refers to information (e.g., data such as a table) indicating various conditions such as the growth status of crops in each field, the progress status of agricultural work, the planting status, or the weather status. The management device 600 updates the work plan according to those conditions, and determines the waiting place and route for the agricultural machine on each work day according to the distribution of work days indicated by the updated work plan. The management device 600 may check these situations, for example, for each work day or at regular intervals, modify the work plan according to the situation, and determine the waiting location for each work day according to the modified work plan.

[0142] A specific example of a method for determining a waiting location depending on the growth status of crops, the progress of agricultural work, the planting status, or the weather conditions will be described below.

[0143] FIG. 20 is a diagram showing an example of a table for managing the growth status of crops in each field. This table includes information on the growth status of crops in each field (for example, average plant height) and the scheduled work date. Data on the growth status of crops can be acquired by a mobile object such as a drone equipped with a LiDAR sensor or a camera. The growth status is not limited to the plant height of the crop, and may be expressed by other indices such as a vegetation index. The management device 600 determines the scheduled work date for agricultural work such as harvesting in each field according to the growth status of crops in each field, and writes it in the table. For example, the management device 600 determines the work date for each field so that work is performed earlier in a field where crops grow faster. In the example shown in FIG. 20, crops grow relatively faster in fields #31 to #60 belonging to standby location B, and crops grow relatively slower in fields 61 to 100 belonging to standby location C. In such a case, the management device 600 advances the work days for fields #31-#60 belonging to waiting location B, and delays the work days for fields #61-#100 belonging to waiting location C. For ease of explanation, the table shown in FIG. 20 includes information indicating which waiting location each field corresponds to, but this information may be omitted. As shown in FIG. 18, if the correspondence between the fields and waiting locations is recorded in a different table, the table shown in FIG. 20 does not need to include information on the waiting locations. This also applies to the subsequent figures.

[0144] FIG. 21 is a table showing an example of the distribution of work days of a plurality of fields in the growth conditions shown in FIG. 20. The management device 600 counts up, for each work day, the number of fields in which agricultural work is performed among the fields belonging to each waiting location. For example, for each work day, the management device 600 determines the waiting location with the largest number of fields in the vicinity in which agricultural work is performed as the specific waiting location to which the agricultural machine will head after the last agricultural work of the day is completed. In the example of FIG. 21, the management device 600 determines, as the specific waiting location, waiting location B from September 1st to September 5th, waiting location A from September 6th to September 10th, and waiting location C from September 11th to September 15th.

[0145] 20 and 21, the management device 600 updates the distribution of work days according to the growth status of crops in multiple fields, and determines a specific waiting location for each work day based on the updated distribution of work days. This makes it possible to set work days for each field so that agricultural work is carried out in order of crop growth, for example, starting with the field with the fastest crop growth, and also shortens the total travel distance of agricultural machinery, making it possible to carry out agricultural work more efficiently.

[0146] FIG. 22 is a diagram showing an example of a table for managing the progress of farm work in each field. This table includes information on the progress and scheduled work date of a specific farm work in each field. The progress can be expressed, for example, by status information indicating whether the farm work has already been completed at that time. In the example shown in FIG. 22, the farm work is plowing, and the progress is expressed by a status such as "not plowing" or "completed plowing". In this example, the management device 600 determines the scheduled work date for a field whose progress status is "not plowing" and writes the information in the table. The management device 600 periodically (for example, every day) determines the work date from the next day onwards for a field where plowing has not been completed, and updates the table. In the example of FIG. 22, work in fields #61 to #100 close to the waiting location C has already been completed. In such a case, for the remaining fields where work has not been completed, the work days may be determined so that agricultural work is carried out in order, for example, starting with the field closest to the location of the agricultural machine at that time. For a field where the agricultural machine has completed plowing, the progress status is changed from "not plowing" to "plowing completed." The progress status may be changed automatically, for example, based on information such as a work completion notification sent from the agricultural machine. Alternatively, the work may be determined to be completed when it is detected that the agricultural machine has finished work and left the field based on the location information of the agricultural machine, and the progress status may be changed.

[0147] FIG. 23 is a diagram showing an example of the distribution of work days of a plurality of fields corresponding to the example shown in FIG. 22. The management device 600 determines, for each work day, the waiting place with the largest number of fields around which farm work is performed as the specific waiting place. In this example, since farm work is scheduled only in the fields belonging to waiting place B on April 19 and April 20, waiting place B is determined as the specific waiting place. Since farm work is scheduled only in the fields belonging to waiting place A on April 21 and April 22, waiting place A is determined as the specific waiting place. Even after the distribution of work days is determined in this way, there are cases where the work does not proceed as planned and the progress of the work is delayed from the schedule. In that case, the management device 600 updates the progress status and corrects the work days in each field based on the updated progress status.

[0148] 22 and 23, the management device 600 updates the distribution of work days according to the progress of agricultural work in multiple fields, and determines a specific waiting location for each work day based on the updated distribution of work days. This makes it possible to determine appropriate waiting locations and optimize route planning according to the progress of agricultural work, for example. This makes it possible to shorten the total travel distance of the agricultural machine and perform agricultural work more efficiently.

[0149] FIG. 24 is a diagram showing an example of the correspondence between the planting information and the number of fields belonging to each waiting place. The planting information indicates, for example, the variety of the crop to be planted. In the example of FIG. 24, varieties of rice such as "Koshihikari A", "Koshihikari B", and "Hinohikari" are recorded as the planting information. In such a case, the management device 600 determines the work days for each field so that agricultural work in the fields where the same variety of crop is planted is performed intensively in a short period of time. In the example shown in FIG. 24, the fields where "Koshihikari A" is planted are concentrated around waiting place B, the fields where "Koshihikari B" is planted are concentrated around waiting place A, and the fields where "Hinohikari" is planted are concentrated around waiting place C. It is assumed that agricultural work such as plowing or rice planting is performed in the order of "Koshihikari A", "Koshihikari B", and "Hinohikari". In this case, the management device 600 advances the work day in the fields around standby location B, then sets the work day in the fields around standby location A, and delays the work day in the fields around standby location C.

[0150] Fig. 25 is a diagram showing the distribution of work days for a plurality of fields corresponding to the example shown in Fig. 24. In this example, the management device 600 determines the work days for each field such that the agricultural machine moves in the order of the group of fields belonging to standby location B, the group of fields belonging to standby location A, and the group of fields belonging to standby location C. As a result, the management device 600 determines standby location B as the specific standby location from April 19 to April 21, standby location A as the specific standby location from April 22 to April 27, and standby location C as the specific standby location from April 28 to May 3.

[0151] 24 and 25, the management device 600 updates the distribution of work days according to the cultivation conditions in multiple fields, and determines a specific waiting location for each work day based on the updated distribution of work days. This makes it possible to determine an appropriate waiting location and optimize the route plan when, for example, agricultural work needs to be performed intensively in a short period of time in fields where the same variety of crop is cultivated. As a result, the total travel distance of the agricultural machine can be shortened, and agricultural work can be performed more efficiently.

[0152] FIG. 26 is a diagram showing an example of the relationship between the weather conditions on each work day and a specific waiting place. In this example, waiting places A, B, and C are separated from each other to the extent that the weather conditions are different. The management device 600 acquires weather data for the locations where each waiting place is located, for example, from a server computer that distributes weather data, via a network such as the Internet. In the example of FIG. 26, it is expected that the weather will continue to be fine only at the waiting place B for several days from April 19, and that it will rain at least on one of the days at each of the waiting places A and C. After that, it will be fine at the waiting places A and B, and the weather will gradually improve from the rain at the waiting place C. In such a case, the management device 600 determines the work days for each field so that farm work is first performed in the field around the waiting place B, then in the field around the waiting place A, and then in the field around the waiting place C.

[0153] Fig. 27 is a diagram showing an example of days when farm work (plowing in this example) will be performed in the example shown in Fig. 26, and the specific waiting locations that will be selected. In this example, from April 19th to April 21st, plowing will be performed in the fields surrounding waiting location B, so waiting location B is selected as the specific waiting location. From April 22nd to April 24th, plowing will be performed in the fields surrounding waiting location A, so waiting location A is selected as the specific waiting location. From April 25th to April 26th, plowing will be performed in the fields surrounding waiting location C, so waiting location C is selected as the specific waiting location.

[0154] Thus, in the examples shown in Figs. 26 and 27, the management device 600 updates the distribution of work days according to the weather conditions at the locations where each of the multiple waiting locations is located, and determines a specific waiting location for each work day based on the updated distribution of work days. This makes it possible to avoid agricultural work in locations with bad weather, for example, and to prioritize agricultural work in locations with good weather. Even if the originally planned schedule needs to be changed due to worsening weather, it is possible to determine an appropriate waiting location and optimize the route plan. This makes it possible to perform agricultural work by agricultural machinery more efficiently.

[0155] In each example shown in Fig. 20 to Fig. 27, the management device 600 determines a specific waiting location according to any one of the growth status of the crops in each field, the progress status of the farm work, the planting status, and the weather status. Instead of such an operation, the management device 600 may determine a specific waiting location based on any two or more of the growth status of the crops, the progress status of the farm work, the planting status, and the weather status. By considering these conditions in a composite manner, it becomes possible to plan a route more appropriate to the situation, and the operation of the agricultural machine can be made more efficient.

[0156] As described above, the management device 600 in this embodiment determines the distribution of work days in the fields located around each waiting location based on at least one of the growth status of crops in the multiple fields, the progress status of agricultural work, the cultivation status, and the weather status. The management device 600 determines a specific waiting location to which the agricultural machine moves after performing the last agricultural work on each working day based on the distribution of work days. For example, when determining the specific waiting location for each working day, the management device 600 may identify a group of fields in which agricultural work will be performed on the next working day based on the distribution of work days, and determine the waiting location closest to the group of fields as the specific waiting location. Alternatively, when determining the specific waiting location for each working day, the management device 600 may determine the waiting location closest to the first field in which the last agricultural work will be performed on that working day as the specific waiting location. That is, the management device 600 may determine, as the specific waiting location, the waiting location closest to the first field where the last farm work is performed on that work day, or the waiting location closest to the second field where the first farm work is performed on the next work day identified from the distribution of work days. If the waiting location closest to the first field and the waiting location closest to the second field are different, the management device 600 may determine, as the specific waiting location, the waiting location closest to the first field or the waiting location closest to the second field, whichever has the shorter travel distance when traveling from the first field to the second field via the waiting location. This can reduce the travel distance and travel time between the field and the waiting location, enabling efficient operation while reducing fuel consumption.

[0157] Fig. 28 is a flowchart showing an example of the operation by the management device 600 in this embodiment. By executing the operations of steps S141 to S144 shown in Fig. 28, the management device 600 performs global path planning for the agricultural machine on a certain work day, and can cause the agricultural machine to perform automatic driving. The operation of the path planning shown in Fig. 28 can be performed at any timing before the agricultural machine starts to move. The path planning may be performed immediately before the agricultural machine starts to move, or may be performed on or before the day before the agricultural machine starts to move.

[0158] In step S141, the management device 600 acquires information indicating at least one of the growth status of crops in each field, the progress status of farm work, the cultivation status, and the weather status. The information may be managed by the management device 600 itself, or may be managed by a device different from the management device 600. The growth status of crops, the progress status of farm work, the cultivation status, and the weather status may be managed in a distributed manner by a plurality of devices. The information acquired here may be, for example, information as shown in FIG. 20, FIG. 22, FIG. 24, and / or FIG. 26.

[0159] In step S142, the management device 600 determines a specific waiting location to which the agricultural machine will move after performing the final agricultural work on the work day. For example, the management device 600 may determine a first group of fields in which agricultural work will be performed on the work day based on the information acquired in step S141, and determine a first waiting location closest to the first group of fields as the specific waiting location. Alternatively, the management device 600 may determine a second group of fields in which agricultural work will be performed on the next work day based on the information acquired in step S141, and determine a second waiting location closest to the second group of fields as the specific waiting location. If the first waiting location and the second waiting location are different, the management device 600 may select, as the specific waiting location, one of the first waiting location and the second waiting location, whichever provides the shorter moving distance of the agricultural machine.

[0160] In step S143, the management device 600 generates a route for the work day. That is, the management device 600 generates a global route from the waiting location, which is the starting point for the work day, to the waiting location determined in step S142, via one or more farm fields where agricultural work will be performed on that day. This route can be determined, for example, so as to minimize the total travel distance of the agricultural machine.

[0161] In step S144, the management device 600 transmits a movement command including information on the generated route to the agricultural machine. In addition to the route information, this movement command may also include, for example, schedule information indicating at what time and in which field the agricultural work should be performed. The control device of the agricultural machine In response to this movement command, the agricultural machine starts automatic operation at a specified time and moves along a specified route. The agricultural machine moves while generating a local route that can avoid obstacles, for example, by the method described with reference to Fig. 16.

[0162] Through the above operations, the management device 600 can generate a route for the agricultural machine on a certain work day. For example, the management device 600 can generate a route for the agricultural machine on each work day and instruct the agricultural machine to move by executing the operations shown in FIG. 28 for each work day. Note that the management device 600 may once send a movement command to the agricultural machine, and then perform the operations shown in FIG. 28 again to correct the route or waiting location. For example, a sudden change in weather may occur while the agricultural machine is moving, making it impossible to carry out the work that was originally scheduled. Even in such a case, the waiting location and route can be appropriately changed by performing the operations shown in FIG. 28 (for example, at regular intervals) after the movement has started.

[0163] The management device 600 in the above embodiment generates routes for the multiple agricultural machines on each work day. In this case, the management device 600 determines a specific waiting location to which each agricultural machine moves after performing the last agricultural work on each work day from among the multiple waiting locations based on information indicating at least one of the growth status of crops in the multiple fields, the progress status of agricultural work in the multiple fields, the planting status in the multiple fields, and the weather conditions. The management device 600 generates a route from the field where the last agricultural work is performed to the specific waiting location for each agricultural machine. This makes it possible to determine an optimal route that minimizes the total travel distance for each agricultural machine. Note that the number of agricultural machines is not limited to multiple, and may be single.

[0164] (Embodiment 2) Next, a second embodiment of the present disclosure will be described. In the following description, differences from the first embodiment will be mainly described, and descriptions of overlapping points will be omitted.

[0165] FIG. 29 is a diagram for explaining an overview of an agricultural management system according to a second exemplary embodiment of the present disclosure. The agricultural management system shown in FIG. 29 includes a plurality of agricultural machines 100 and a management device 600. FIG. 29 also shows a plurality of terminal devices 400 used by a plurality of users. The management device 600 is a computer managed by a business operator who operates the agricultural management system. Each agricultural machine 100 and each terminal device 400 can communicate with the management device 600 via a network 80. 29 Although three agricultural machines 100 are illustrated in the diagram, the agricultural management system may include two or less or four or more agricultural machines 100. The agricultural management system may include a plurality of different types of agricultural machines, such as a tractor, a rice transplanter, a combine harvester, and / or an agricultural drone. Each agricultural machine 100 performs the agricultural work assigned to it in a designated field in accordance with instructions from the management device 600.

[0166] figure 29The agricultural management system shown in the figure may be used, for example, for an agricultural work proxy service using a plurality of agricultural machines 100 that perform automatic driving. In such a system, each of the plurality of agricultural machines 100 may be controlled to move between a plurality of fields managed by a plurality of users who are contracting users, and perform a designated agricultural work in a designated field. The management device 600 may create a work plan for each agricultural machine 100 based on information indicating a rough plan of the agricultural work input by each user using the respective terminal device 400, and may perform a route plan for each agricultural machine 100 based on the work plan. When the agricultural management system is used for such a service, the management device 600 may perform a process related to charging each user. The management device 600 may be a collection of a plurality of computers. For example, the management device 600 may include a computer that creates a work plan for each agricultural machine 100, a computer that performs a route plan for each agricultural machine 100, and a computer that performs a charging process for each user.

[0167] The agricultural work proxy service as described above may be provided over a wide area, such as a country, a state, a region, a prefecture, or an area spanning multiple countries. In this case, the area in which the service is provided may include multiple areas with different climates or weather conditions. Weather conditions such as temperature, humidity, precipitation, and amount of sunlight may differ depending on the area. For this reason, the time when each agricultural work (e.g., tilling, sowing, planting, pest control, fertilization, harvesting, etc.) should be performed may also differ depending on the area. Therefore, the management device 600 in this embodiment acquires information indicating an approximate timing of agricultural work for each area, which is recorded in advance in the storage device, and determines the time when each agricultural machine 100 should perform the agricultural work in each area based on the information. The information indicating the approximate timing of agricultural work may be created for each type of agricultural work, such as tilling, sowing, planting, pest control, fertilization, or harvesting. The management device 600 determines a route to be traveled by each agricultural machine 100 so that each agricultural machine 100 performs a predetermined agricultural work at the time determined for each area. The management device 600 refers to a map of the area in which each agricultural machine 100 moves, generates a route on the map along which each agricultural machine 100 should move, and transmits the route information to each agricultural machine 100. Each agricultural machine 100 moves based on the received route information, and performs a predetermined agricultural work in the field assigned to each agricultural machine 100. Each agricultural machine 100 has a similar configuration to the agricultural machine 100 in the first embodiment. Each agricultural machine 100 is capable of traveling in and outside the field (e.g., on roads) by autonomous driving.

[0168] The terminal device 400 is a computer used by a user located away from the agricultural machine 100. The terminal device 400 may be a mobile terminal such as a laptop computer, a smartphone, or a tablet computer as shown in FIG. 29, or may be a stationary computer such as a desktop PC. Each terminal device 400 displays a setting screen on a display for the user to input information required to create a work plan (e.g., a schedule for each agricultural work). When the user inputs the required information on the setting screen and performs a send operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. The terminal device 400 may also be used to register one or more fields in which the agricultural machine 100 performs agricultural work.

[0169] Next, an example of the operation of route planning in this embodiment will be described in more detail.

[0170] The management device 600 functions as a path planning system for each agricultural machine 100 that performs automatic driving across multiple regions. The storage device 650 stores a map of an area including multiple regions. For example, the storage device 650 stores a map of a relatively wide area including multiple regions with different climates or weather conditions. The processor 660 of the management device 600 functions as a processing device that generates a path (the global path described above) of each agricultural machine 100 on the map.

[0171] FIG. 30 is a flowchart showing an outline of the operation executed by the management device 600. In this embodiment, information indicating an approximate time for each agricultural work to be performed by each agricultural machine 100 in each region is recorded in the storage device 650 in advance. The management device 600 acquires the information from the storage device 650 (step S241). Based on the information, the management device 600 determines a time for each agricultural machine 100 to perform the agricultural work in each of a plurality of regions (step S242). The management device 600 generates a route for each agricultural machine 100 on a map so that each agricultural machine 100 performs the agricultural work at the time determined for each region (step S243). For example, the management device 600 determines a plurality of work days on which each agricultural machine 100 performs the agricultural work at the time determined for each region, and generates a route for each agricultural machine 100 on each work day. The management device 600 transmits a movement command including information on the generated route to each agricultural machine 100 (step S244). In addition to the route information, this movement command may also include, for example, schedule information indicating at what time and in which field agricultural work should be performed. In response to this movement command, the control device 180 of each agricultural machine 100 starts automatic operation at the designated time, moves the agricultural machine 100 along the designated route, and causes the agricultural machine 100 to perform agricultural work in the field.

[0172] Fig. 31 is a diagram showing an example of areas where the agricultural machines 100 move. In this example, each agricultural machine 100 moves over a wide area across Japan for a relatively long period (for example, from several weeks to several months or longer) and performs agricultural work in fields in each area. In the example shown in Fig. 31, the areas where the agricultural machines 100 perform agricultural work are divided into eight areas A to H. Area A is located in the southernmost part, followed by areas B, C, D, E, F, and G, which are distributed generally from south to north, with area H being located in the northernmost part.

[0173] Each area shown in Figure 31 is 10,000 square kilometers (km 2 ) or more than 100,000 km 2 Each region may have an area of ​​1000 or more fields. Each region may be larger or smaller than this example. Each region may be, for example, 30 km 2A farm may have an area of ​​100,000 or more and / or 100 or more fields. Two adjacent areas can be accessed from each other via a road. In this specification, an agricultural land surrounded by paths such as ridges or farm roads is defined as one farm field. Each farm field may be, for example, a field, a rice paddy, an orchard, or a pasture.

[0174] Fig. 32 is a diagram showing an example of information indicating a guideline for the timing of agricultural work by region in the example shown in Fig. 31. Information indicating a guideline for the timing of agricultural work by region can be created in the form of a table as shown in Fig. 32, for example. The table shown in Fig. 32 indicates a guideline for the timing (e.g., recommended timing) of a specific agricultural work in each region. Such a table can be created, for example, for each type of agricultural work and stored in the storage device 650.

[0175] In a country located in the Northern Hemisphere such as Japan, generally, the further south the region, the warmer the climate, and the further north the region, the colder the climate. In such a country, the recommended timing of various agricultural works (e.g., tilling, sowing, planting, fertilizing, pest control, mowing, harvesting, etc.) performed to grow crops may tend to be earlier in the southern region and later in the northern region. When the recommended timing of each agricultural work differs depending on the region, it is preferable to determine the timing of causing the agricultural machine 100 to perform the agricultural work in accordance with the recommended timing of the agricultural work for each region. For example, it may be preferable to control the movement of the agricultural machine 100 in accordance with the transition of temperature so that the agricultural machine 100 performs the agricultural work in a relatively warm region and then moves to a colder region to perform the agricultural work. Therefore, the management device 600 in this embodiment determines the timing of each agricultural machine 100 to perform the agricultural work in each region based on information indicating the approximate timing of the agricultural work for each region, as exemplified in FIG. 32. The management device 600 generates a route for each agricultural machine 100 on each work day so that each agricultural machine 100 performs the agricultural work at a time determined for each region. For example, the management device 600 may create a work plan for each agricultural machine 100 across multiple work days based on information indicating an approximate time for agricultural work for each region, and generate a route for each agricultural machine 100 on each work day in accordance with the work plan. Each agricultural machine 100 moves along the generated route and performs agricultural work in each field indicated by the work plan. Each agricultural machine 100 may automatically travel on roads including public roads in order to move between regions.

[0176] In the examples shown in Figs. 31 and 32, the information indicating the approximate timing of agricultural work for each region indicates that the agricultural work tends to be performed later in the region located further north. In such a case, the management device 600 determines the time when the agricultural machine 100 will perform the agricultural work in each region, in accordance with the trend, so that the agricultural machine 100 gradually moves north as the days pass. Contrary to this example, there are cases where the information indicating the approximate timing of agricultural work for each region indicates that the agricultural work tends to be performed later in the region located further south. For example, in the Southern Hemisphere, generally, the northernmost region is warmer and the southernmost region is colder, and there is a tendency that the southernmost region is later in the agricultural work season. In such a case, the management device 600 may determine the time when the agricultural machine 100 will perform the agricultural work in each region, in accordance with the trend, so that the agricultural machine 100 gradually moves south as the days pass. In this manner, the management device 600 may generate a route for each agricultural machine 100 for each work day such that the agricultural machine 100 gradually moves from areas with relatively high temperatures to areas with lower temperatures in accordance with changes in temperature.

[0177] Here, an area with a climate or weather condition suitable for a certain agricultural work at a certain time is called a "working front" in analogy with a weather front. In the example shown in FIG. 31, the working front moves generally from south to north as the days pass. However, the working front often does not necessarily show such a simple transition. The climate can vary not only depending on latitude but also on various geographical conditions such as altitude, topography, and the degree of influence of monsoons. In addition, the recommended time for the same agricultural work may differ depending on the variety of crops grown in each region. Therefore, the working front does not generally move simply from south to north or north to south. Even in such a case, by appropriately creating information showing the guideline for the timing of agricultural work in each region, agricultural work can be carried out at the appropriate time in each region.

[0178] The information indicating the approximate timing of agricultural work in each region may be created based on, for example, information on the recommended timing for each agricultural work published by organizations such as agricultural cooperatives in each region. The information may be created by a system administrator, or may be automatically created by the system based on information published on the Internet, etc. The information may be changed for each agricultural work season, or may be used for multiple seasons after being created once.

[0179] In the example shown in Figs. 31 and 32, each agricultural machine 100 performs agricultural work in all of the eight regions shown in the figure. This is not limiting, and each agricultural machine 100 may perform agricultural work only in some of the regions. For example, it may be determined in advance which region each agricultural machine 100 will perform agricultural work in. As an example, a different agricultural machine group may be made to perform agricultural work for each region. In this case, the management device 600 may create a work plan for each agricultural machine 100 so that a first agricultural machine group performs agricultural work in a plurality of fields in region A in a first period (e.g., mid-March) and then a second agricultural machine group performs agricultural work in a field in region B in a second period (e.g., late March). Similarly, for regions C to H, a work plan for each agricultural machine may be created so that the agricultural machine group responsible for each region performs agricultural work in a field in each region at an appropriate time based on information indicating a guideline for the time of agricultural work. Alternatively, one agricultural machinery fleet may perform agricultural work in fields in two or more areas, such that a first agricultural machinery fleet is responsible for areas A and B, a second agricultural machinery fleet is responsible for areas B and C, and a third agricultural machinery fleet is responsible for areas C and D.

[0180] The system according to the present embodiment may be used to perform a variety of farm work in a variety of areas using a variety of agricultural machines. For example, a variety of farm work may be performed in a variety of areas using a variety of agricultural machines, such as a tractor, a rice transplanter, a grass cutter, a drone, and / or a combine harvester.

[0181] FIG. 33 is a diagram showing another example of information indicating the approximate timing of agricultural work for each region. FIG. 33 shows an example of a table including information indicating the approximate timing of multiple types of agricultural work performed in rice cultivation in paddy fields for each region. In this example, the area in which the agricultural machine 100 performs agricultural work is divided into six regions a to f. The table shown in FIG. 33 records the approximate timing (e.g., recommended timing) for each region for each of six types of agricultural work (rice plowing, plowing, rice planting, herbicide spraying, fertilizer spraying, and harvesting). Note that the types of agricultural work are not limited to this example, and vary depending on the crops being grown. As shown in FIG. 33, different types of agricultural machines may be used depending on the types of agricultural work. For example, rice plowing and plowing may be performed by a tractor equipped with an implement (e.g., a rotary, plow, or harrow). Rice planting may be performed by a rice transplanter. Herbicide spraying and fertilizer spraying may be performed by a drone. Harvesting may be performed by a combine. In the example shown in FIG. 33, unlike the example shown in FIG. 32, the guideline for the agricultural work season is expressed as a period including specific date information (e.g., "March 11th to April 17th"). In this manner, information indicating the guideline for the agricultural work season can be recorded in various formats. Note that in cases where laws and regulations restrict the operation of certain agricultural machines (e.g., rice transplanters or combine harvesters) on public roads, the system can be configured without including those agricultural machines.

[0182] The management device 600 in this embodiment creates a work plan for each agricultural machine 100 based on information indicating a guideline for the timing of one or more types of agricultural work for each region, as exemplified in Fig. 32 or 33. The management device 600 generates a route for each agricultural machine 100 for each work day in accordance with the created work plan, and issues movement and agricultural work instructions to each agricultural machine 100.

[0183] The work plan includes information on one or more farm works to be performed by each agricultural machine 100. For example, the work plan includes information on one or more farm works to be performed by each agricultural machine 100 and the field on which each farm work is performed. The work plan may include information on a plurality of farm works to be performed by each agricultural machine 100 over a plurality of work days and the field on which each farm work is performed. More specifically, the work plan may be a database including information on a work schedule indicating which agricultural machine will perform which farm work in which field at which time for each work day. Below, an example of a case where the work plan is data on such a work schedule will be described.

[0184] FIG. 34 is a diagram showing an example of a work plan for each agricultural machine 100. The work plan in this example includes information indicating the date and time when agricultural work is performed, the field, the work content, and the implement to be used, for each registered agricultural machine 100. The work plan is not limited to the format shown in FIG. 34 and may include other information related to the work. For example, information such as the type of pesticide or fertilizer or the amount of application may be included in the work plan. In accordance with such a work plan, the processor 660 of the management device 600 generates a route for each agricultural machine 100 on each work day and issues instructions for agricultural work to each agricultural machine 100. The work plan may be downloaded by the control device 180 of the agricultural machine 100 and may also be stored in the storage device 170. In this case, the control device 180 may autonomously start operating according to the schedule indicated by the work plan stored in the storage device 170.

[0185] The management device 600 may create a work plan based not only on information indicating the approximate timing of agricultural work, but also on information input by each user using the terminal device 400. For example, the management device 600 may create a work plan based on information indicating a general plan for each type of agricultural work in one or more fields managed by each user.

[0186] Fig. 35 is a diagram showing an example of a setting screen 760 displayed on the display device 430 of the terminal device 400. In response to a user's operation using the input device 420, the processor 460 of the terminal device 400 starts up application software for creating a work plan, and causes the display device 430 to display a setting screen 760 as shown in Fig. 35. On this setting screen 760, the user can input outline plan information required for creating a work plan.

[0187] FIG. 35 shows an example of a setting screen 760 when tilling accompanied by fertilizer spreading 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. 35 has a period setting section, 771 , Time setting section 772 , Crop Variety Selection Division 773 , a field selection unit 764, a work selection unit 765, a machine selection unit 768 Fertilizer Selection Department 769 , and the spray amount setting section 770 Includes.

[0188] Period setting section 771 The period entered by the user is displayed in the field. The user enters the period during which the user wishes to carry out the farm work. The days included in the entered period are set as candidate days for carrying out the farm work.

[0189] Time setting section 772 The work time input by the user is displayed in the screen. The user inputs the work time for which the user wishes to perform the farm work. The work time is specified by a start time and an end time. The input work time is set as a candidate for the time when the farm work will be performed.

[0190] Crop Variety Selection Department 773 A list of varieties of crops to be cultivated (i.e., planted) is displayed. The user can select a desired variety from the list. In the example of FIG. 35, the rice variety "Koshiibuki" has been selected.

[0191] The fields on the map are displayed in the field selection section 764. The user can select any field from the displayed fields. In the example of FIG. 35, 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. The user can also select multiple fields at the same time.

[0192] 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. 35, "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.

[0193] Machine Selection Section 768 The machine selection section is a section for setting the agricultural machinery to be used in the agricultural work. 768 For example, the type or model of agricultural machinery registered in advance by the management device 600, and the type or model of usable implements may be displayed in the display area. The user can select a specific machine from the displayed machines. In the example of Fig. 35, 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.

[0194] Fertilizer Selection Department 769 The names of multiple fertilizers registered in advance are displayed on the display unit 10. 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.

[0195] A numerical value input from the input device 420 is displayed in the spray amount setting section 770. The input numerical value is set as the spray amount.

[0196] When the desired period, work hours, crop variety, field, work, fertilizer, and application amount are input on the setting screen 760 and "Register" is selected, the communication device 490 of the terminal device 400 transmits the input information to the management device 600. The processor 660 of the management device 600 stores the received information in the storage device 650.

[0197] The information on agricultural work managed by the management device 600 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 agricultural work other than the agricultural work shown in FIG. 35 may be set.

[0198] The management device 600 creates a work plan for each agricultural work to be performed by each agricultural machine 100 based on the information received from the terminal device 400 of each user and the information indicating the approximate timing of the agricultural work for each region. For example, the management device 600 determines the actual work date and work time of each agricultural work for each region, taking into consideration the desired period and desired work time of the agricultural work input by each user and the information indicating the approximate timing of the agricultural work. Specifically, the management device 600 determines the date and time of the agricultural work in each field, taking into consideration the number, distribution, and usage status of the agricultural machines 100 deployed in the region, the distribution of fields in the region where the agricultural work is performed, the work date and time desired by each user, and the approximate timing of the work in the region. An algorithm using artificial intelligence (AI), such as a deep neural network, may be used to determine the date and time of the agricultural work in each field. The management device 600 notifies the terminal device 400 used by the user of the determined date and time of the agricultural work. When the determined implementation date and time is different from the date and time desired by the user, information to that effect may be notified. The management device 600 executes a route plan for each agricultural machine 100 for each work day based on the determined implementation date and time of the agricultural work in each field.

[0199] A specific example of a method for planning a path for each work day of the agricultural machine 100 will be described below. In the following explanation, an example will be described in which the agricultural machine 100 is a work vehicle such as a tractor, and a path outside the field is generated on a road (agricultural road or general road). Note that if the agricultural machine 100 is an aircraft such as a drone, the path outside the field does not need to be generated on a road.

[0200] FIG. 36 is a diagram showing an example of a map referred to during route planning. FIG. 36 shows a small example of a map of a certain area in Japan. This map corresponds to the map shown in FIG. 17. This map is a two-dimensional digital map, and may be generated by the management device 600 or another device. Such a map may be generated in advance for the entire area in which the agricultural machine 100 travels, and recorded in the storage device 650. Note that although the maps shown in FIG. 36 and FIG. 17 are two-dimensional maps, a three-dimensional map may also be used for route planning.

[0201] 17 includes information on the positions (e.g., latitude and longitude) of multiple fields 70 in which the agricultural machine 100 performs farm work and each point on the roads 76 in the surrounding areas. This map also includes position information of multiple waiting locations 90 where the agricultural machine 100 temporarily waits. The waiting locations 90 may be registered in advance by, for example, an administrator of the agricultural management system and recorded in the storage device 650.

[0202] 17 may be created for the entire area in which the agricultural machine 100 travels. In this manner, the map may include information indicating a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations in each area.

[0203] Before agricultural work starts on each work day, the management device 600 reads out from the storage device 650 a map of an area including the field where agricultural work is scheduled for that work day, and generates a route (global route) for the agricultural machine 100 based on the map and the work plan. Based on the work plan, the management device 600 determines a specific waiting location from among multiple waiting locations to which the agricultural machine 100 will move after performing the final agricultural work on each work day, and generates a route from the field where the final agricultural work will be performed to the specific waiting location. The method of generating a route for the agricultural machine 100 on each work day is similar to the method in embodiment 1. For example, as described with reference to Fig. 14 or Fig. 15, the management device 600 can generate a route for the agricultural machine 100 on each work day.

[0204] After creating the work plan, the management device 600 may modify the work plan depending on the situation. For example, using a method similar to that of the first embodiment, the management device 600 may update the work plan depending on at least one of the growth conditions of crops in a plurality of farm fields, the progress of farm work, the planting conditions, and the weather conditions. In this case, the management device 600 generates a route for the agricultural machine 100 on each work day according to the updated work plan. This allows the route for the agricultural machine 100 on each work day to be appropriately set depending on various conditions such as the growth conditions of crops, the progress of farm work, the planting conditions, or the weather conditions.

[0205] Crop growth conditions, agricultural work progress, planting conditions, or weather conditions affect work plans. For example, if crop growth or agricultural work progress is faster or slower than planned, it becomes necessary to review the work plan. Alternatively, if the originally planned agricultural work cannot be carried out due to bad weather, it becomes necessary to review the subsequent work plan. In addition, if the optimal timing of agricultural work differs depending on the type of crop, it may become necessary to adjust the work plan according to the type of crop being planted.

[0206] In preparation for such a case, the management device 600 may monitor at least one of the growth status of the crops in each field, the progress status of the farm work, the planting status, and the weather status. When generating a route for the agricultural machine 100 on each work day, the management device 600 may modify the work plan for the work day and thereafter based on at least one of the growth status of the crops, the progress status of the farm work, the planting status, and the weather status. The management device 600 can determine the distribution of work days in the fields located around each of the multiple waiting locations based on the modified work plan. The management device 600 can determine a specific waiting location to which the agricultural machine 100 will head after performing the last farm work on each work day based on the determined distribution of work days, and generate a route between the fields and a route connecting the fields and the waiting locations. When determining the specific standby location for each work day, the management device 600 may, for example, identify a group of fields where agricultural work will be performed on the next work day based on the distribution of work days in the fields located around each standby location, and determine the standby location closest to the group of fields as the specific standby location. Such an operation can shorten the travel distance of the agricultural machine, and provide effects such as shortening travel time and reducing fuel consumption.

[0207] In this embodiment, as in the examples shown in Fig. 20 to Fig. 27, the management device 600 may be configured to modify the work plan according to any one of the growth status of the crops in each field, the progress status of the farm work, the planting status, and the weather status. Instead of such an operation, the management device 600 may modify the work plan based on any two or more of the growth status of the crops, the progress status of the farm work, the planting status, and the weather status. By considering these conditions in a composite manner, a more appropriate route plan according to the situation can be made, and the operation of the agricultural machine can be made more efficient.

[0208] (Other embodiments) The configurations and operations of the above-described embodiment are merely examples, and the present disclosure is not limited to the above-described embodiment. Other embodiments will be described below.

[0209] In the above-mentioned embodiment 1, the processor 660 in the management device 600 manages at least one of the growth status of the crop, the progress status of the farm work, the planting status, and the weather status, and determines the waiting place on each work day and plans the global path of the agricultural machine. Instead of such a form, for example, a processing device different from the management device 600 may determine the waiting place on each work day and plan the global path of the agricultural machine. In that case, the processing device can obtain information indicating at least one of the growth status of the crop, the progress status of the farm work, the planting status, and the weather status from the management device 600, and determine a specific waiting place on each work day based on the information, and generate a path for the agricultural machine. Such a processing device may be a control device provided inside the agricultural machine.

[0210] In the above-mentioned second embodiment, the processor 660 in the management device 600 creates a work plan for the agricultural machine 100 based on information indicating an approximate timing for agricultural work in each region, and performs a route plan for the agricultural machine 100 based on the work plan. Instead of such a form, for example, a processing device different from the management device 600 may perform a route plan for the agricultural machine 100. In that case, the processing device can acquire the work plan from the management device 600, and generate a route for the agricultural machine 100 on each work day based on the information. Such a processing device may be the control device 180 provided inside the agricultural machine 100. Note that, although a plurality of agricultural machines 100 are included in the system in the above-mentioned embodiment, the agricultural machine 100 may be a single agricultural machine 100.

[0211] The technology in each of the above embodiments may be applied not only to work vehicles such as tractors, but also to agricultural drones (i.e., UAVs), for example. Unlike the example shown in Fig. 16, a processing device that performs route planning for an agricultural drone does not need to generate a route along the road 76. For example, a route that linearly connects between a waiting place and a field, and between fields, may be generated as the route for the agricultural drone.

[0212] The system for performing route planning or automatic driving control in the above embodiments can also be installed later on an agricultural machine that does not have these 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).

[0213] As described above, the present disclosure includes a path planning system, an agricultural machine control system, and an agricultural machine described in the following items.

[0214] [Item 1] A path planning system for an autonomous agricultural machine, comprising: a storage device that stores a map including a plurality of farm fields, a plurality of waiting locations, and roads connecting the plurality of farm fields and the plurality of waiting locations; a processing device that generates a route for the agricultural machine on the map for each work day; Equipped with The processing device includes: determining, based on information indicating at least one of a growth status of crops in the plurality of fields, a progress status of farm work in the plurality of fields, a planting status in the plurality of fields, and a weather status, a specific standby location to which the agricultural machine moves after performing a final farm work on each work day, from among the plurality of standby locations; generating a route from the field where the last agricultural work is to be performed to the specific waiting location; Route planning system.

[0215] According to the above configuration, it is possible to determine an appropriate waiting place for each work day based on at least one of the growth conditions of crops in a plurality of fields, the progress of farm work, the planting conditions, and the weather conditions, and to generate a route from the field where the last farm work is to be performed on that work day to the waiting place. This makes it possible to determine an appropriate waiting place according to the conditions of each work day, without determining the waiting place in advance.

[0216] [Item 2] The processing device includes: determining a distribution of work days in fields located around each of the plurality of waiting locations based on at least one of the growth status of the crop, the progress status of the agricultural work, the planting status, and the weather status; determining the specific waiting location for each work day based on the distribution of the work days; 2. A route planning system according to item 1.

[0217] This makes it possible to appropriately determine the distribution of work days in fields located around each waiting location based on at least one of the crop growth conditions, agricultural work progress, planting conditions, and weather conditions, and to appropriately determine specific waiting locations for each work day based on the distribution of work days.

[0218] [Item 3] The route planning system described in item 2, wherein when determining the specific waiting location for each work day, the processing device identifies a group of fields where agricultural work will be performed on the next work day based on the distribution of the work days, and determines the waiting location closest to the group of fields as the specific waiting location.

[0219] This allows the agricultural machine to be moved to a standby location closest to the fields where agricultural work will be performed on the next work day, thereby shortening the travel distance of the agricultural machine and reducing energy consumption associated with the movement.

[0220] [Item 4] The route planning system described in item 2, wherein when determining the specific waiting location for each work day, the processing device determines as the specific waiting location the waiting location closest to a first field in which the last agricultural work is performed on the work day, or the waiting location closest to a second field in which the first agricultural work is performed on the next work day identified from the distribution of work days.

[0221] This allows the agricultural machinery to be moved to a standby location closest to the first field where the last agricultural work is performed on each work day, or the second field where the first agricultural work is performed on the following work day, thereby shortening the travel distance of the agricultural machinery and reducing energy consumption associated with the movement.

[0222] [Item 5] 5. The path planning system according to item 4, wherein the processing device determines, as the specific waiting location, one of the waiting locations closest to the first field and the waiting locations closest to the second field, which has a shorter travel distance when traveling from the first field via the waiting location to the second field.

[0223] This allows the agricultural machine to be moved to the standby location that has the shorter travel distance between the standby location closest to the first field where the last agricultural work is performed on each work day and the standby location closest to the second field where the first agricultural work is performed on the following work day, thereby further reducing energy consumption associated with the movement of the agricultural machine.

[0224] [Item 6] 6. The route planning system according to any one of items 2 to 5, wherein the processing device updates the distribution of work days according to the growth status of the crops in the multiple farm fields.

[0225] This makes it possible to determine an appropriate waiting location based on the distribution of work days updated according to the crop growth status, and to move the agricultural machine to that waiting location.

[0226] [Item 7] 7. The path planning system according to any one of items 2 to 6, wherein the processing device updates the distribution of work days according to the progress of the agricultural work in the multiple farm fields.

[0227] This makes it possible to determine an appropriate waiting location based on the distribution of work days updated in accordance with the progress of agricultural work, and to move the agricultural machine to that waiting location.

[0228] [Item 8] 8. The path planning system according to any one of items 2 to 7, wherein the processing device updates the distribution of work days according to the crop conditions in the multiple farm fields.

[0229] This makes it possible to determine an appropriate standby location based on the distribution of work days updated according to the crop situation, and to move the agricultural machine to that standby location.

[0230] [Item 9] 9. The route planning system according to any one of items 2 to 8, wherein the processing device updates the distribution of work days according to the weather conditions in an area in which each of the plurality of waiting locations is located.

[0231] This makes it possible to determine an appropriate standby location based on the distribution of work days updated according to weather conditions, and to move the agricultural machine to that standby location.

[0232] [Item 10] 10. The route planning system according to any one of items 1 to 9, wherein the processing device acquires the information from a management device that manages at least one of the growth status of the crop, the progress of the agricultural work, the planting status, and the weather status when determining the specific waiting location for each work day.

[0233] As a result, the processing device can grasp at least one of the growth status of the crop, the progress of the agricultural work, the planting status, and the weather conditions based on the information obtained from the management device, and determine an appropriate waiting location.

[0234] [Item 11] A path planning system according to any one of items 1 to 10, wherein the processing device transmits to the agricultural machine information indicating the generated path or an instruction to move the agricultural machine along the path.

[0235] This allows the agricultural machine to move along the appropriate route generated by the processing device.

[0236] [Item 12] The processing device includes: generating routes for a plurality of agricultural machines including the agricultural machine for each work day; determining, based on the information indicating at least one of the growth status of crops in the plurality of fields, the progress status of agricultural work in the plurality of fields, the planting status in the plurality of fields, and weather conditions, a specific waiting location to which each agricultural machine will move after performing a final agricultural work on each work day, from among the plurality of waiting locations; generating a route from the field where the final agricultural work is to be performed to the specific waiting location for each of the agricultural machines; 12. A route planning system according to any one of items 1 to 11.

[0237] This makes it possible to appropriately determine routes for multiple agricultural machines over multiple work days in accordance with at least one of the growth conditions of crops in multiple fields, the progress of agricultural work, planting conditions, and weather conditions, thereby further improving the efficiency of agricultural work using multiple agricultural machines.

[0238] [Item 13] A route planning system according to any one of items 1 to 12, a control device that moves the agricultural machine along the path generated by the processing device; A control system comprising:

[0239] [Item 14] A control system according to item 13, A drive device controlled by the control device; Agricultural machinery equipped with

[0240] [Item 15] A route planning system for an agricultural machine that operates autonomously across multiple regions, A storage device that stores a map of an area including the plurality of regions; a processing device that determines a time when the agricultural machine will perform the agricultural work in each of the plurality of areas based on information indicating an estimate of a time for the agricultural work to be performed by the agricultural machine for each area, and generates a route for the agricultural machine on the map so that the agricultural machine performs the agricultural work at the time determined for each area; A path planning system comprising:

[0241] According to the above configuration, it is possible to determine the time when the agricultural machine will perform agricultural work in each area based on information indicating the approximate timing of agricultural work in each area, and generate a route for the agricultural machine according to the determined time. This makes it possible to cause the agricultural machine to perform automatic driving along an appropriate route according to the approximate timing for each area.

[0242] [Item 16] Item 16. The path planning system according to item 15, wherein the processing device determines a plurality of work days on which the agricultural machine will perform the agricultural work during the period determined for each region, and generates a path for the agricultural machine on each work day.

[0243] This makes it possible to generate appropriate routes for each work day based on the estimated time frame for each region.

[0244] [Item 17] Item 17. The path planning system according to item 15 or 16, wherein the processing device creates a work plan for the agricultural machine over a plurality of work days based on the information indicating an approximate timing for each agricultural work area, and generates a route for the agricultural machine for each work day in accordance with the work plan.

[0245] This makes it possible to appropriately generate routes for agricultural machinery on each work day in accordance with work plans created based on seasonal guidelines for each region.

[0246] [Item 18] Item 18. The path planning system according to item 17, wherein the processing device updates the work plan according to at least one of the growth conditions of crops in the multiple fields, the progress of agricultural work in the multiple fields, the planting conditions in the multiple fields, and weather conditions, and generates a path for the agricultural machine on each work day according to the updated work plan.

[0247] This makes it possible to flexibly update work plans based on at least one of the crop growth conditions, agricultural work progress, planting conditions, and weather conditions in multiple fields, and optimize the routes of agricultural machinery for each work day.

[0248] [Item 19] the map includes information indicating a plurality of farm fields, a plurality of waiting locations, and roads connecting the plurality of farm fields and the plurality of waiting locations in each region; the processing device determines, based on the work plan, from among the plurality of waiting locations, a specific waiting location to which the agricultural machine will move after performing a final agricultural work on each work day, and generates a route from a field in which the final agricultural work is performed to the specific waiting location. 19. A route planning system according to item 17 or 18.

[0249] This makes it possible to determine an appropriate waiting location for each work day based on at least one of the growth status of crops in multiple fields, the progress of farm work, the planting status, and the weather status, and to generate a route from the field where the last farm work of that work day is performed to that waiting location. This makes it possible to determine an appropriate waiting location according to the situation of each work day, without having to determine the waiting location in advance.

[0250] [Item 20] 20. The route planning system according to any one of items 15 to 19, wherein, when the information indicating the approximate timing of the agricultural work in each region indicates a tendency for the agricultural work to be performed later in regions located further north, the processing device determines a time when the agricultural machine will perform the agricultural work in each of the plurality of regions in accordance with the trend, so as to gradually move the agricultural machine north as days pass.

[0251] This makes it possible to have agricultural machinery carry out farm work at the appropriate time in line with a trend in which the recommended timing for farm work tends to be later in northern regions.

[0252] [Item 21] 21. The route planning system according to any one of items 15 to 20, wherein, when the information indicating the approximate timing of the agricultural work in each region indicates a tendency for the agricultural work to be performed later in regions located further south, the processing device determines a time when the agricultural machine will perform the agricultural work in each of the plurality of regions in accordance with the trend, so as to gradually move the agricultural machine south as days pass.

[0253] This makes it possible to have agricultural machinery carry out farm work at the appropriate time in line with a trend in which the recommended timing for farm work tends to be later in southern regions.

[0254] [Item 22] 22. A path planning system according to any one of items 15 to 21, wherein the processing device transmits to the agricultural machine information indicating the generated path or instructions to move the agricultural machine along the path.

[0255] This allows the agricultural machine to move along the appropriate route generated by the processing device.

[0256] [Item 23] A path planning system described in any of items 15 to 22, wherein the processing device generates a path for each of the plurality of agricultural machines, including the agricultural machine, so that the plurality of agricultural machines perform the agricultural work during the period determined for each region.

[0257] This makes it possible to generate appropriate routes for each agricultural machine according to the approximate agricultural work season for each region, thereby making agricultural work using multiple agricultural machines more efficient.

[0258] [Item 24] The processing device includes: Obtain information showing the approximate timing for each type of agricultural work in each region, determining, based on the information, when a plurality of agricultural machines assigned to each of the plurality of types of agricultural work will perform each of the plurality of types of agricultural work in each area; generating a route for each agricultural machine so that each agricultural machine performs the respective agricultural work during the determined time period; 24. The route planning system according to item 23.

[0259] This makes it possible to efficiently carry out multiple types of agricultural work using multiple agricultural machines in accordance with the recommended agricultural work seasons for each region.

[0260] [Item 25] The processing device includes: Obtaining information indicating a rough plan for each type of agricultural work in one or more fields managed by each user from a plurality of terminal devices used by a plurality of users; creating a work plan for each agricultural machine based on the information indicating the outline plan and the information indicating the estimated timing for each area obtained for each type of agricultural work; generating a route for each agricultural machine for each work day according to the work plan; 25. A route planning system according to item 24.

[0261] This makes it possible to generate an appropriate route that matches, for example, a rough plan for each type of farm work created by the user and an estimate of the timing of farm work for each region.

[0262] [Item 26] The route planning system according to any one of items 15 to 25, a control device that moves the agricultural machine along the path generated by the processing device; A control system comprising:

[0263] [Item 27] A control system according to item 26, A drive device controlled by the control device; Agricultural machinery equipped with

[0264] [Item 28] 1. A method executed by a processing device in a path planning system for an autonomous agricultural machine, comprising: acquiring a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations; generating a route for the agricultural machine on the map for each working day; Including, Generating the pathway includes: acquiring information indicating at least one of a growth status of crops in the plurality of farm fields, a progress status of farm work in the plurality of farm fields, a planting status in the plurality of farm fields, and a weather status; determining, based on the information, a specific waiting location from among the plurality of waiting locations to which the agricultural machine will move after performing a final agricultural task on each work day; generating a route from the field where the last agricultural work is to be performed to the specific waiting location; The method includes:

[0265] [Item 29] A method executed by a processing device in a path planning system for an agricultural machine that automatically drives across a plurality of regions, comprising: obtaining a map of an area including the plurality of regions; Obtaining information indicating an indication of a timing for each area of ​​agricultural work to be performed by the agricultural machine; determining a time when the agricultural machine will perform the agricultural work in each of the plurality of areas based on the information; generating a route for the agricultural machine on the map so that the agricultural machine performs the agricultural work during the period determined for each region; The method includes: [Industrial Applicability]

[0266] The technology disclosed herein can be applied to a path planning system for agricultural machinery such as a tractor, a harvester, a rice transplanter, a riding tiller, a vegetable transplanter, a grass cutter, a seeding machine, a fertilizer applicator, or an agricultural robot. [Explanation of symbols]

[0267] 30 global route, 32 local route, 40 obstacle, 50 GNSS satellite, 60 reference station, 70 field, 72 working area, 74 headland, 76 road, 80 network, 90 waiting area, 100 agricultural machinery, 101 vehicle body, 102 engine, 103 transmission, 104 wheels, 105 cabin, 106 steering gear, 107 driver's seat, 108 coupling, 110 GNSS unit , 111...GNSS receiver, 112...RTK receiver, 115...inertial measurement unit (IMU), 116...processing circuit, 120...camera, 130...obstacle sensor, 140...LiDAR sensor, 150...sensor group, 152...steering wheel sensor, 154...turn angle sensor, 156... axleSensor, 160....control system, 170....storage device, 180....control device, 181-186....ECU, 190....communication device, 200....operation terminal, 210....operation switch group, 220....buzzer, 240....drive device, 300....implement, 340....drive device, 380....control device, 390....communication device, 400....terminal device, 420....input device, 430....display device, 450....storage device, 460....processor, 470....ROM, 480....RAM, 490....communication device, 600....management device, 650...Storage device, 660...processor, 670...ROM, 680...RAM, 690...communication device

Claims

1. A path planning system for an autonomous agricultural machine, comprising: a storage device that stores a map including a plurality of farm fields, a plurality of waiting locations, and roads connecting the plurality of farm fields and the plurality of waiting locations; a processing device that generates a route for the agricultural machine on the map for each work day; Equipped with The processing device includes: determining a distribution of work days in the fields located around each of the plurality of waiting locations based on information indicating at least one of a crop growth status in the plurality of fields, a progress status of agricultural work in the plurality of fields, a planting status in the plurality of fields, and a weather status; determining, based on the distribution of the work days, a specific waiting location to which the agricultural machine moves after performing a final agricultural task on each work day, from among the plurality of waiting locations; generating a route from the field where the last agricultural work is to be performed to the specific waiting location; Route planning system.

2. The route planning system of claim 1, wherein when determining the specific waiting location for each work day, the processing device identifies a group of fields in which agricultural work will be performed on the next work day based on the distribution of the work days, and determines the waiting location closest to the group of fields as the specific waiting location.

3. 2. The route planning system of claim 1, wherein, when determining the specific waiting location for each work day, the processing device determines as the specific waiting location the waiting location closest to a first field in which the last agricultural work is performed on the work day, or the waiting location closest to a second field in which the first agricultural work is performed on the next work day identified from the distribution of work days.

4. The route planning system of claim 3, wherein the processing device determines, as the specific waiting location, the waiting location that has the shorter travel distance when traveling from the first field via the waiting location to the second field, among the waiting location closest to the first field and the waiting location closest to the second field.

5. The route planning system according to claim 1 , wherein the processing device updates the distribution of work days according to a growth status of the crops in the plurality of farm fields.

6. The route planning system according to claim 1 , wherein the processing device updates the distribution of work days according to a progress status of the agricultural work in the plurality of farm fields.

7. The route planning system according to claim 1 , wherein the processing device updates the distribution of work days according to the crop conditions in the plurality of farm fields.

8. The route planning system of claim 1 , wherein the processing device updates the distribution of work days according to the weather conditions in an area in which each of the plurality of waiting locations is located.

9. 2. The route planning system according to claim 1, wherein the processing device, when determining the specific waiting location for each work day, acquires the information from a management device that manages at least one of the crop growth status, the agricultural work progress status, the planting status, and the weather conditions.

10. The path planning system according to claim 1 , wherein the processing device transmits, to the agricultural machine, information indicating the generated path or a command to move the agricultural machine along the path.

11. The processing device includes: generating routes for a plurality of agricultural machines including the agricultural machine for each work day; determining, based on the information indicating at least one of the growth status of crops in the plurality of fields, the progress status of agricultural work in the plurality of fields, the planting status in the plurality of fields, and weather conditions, a specific waiting location to which each agricultural machine will move after performing a final agricultural work on each work day, from among the plurality of waiting locations; generating a route from the field where the final agricultural work is to be performed to the specific waiting location for each of the agricultural machines; The path planning system of claim 1 .

12. A route planning system according to any one of claims 1 to 11; a control device that moves the agricultural machine along the path generated by the processing device; A control system comprising:

13. A control system according to claim 12; A drive device controlled by the control device; Agricultural machinery equipped with

14. 1. A method executed by a processing device in a path planning system for an autonomous agricultural machine, comprising: acquiring a map including a plurality of fields, a plurality of waiting locations, and roads connecting the plurality of fields and the plurality of waiting locations; generating a route for the agricultural machine on the map for each working day; Including, Generating the pathway includes: acquiring information indicating at least one of a growth status of crops in the plurality of farm fields, a progress status of farm work in the plurality of farm fields, a planting status in the plurality of farm fields, and a weather status; determining a distribution of work days in fields located around each of the plurality of waiting locations based on the information; determining, based on the distribution of work days, a specific waiting location to which the agricultural machine moves after performing a final agricultural task on each work day, from among the plurality of waiting locations; generating a route from the field where the last agricultural work is to be performed to the specific waiting location; The method includes:

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