Material supply system and material supply method

Abstract

This material supply system is for supplying, to a transport vehicle, an agricultural material to be consumed by an agricultural machine during agricultural work. The material supply system comprises an arithmetic device that determines a start timing for transport by the transport vehicle to a delivery site on the basis of the agricultural material consumption state of the agricultural machine during agricultural work in a farm field, the position of the storage site of the agricultural material, and the position of the delivery site of the agricultural material.

Description

[Technical Field]

[0001] The present disclosure relates to a material supply system and a material supply method. [Background technology]

[0002] Research and development is underway on smart agriculture, which utilizes ICT (Information and Communication Technology) and IoT (Internet of Things) as the next generation of agriculture. Research and development is also underway to automate and unmanned agricultural machinery used in fields, such as tractors, rice transplanters, and combine harvesters. For example, work vehicles that use positioning systems such as the Global Navigation Satellite System (GNSS), which enables precise positioning, to navigate autonomously within fields and perform agricultural work have been put into practical use.

[0003] Among agricultural machines, there are work vehicles that perform farm work while consuming agricultural materials such as seedlings, seeds, fertilizer, or chemicals (hereinafter, sometimes simply referred to as "materials"). Such work vehicles include, for example, rice transplanters, vegetable transplanters, and tractors equipped with implements (e.g., seed sowing machines, fertilizer applicators, chemical sprayers, etc.). If the work vehicle runs out of materials while working, it becomes necessary to replenish the materials.

[0004] Patent Document 1 discloses an example of a method for improving the efficiency of supplying materials to a work vehicle. In the method disclosed in Patent Document 1, the work vehicle detects the remaining amount of materials (e.g., seedlings, seeds, fertilizer, chemicals, fuel, etc.) carried by the work vehicle, and when the remaining amount of materials becomes low, notifies the driver and an assistant worker who prepares to supply the materials. Upon receiving the notification, the driver stops the work vehicle at the edge of the ridge where the materials will be supplied, after completing travel along the work driving line in the field. Meanwhile, the assistant worker who has also received the notification begins preparations to supply the materials. This allows materials to be supplied to the work vehicle from the ridge without difficulty. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2018-39 Summary of the Invention [Problem to be solved by the invention]

[0006] Conventional methods for supplying materials to work vehicles require that a sufficient amount of materials be prepared in advance at a predetermined supply location. For example, a sufficient amount of materials must be transported in advance from a material storage facility using a transport vehicle and placed at a supply location on a ridge or farm road around the field. However, this method can result in the materials being left at the supply location for a long time, obstructing traffic or causing the materials (e.g., seedlings) to dry out in direct sunlight, resulting in a deterioration in quality.

[0007] The present disclosure provides systems and methods for solving the above problems. [Means for solving the problem]

[0008] A material supply system according to an embodiment of the present disclosure is a system for supplying agricultural materials to a transport vehicle to be consumed by an agricultural machine in agricultural work. The system includes a computing device that determines when the transport vehicle will start transporting the agricultural materials to a delivery location based on a consumption state of the agricultural materials in the agricultural work performed by the agricultural machine in a field, the location of a storage location for the agricultural materials, and the location of a delivery location for the agricultural materials.

[0009] A material supply method according to another embodiment of the present disclosure is a method for having an agricultural machine supply agricultural materials to a transport vehicle to be consumed in agricultural work. The method includes acquiring information on a consumption state of the agricultural materials in agricultural work in a field by the agricultural machine, a location of a storage location for the agricultural materials, and a location of a delivery location for the agricultural materials, determining a timing for the transport vehicle to start transporting the agricultural materials to the delivery location based on the consumption state of the agricultural materials, the location of the storage location, and the location of the delivery location, and providing information indicating the transportation start timing to a control device that controls automatic operation of the transport vehicle.

[0010] A general or specific aspect 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. An apparatus may be composed of multiple devices. When an apparatus is composed of two or more devices, the two or more devices may be located in a single device or may be located separately in two or more separate devices. [Effects of the Invention]

[0011] According to the embodiments of the present disclosure, agricultural materials can be efficiently supplied to agricultural machines. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram illustrating an example configuration of a material supply system according to an exemplary embodiment of the present disclosure. [Figure 2] 10 is a flowchart illustrating an example of an operation by the arithmetic device. [Figure 3] 10 is a flowchart showing an example of more detailed operations of the step of acquiring information about the consumption status of agricultural materials. [Figure 4] 10 is a flowchart showing an example of a more detailed operation of the step of determining the timing to start transport by the transport vehicle. [Figure 5] 10 is a flowchart showing another example of the operation of the arithmetic device. [Figure 6A] FIG. 1 is a diagram illustrating an example of an agricultural machine performing agricultural work in a field and a transport vehicle waiting at a storage location for materials. [Figure 6B] FIG. 10 is a diagram schematically illustrating an example of a state when a transport vehicle arrives at a delivery location. [Figure 6C] FIG. 1 is a diagram schematically illustrating a state in which materials are being transferred from a transport vehicle to an agricultural machine. [Figure 6D] FIG. 10 is a diagram schematically illustrating an example of a situation in which a transport vehicle is returning to a storage location. [Figure 7] FIG. 10 is a diagram showing an example in which a transport vehicle travels along a route including a storage location and a delivery location. [Figure 8] FIG. 1 is a block diagram showing an example of the configuration of a material supply system. [Figure 9] FIG. 10 is a block diagram showing another example of the configuration of the material providing system. [Figure 10] FIG. 10 is a block diagram showing yet another example configuration of the material providing system. [Figure 11A] FIG. 1 is a diagram illustrating an example of the overall operation of a material supply system. [Figure 11B] FIG. 10 is a diagram illustrating an example of the overall operation of another example of a material supply system. [Figure 11C] FIG. 10 is a diagram showing an example of the overall operation of yet another example of a material supply system. [Figure 12] FIG. 2 is a diagram illustrating an example of a work plan for an agricultural machine. [Figure 13] FIG. 1 is a side view showing an example of the configuration of a rice transplanter. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Definition of terms) In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. Examples of agricultural machinery include tractors, rice transplanters, vegetable transplanters, seed sowing machines, fertilizer applicators, pesticide sprayers, harvesters, combine harvesters, riding cultivators, mowers, and agricultural mobile robots. Not only can a work vehicle such as a tractor function alone as an "agricultural machinery," but the entire work vehicle and an implement attached to or towed by the work vehicle can also function as a single "agricultural machinery." Agricultural machinery performs agricultural tasks on the ground in a field, such as planting crops, sowing seeds, pest control, fertilizing, tilling, or harvesting. These agricultural tasks are sometimes referred to as "ground work" or simply "work." The act of a vehicle-type agricultural machine traveling while performing agricultural tasks is sometimes referred to as "work travel." Agricultural machinery may be equipped with automatic driving functions or may be manually driven.

[0014] "Agricultural materials" means materials consumed by agricultural work performed by agricultural machinery. Agricultural materials may include, for example, crop seedlings, seeds, fertilizer, and chemicals such as herbicides or pesticides. The agricultural materials are loaded onto agricultural machinery and consumed when the agricultural machinery performs agricultural work such as planting crops, sowing seeds, fertilizing, or spraying chemicals.

[0015] A "transport vehicle" is a vehicle used to transport agricultural materials. A transport vehicle is a vehicle that can travel on roads, such as a truck (lorry), van, tractor, passenger car, or motorcycle. The transport vehicle transports agricultural materials from a predetermined storage location for the agricultural materials to a predetermined delivery location for handing over the agricultural materials to agricultural machinery. The transport vehicle may be equipped with an automatic driving function, or may be driven manually.

[0016] "Autonomous driving" refers to controlling the movement of a mobile object, such as an agricultural machine or a transport vehicle, through the action of a control device, without manual operation by a driver. Agricultural machines that perform autonomous driving are sometimes called "autonomous agricultural machines" or "robotic agricultural machines." During autonomous driving, not only the movement of the agricultural machine itself but also the operation of agricultural work (e.g., the operation of the work implement) may be automatically controlled. The autonomous driving of a vehicle-type agricultural machine or transport vehicle is referred to as "autonomous driving." The control device may control at least one of the following operations: steering, adjusting the speed of the vehicle, and starting and stopping the movement, which are necessary for the vehicle's movement. When controlling a work vehicle equipped with a work implement, the control device may control operations such as raising and lowering the work implement and starting and stopping its operation. Autonomous driving movement may include not only movement of the mobile object toward a destination along a predetermined route, but also movement to follow a tracking target. An autonomously driving mobile object may move partially based on user instructions. Furthermore, an autonomously driving mobile object may operate in a manual driving mode, in which movement is performed by manual operation by the driver, in addition to the autonomous driving mode. Steering a mobile body by the action of a control device, without manual operation, is called "automatic steering." Part or all of the control device may be located outside the mobile body. Control signals, commands, data, and the like may be communicated between the mobile body and a control device located outside the mobile body. A mobile body that performs automatic driving may move autonomously while sensing the surrounding environment, without human involvement in controlling the movement. A mobile body capable of autonomous movement can travel unmanned within or outside a field (e.g., on a road). During autonomous movement, it may detect obstacles and take action to avoid them.

[0017] (Embodiment) Hereinafter, embodiments of the present disclosure will be described. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend for them to limit the subject matter described in the claims. In the following description, components having the same or similar functions are designated by the same reference numerals.

[0018] The following embodiments are examples, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, step order, display screen layout, etc. shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. Furthermore, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0019] Fig. 1 is a block diagram showing an example configuration of a material supply system according to an exemplary embodiment of the present disclosure. The material supply system is a system that causes a transport vehicle 300 to supply agricultural materials to be consumed by an agricultural machine 100 in agricultural work. The material supply system shown in Fig. 1 includes a computing device 50, the agricultural machine 100, and the transport vehicle 300. In the example of Fig. 1, the agricultural machine 100 and the transport vehicle 300 are included in the material supply system, but the agricultural machine 100 and the transport vehicle 300 may be external elements to the material supply system.

[0020] The agricultural machine 100 may be a work vehicle that travels within a field while consuming agricultural materials. For example, the agricultural machine 100 may be a transplanter, such as a riding rice transplanter or vegetable transplanter, that travels while planting plant seedlings in a field. In this case, the agricultural machine 100 is equipped with agricultural materials including plant seedlings. In addition to plant seedlings, other materials such as fertilizer may also be equipped on the agricultural machine 100. The agricultural machine 100 is not limited to a transplanter, but may also be a work vehicle that performs other types of agricultural work, such as sowing, fertilizing, or pest control. For example, the agricultural machine 100 may be a tractor or a riding cultivation machine equipped with an implement configured to perform agricultural work, such as sowing, fertilizing, or pest control. The agricultural machine 100 travels within a field while consuming agricultural materials, such as crop seedlings, seeds, fertilizer, herbicides, or pesticides. The agricultural machine 100 has a function for communicating with the computing device 50. The agricultural machine 100 may be configured to transmit, for example, data indicating the consumption state of materials (such as the amount consumed or the remaining amount) or data referenced for estimating the consumption state of materials (such as the position or traveling speed of the agricultural machine 100) to the computing device 50 while traveling to perform work. Such data may be referred to as "status data" in this specification. The agricultural machine 100 travels in an automatic or manual manner.

[0021] The transport vehicle 300 is a vehicle that transports materials such as crop seedlings, fertilizer, or pesticides. The transport vehicle 300 may be a vehicle suitable for transporting materials, such as a truck (lorry) or a van. The transport vehicle 300 has a function of communicating with the computing device 50 and a function of autonomous driving. In the example of FIG. 1, the transport vehicle 300 is equipped with a control device 350 that controls traveling by autonomous driving. The control device 350 may be realized, for example, by an electronic control unit (ECU) provided in the transport vehicle 300. The transport vehicle 300 may include various sensors such as a positioning device including a GNSS receiver, a camera, and / or LiDAR (Light Detection and Ranging), but these components are not shown in FIG. 1.

[0022] The control device 350 may be provided in a device external to the transport vehicle 300. For example, a computer such as a server that communicates with the transport vehicle 300 may have the functions of the control device 350. In this case, the transport vehicle 300 travels in accordance with commands from the external control device. The control device 350 operates to cause the transport vehicle 300 to automatically transport materials from a storage location to a delivery location.

[0023] The storage location of the materials is a predetermined location, such as a materials storage shed. The delivery location of the materials is a predetermined location, such as a farm road or a ridge around the field. The delivery location may be a fixed location set for each field, or may be a location set according to the work status of the agricultural machine 100. The transport vehicle 300 automatically starts transporting the materials based on information indicating the transport start timing obtained from the computing device 50.

[0024] The arithmetic device 50 may be a circuit or a computer including one or more processors, such as a central processing unit (CPU), a graphics processing unit (GPU), or a field programmable gate array (FPGA), and one or more storage media, such as a memory. The arithmetic device 50 may be provided in a computer, such as a server, that is provided in a location remote from the agricultural machine 100 and the haulage vehicle 300. Alternatively, the arithmetic device 50 may be provided in the agricultural machine 100 or the haulage vehicle 300. For example, an ECU provided in the agricultural machine 100 or the haulage vehicle 300 may function as the arithmetic device 50. In this way, the arithmetic device 50 may be mounted on the agricultural machine 100, the haulage vehicle 300, or a computer that communicates with the agricultural machine 100 and the haulage vehicle 300.

[0025] The arithmetic device 50 determines the transportation start timing at which the transport vehicle 300 should start transporting agricultural materials. For example, the arithmetic device 50 determines the transportation start timing of the transport vehicle to the delivery location based on the consumption state of the agricultural materials in the farm work in the field by the agricultural machine 100, the location of the storage location of the agricultural materials, and the location of the delivery location of the agricultural materials. The arithmetic device 50 sends information indicating the determined transportation start timing to the transport vehicle 300. At the transportation start timing, the transport vehicle 300 starts automatic traveling from the storage location of the materials to the delivery location.

[0026] The consumption status of the agricultural materials can be determined or estimated based on status data received from the agricultural machine 100. The status data can be, for example, data indicating the remaining amount of materials loaded on the agricultural machine 100, or the position or moving speed of the agricultural machine 100. The calculation device 50 can determine the remaining amount of materials loaded on the agricultural machine 100 based on the status data, and estimate how much distance or time the agricultural machine 100 can travel for work. Based on the estimated distance or time, the calculation device 50 can estimate at least one of the timing when the materials will run out (time of depletion) and the position of the agricultural machine 100 when the materials will run out (point of depletion). Here, "the materials will run out" means that the remaining amount of materials will be equal to or less than a predetermined threshold (for example, a value close to 0).

[0027] The location of the storage location and the location of the delivery location may be set in advance, and the location information may be recorded in an internal or external storage device of the calculation device 50. The location of the delivery location is not limited to a fixed location, and may be determined according to the state of the agricultural machine 100. For example, the calculation device 50 may set the delivery location near a depletion point where the materials loaded on the agricultural machine 100 are estimated to be depleted. In this case, the calculation device 50 may transmit location information of the delivery location to the delivery vehicle 300, in addition to information indicating the timing to start transportation.

[0028] Fig. 2 is a flowchart showing an example of the operation by the arithmetic device 50. In this example, the arithmetic device 50 executes the operations of steps S110 to S140 shown in Fig. 2. The operation of each step will be described below.

[0029] In step S110, the calculation device 50 acquires information related to the consumption state of the agricultural materials. The information related to the consumption state of the agricultural materials may be, for example, information indicating the consumed or remaining amount of the materials. The calculation device 50 monitors the state of the agricultural machine 100 and determines or estimates the consumption state of the agricultural materials based on the state of the agricultural machine 100. The monitored state of the agricultural machine 100 may be, for example, the remaining amount of materials loaded on the agricultural machine 100, the position of the agricultural machine 100, or the traveling speed of the agricultural machine 100. The calculation device 50 grasps the consumption state of the agricultural materials based on status data successively transmitted from the agricultural machine 100 while the agricultural machine 100 is traveling to perform work. The status data may include, for example, data indicating the remaining amount of materials measured by a sensor mounted on the agricultural machine 100. In this case, the calculation device 50 can immediately grasp the consumption state of the materials from the data indicating the remaining amount of materials transmitted from the agricultural machine 100. Alternatively, the status data may include information on the position of the agricultural machine 100 measured by a positioning device provided in the agricultural machine 100. Furthermore, the status data may include information on the movement speed of the agricultural machine 100. The arithmetic device 50 can estimate the consumed or remaining amount of materials based on the information on the position or movement speed of the agricultural machine 100 sequentially acquired from the agricultural machine 100.

[0030] Fig. 3 is a flowchart showing an example of the operation of step S110 in more detail. In the example shown in Fig. 3, the calculation device 50 monitors the position of the agricultural machine 100 and estimates the consumption state of agricultural materials based on the position of the agricultural machine 100. In the example of Fig. 3, step S110 includes steps S111 to S114.

[0031] In step S111, the arithmetic device 50 acquires time-series data on the position of the agricultural machine 100 from the agricultural machine 100. The agricultural machine 100 transmits information indicating the position of the agricultural machine 100 measured by a positioning device such as a GNSS receiver, for example, at regular intervals to the arithmetic device 50. This allows the arithmetic device 50 to acquire time-series data on the position of the agricultural machine 100.

[0032] In step S112, the calculation device 50 calculates the area of ​​the worked area where work has been completed from the time-series data of the position of the agricultural machine 100 and the working width of the agricultural machine 100. Specifically, the calculation device 50 calculates the distance traveled by the agricultural machine 100 while performing work that consumes materials from the last time materials were replenished until the present from the time-series data of the position, and multiplies this distance by the working width to calculate the area of ​​the worked area. Here, the working width of the agricultural machine 100 is known, and this information is recorded in advance in the storage device.

[0033] In step S113, the calculation device 50 calculates the amount of material consumed by multiplying the amount of material consumed per unit area by the area of ​​the worked area. The amount of material consumed per unit area is known, and this information is recorded in advance in the storage device.

[0034] In step S114, the calculation device 50 calculates the remaining amount of materials by subtracting the amount of materials consumed up to now from the initial amount of materials. The initial amount of materials is known, and this information is recorded in advance in the storage device.

[0035] Using the above method, the arithmetic device 50 can acquire information on the remaining amount of materials as information indicating the consumption status of the materials. Note that the operation shown in Fig. 3 is one example, and the consumption status of materials may be estimated using other methods. For example, if the agricultural machine 100 is an autonomous agricultural machine that automatically travels along a target route set in a field, the area of ​​the worked area can be calculated based on information on the target route and the current position of the agricultural machine 100.

[0036] In step S120 shown in FIG. 2, the calculation device 50 acquires location information of the storage location and the delivery location. The locations of the storage location and the delivery location are known, and the location information is recorded in advance in the storage device. The location of the delivery location may be changed depending on the location of the agricultural machine 100. For example, the calculation device 50 may estimate a depletion point where the remaining amount of agricultural material falls below a predetermined amount based on the consumption state of the agricultural material, the work route of the agricultural machine 100, and the location and movement speed of the agricultural machine 100, and determine the delivery location depending on the depletion point. By such an operation, a location near the depletion point can be set as the delivery location, and the movement of the agricultural machine 100 for material replenishment can be reduced. Step S120 may be performed before step S110 or may be performed in parallel with step S110.

[0037] In step S130, the calculation device 50 determines the timing to start transporting the transport vehicle 300 to the delivery location based on the consumption state of the agricultural materials, the location of the storage location, and the location of the delivery location. For example, the calculation device 50 can determine the transportation start timing by executing the process shown in Figure 4.

[0038] Fig. 4 is a flowchart showing a specific example of the operation of step S 130. In the example of Fig. 4, step S 130 includes steps S131 to S133.

[0039] In step S131, the calculation device 50 estimates the time when the remaining amount of agricultural materials will fall below a predetermined amount, based on the consumption state of the agricultural materials. For example, the calculation device 50 first calculates the amount of materials to be consumed per unit time, based on the movement speed of the agricultural machine 100, the working width of the agricultural machine 100, and the amount of materials consumed per unit area. Next, the calculation device 50 divides the current remaining amount of materials by the amount of materials consumed per unit time, to calculate the time until the materials will be depleted, and estimates the time when the materials will be depleted.

[0040] In step S132, the calculation device 50 estimates the travel time required for the transport vehicle 300 to travel to the delivery location based on the positional relationship between the agricultural material storage location and the delivery location. For example, the calculation device 50 first reads from the storage device an environmental map including information about roads around the field, and determines a route from the storage location to the delivery location based on the environmental map. Next, the calculation device 50 calculates the time required for the transport vehicle 300 to travel along the route from the storage location to the delivery location. For example, assuming that the transport vehicle 300 travels at a certain average speed, the calculation device 50 can calculate the travel time of the transport vehicle 300 by dividing the total length of the route by the average speed. Note that step S132 may be performed before or simultaneously with step S131.

[0041] In step S133, the calculation device 50 determines the transportation start timing based on the estimated depletion time and travel time. More specifically, the calculation device 50 determines the transportation start timing to be a timing before the time obtained by subtracting the travel time from the depletion time. For example, the calculation device 50 may determine the transportation start timing to be a timing obtained by subtracting a time obtained by multiplying the travel time by a coefficient of 1 or more from the depletion time. Alternatively, the calculation device 50 may determine the transportation start timing to be a timing that is a predetermined time before the time obtained by subtracting the travel time from the depletion time.

[0042] After step S133, the process proceeds to step S140 shown in FIG. 2. In step S140, the calculation device 50 transmits information indicating the transportation start timing to the control device 350 that controls the automatic driving of the haulage vehicle 300. For example, the calculation device 50 may transmit a travel command including information on the transportation start timing to the control device 350 of the haulage vehicle 300. Upon acquiring the information indicating the transportation start timing, the control device 350 starts automatic travel from the storage location to the delivery location at the transportation start timing. As a result, the haulage vehicle 300, with the materials loaded, starts automatic travel from the storage location to the delivery location.

[0043] According to the above operation, the time from when the transport vehicle 300 leaves the storage location until the materials loaded on the agricultural machine 100 are depleted is longer than the travel time from when the transport vehicle 300 leaves the storage location until it arrives at the delivery location. Therefore, the transport vehicle 300 can arrive at the delivery location before the materials loaded on the agricultural machine 100 are depleted. When the transport vehicle 300 arrives at the delivery location, the agricultural machine 100 suspends its work and heads to the delivery location. At the delivery location, the materials are delivered from the transport vehicle 300 to the agricultural machine 100. According to this embodiment, there is no need to prepare a large amount of materials at the delivery location in advance, and the transport vehicle 300 can deliver the amount of materials required by the agricultural machine 100 at an appropriate time. This solves the problems of materials being left at the delivery location, i.e., the supply point, for a long time, obstructing traffic, and the quality of the materials being deteriorated by direct sunlight.

[0044] 2 is merely an example, and operations different from those shown in Fig. 2 may be performed. For example, after determining the transportation start timing in step S130, the calculation device 50 may determine the loading start timing for starting loading of agricultural materials onto the transport vehicle 300. The calculation device 50 may transmit information indicating the determined loading start timing to a terminal device used by a worker who loads materials onto the transport vehicle 300. An example of such an operation will be described below.

[0045] Fig. 5 is a flowchart showing a modified example of the operation shown in Fig. 2. In the flowchart shown in Fig. 5, steps S135 and S136 are added between steps S130 and S140. In all other respects, the operation is the same as that shown in Fig. 2.

[0046] In step S135, the calculation device 50 determines the timing to start loading the agricultural materials onto the transport vehicle 300 based on the transportation start timing and the transportation volume of the agricultural materials transported by the transport vehicle 300. The transportation volume of the agricultural materials transported by the transport vehicle 300 is set in advance and recorded in the storage device. The calculation device 50 estimates the loading time required to load the agricultural materials onto the transport vehicle 300 based on the transportation volume, and determines the loading start timing to be a time before the time obtained by subtracting the loading time from the transportation start timing. For example, the calculation device 50 may determine the loading start timing to be a time obtained by subtracting a time obtained by multiplying the loading time by one or more coefficients from the transportation start timing. Alternatively, the calculation device 50 may determine the loading start timing to be a time a predetermined time before the time obtained by subtracting the loading time from the transportation start timing.

[0047] In step S136, the calculation device 50 notifies the terminal device used by the worker performing the loading work of the loading start timing. This allows the worker to know that he or she should start loading materials onto the transport vehicle 300 at the notified loading start timing. In step S136, the calculation device 50 may notify the terminal device of the transport start timing in addition to the loading start timing. This allows the worker to know that he or she should complete the loading work by the transport start timing.

[0048] Next, a more specific example of the operation of the material supply system will be described with reference to FIGS. 6A to 6D.

[0049] FIG. 6A is a diagram illustrating an agricultural machine 100 performing agricultural work in a field 70 and a transport vehicle 300 waiting at a material storage location 62. In this example, the field 70 is a paddy field, the agricultural machine 100 is a riding rice transplanter, the materials are rice seedlings, and the transport vehicle 300 is an autonomous truck. The storage location 62 is a storehouse provided for storing materials such as crop seedlings. A warehouse at the home or business of the user of the agricultural machine 100 may be used as the storage location 62. The storage location 62 is not limited to one location, and may be located at multiple locations. The agricultural machine 100 performs rice planting work while traveling along a predetermined route within the field 70. Arrows within the field 70 in FIG. 6A illustrate the travel path of the agricultural machine 100. As shown in FIG. 6A, the agricultural machine 100 performs seedling planting work by repeatedly traveling back and forth within the field 70.

[0050] The transport vehicle 300 shown in FIG. 6A is loaded with materials (rice seedlings in this example) and is waiting at a material storage location 62. As described above, the control device 350 of the transport vehicle 300 receives information from the calculation device 50 indicating the timing to start transporting the materials. When the remaining amount of materials loaded on the agricultural machine 100 becomes low and it is time to start transporting, the transport vehicle 300 starts transporting the materials to a material transfer location 64. In this example, the transfer location 64 is set on a farm road in the vicinity of the field 70.

[0051] Fig. 6B is a diagram schematically illustrating an example of a state when the transport vehicle 300 arrives at the delivery location 64. The dashed arrow in Fig. 6B illustrates an example of the travel path of the transport vehicle 300 on a farm road. As described above, the transport vehicle 300 arrives at the delivery location 64 before the materials loaded on the agricultural machine 100 are depleted.

[0052] FIG. 6C is a diagram schematically illustrating the transfer of materials 82 from the transport vehicle 300 to the agricultural machine 100. At the transfer location 64, the materials 82 are unloaded from the transport vehicle 300 and replenished to the agricultural machine 100. This work may be performed by, for example, an operator such as the driver or an assistant of the agricultural machine 100. After the replenishment of the materials 82 to the agricultural machine 100 is completed, the operator operates an operation device or a mobile terminal of the transport vehicle 300 to return the transport vehicle 300 to the storage location 62. That is, after the unloading of the agricultural materials 82 from the transport vehicle 300 is completed at the transfer location 64, the control device 350 of the transport vehicle 300 starts automatic traveling from the transfer location 64 to the storage location 62 in response to a command from a device operated by a user (e.g., an operator). As a result, the transport vehicle 300 returns to the storage location 62 by automatic driving.

[0053] FIG. 6D is a diagram schematically illustrating an example of a situation when the transport vehicle 300 is on its way back to the storage location 62. After completing the delivery of materials, the transport vehicle 300 automatically travels toward the storage location 62 in response to a command from a device operated by a user. In the example of FIG. 6D, the transport vehicle 300 returns to the storage location 62 by following the same route (outbound route) as shown in FIG. 6B in reverse. The transport vehicle 300 may return to the storage location 62 by a route different from the outbound route. For example, the control device 350 of the transport vehicle 300 may control the automatic travel of the transport vehicle 300 so that the transport vehicle 300 travels along a route including the storage location 62 and the delivery location 64, based on a preset operation plan for the transport vehicle 300.

[0054] FIG. 7 is a diagram showing an example in which a transport vehicle 300 travels along a route that includes a storage location 62 and a delivery location 64. In FIG. 7, multiple dotted ellipses indicate examples of material delivery locations 64. In this example, a delivery location 64 is set for each of multiple fields 70 in which agricultural work is performed by the agricultural machine 100. In this example, the agricultural machine 100 visits the multiple fields 70 in turn and performs agricultural work (e.g., rice planting). Since the amount of materials that can be loaded onto the agricultural machine 100 at one time is limited, materials need to be replenished while agricultural work is being performed in each field 70. The transport vehicle 300 transports materials to each delivery location 64 in accordance with the timing at which the agricultural machine 100 needs to replenish the materials. As indicated by the dashed arrows in FIG. 7, the transport vehicle 300 travels along a route that includes a material storage location 62 and one or more delivery locations 64. In this example, the calculation device 50 instructs the transport vehicle 300 to visit each delivery location 64 in accordance with the timing when materials need to be replenished to the agricultural machine 100 in each field 70. This allows the agricultural machine 100 to be replenished with materials in a timely manner.

[0055] In the example of Fig. 7, one agricultural machine 100 performs agricultural work in multiple fields 70 consecutively. This is not limiting, and for example, multiple agricultural machines may perform agricultural work in their assigned fields. In this case, the transport vehicle 300 is controlled to transport materials to a delivery location in each field in accordance with the timing when the agricultural machine in that field needs to replenish the materials. Multiple transport vehicles may be controlled to more efficiently transport materials to multiple delivery locations.

[0056] Next, some modified examples of the configuration of the material supply system will be described with reference to FIGS.

[0057] 8 is a block diagram showing an example of a material supply system including an agricultural machine 100, a transport vehicle 300, and a terminal device 400. In this example, the arithmetic device 50 shown in FIG.

[0058] The agricultural machine 100 includes a computing device 50, a positioning device 110, a remaining amount sensor 120, a storage device 140, a control device 150, and a communication device 190. The positioning device 110 may include, for example, a GNSS receiver. The GNSS receiver receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as the Global Positioning System (GPS), the Quasi-Zenith Satellite System (QZSS), GLONASS, Galileo, and BeiDou. The positioning device 110 may include an inertial measurement unit (IMU). The IMU can measure the tilt and minute movements of the agricultural machine 100. Positioning performance can be improved by using data acquired by the IMU to complement position data based on satellite signals. The remaining amount sensor 120 measures the remaining amount of materials loaded on the agricultural machine 100. The remaining amount sensor 120 is a sensor that measures a physical quantity that varies depending on the remaining amount of material, such as the weight or volume of the material. The storage device 140 stores computer programs executed by the arithmetic device 50, data referenced by the arithmetic device 50, and data generated by the arithmetic device 50. The control device 150 controls the traveling and work operations of the agricultural machine 100. The control device 150 can be realized by a device that includes a processor, such as an ECU. The communication device 190 transmits signals generated by the arithmetic device 50 to the haulage vehicle 300 and the terminal device 400.

[0059] The haulage vehicle 300 includes a positioning device 310, a sensor group 320, a self-location estimation device 330, a storage device 340, a control device 350, and a communication device 390. The positioning device 310 includes a GNSS receiver. The sensor group 320 includes multiple sensors, such as a camera, a LiDAR sensor, and an ultrasonic sensor. The sensor group 320 is used for self-location estimation and obstacle detection. The self-location estimation device 330 is a device that estimates the self-location of the haulage vehicle 300 based on sensor data acquired by the sensor group 320 and an environmental map stored in the storage device 340. The self-location estimation device 330 may include one or more processors and one or more memories. The storage device 340 stores computer programs executed by the control device 350, data referenced by the control device 350, and data generated by the control device 350. The communication device 390 receives signals transmitted from the agricultural machine 100.

[0060] The terminal device 400 is a device used by a worker who loads materials onto the transport vehicle 300 at a material storage location. The terminal device 400 may be any computer, such as a smartphone, a tablet computer, a desktop computer, or a laptop. The terminal device 400 includes a storage device 440, a processing device 450, a display device 460, and a communication device 480. The storage device 440 stores computer programs executed by the processing device 450, data referenced by the processing device 450, and data generated by the processing device 450. The communication device 390 receives signals transmitted from the agricultural machine 100.

[0061] In the example of FIG. 8 , the arithmetic device 50 in the agricultural machine 100 determines the transportation start timing of the haulage vehicle 300 and the loading start timing of materials using the method described above. That is, the arithmetic device 50 determines the transportation start timing based on the consumption state of materials determined or estimated based on signals output from the positioning device 110 or the remaining amount sensor 120 and the location information of the storage location and the delivery location recorded in the storage device 140. Furthermore, the arithmetic device 50 determines the loading start timing based on the transportation start timing and the amount of materials to be transported by the haulage vehicle 300. The amount of materials to be transported by the haulage vehicle 300 is set in advance and recorded in the storage device 140. The arithmetic device 50 transmits information about the transportation start timing to the haulage vehicle 300 via the communication device 190. The arithmetic device 50 also transmits a notification including information about the loading start timing and the transportation start timing to the terminal device 400 via the communication device 190. When the communication device 480 receives a notification from the agricultural machine 100, the processing device 450 of the terminal device 400 causes the display device 460 to display the loading start timing and the transportation start timing. Based on the displayed information, the worker loads materials onto the transport vehicle 300 between the loading start timing and the transportation start timing. After loading of the materials is completed, the worker may operate the terminal device 400 or the operation device of the transport vehicle 300 to notify the control device 350 of the transport vehicle 300 that loading is complete. The control device 350 of the transport vehicle 300 starts automatic traveling toward the delivery location at the transportation start timing determined by the calculation device 50. In this way, the control device 350 may start automatic traveling toward the delivery location when it receives a notification indicating that loading of agricultural materials onto the transport vehicle 300 has been completed at the storage location and acquires information indicating the transportation start timing. This prevents the transport vehicle 300 from starting transportation before loading of the materials is completed. If loading of materials onto the transport vehicle 300 is not completed at the time of the transport start timing, the control device 350 of the transport vehicle 300 may transmit a warning to the terminal device 400 or the agricultural machine 100. This makes it possible to alert the user of the terminal device 400 or the operator of the agricultural machine 100 that the loading work is delayed.

[0062] Fig. 9 is a block diagram showing another example of the configuration of the material supply system. In the example shown in Fig. 9, the calculation device 50 is mounted on a transport vehicle 300 instead of an agricultural machine 100. Except for this point, the configuration shown in Fig. 9 is the same as the configuration shown in Fig. 8.

[0063] In the example of FIG. 9 , the arithmetic device 50 in the haulage vehicle 300 determines the timing to start transportation and the timing to start loading materials using the method described above. That is, the arithmetic device 50 determines the transportation start timing based on the consumption state of materials estimated based on status data including signals output from the positioning device 110 or the remaining amount sensor 120 of the agricultural machine 100 and the location information of the storage location and the delivery location recorded in the storage device 340. Furthermore, the arithmetic device 50 determines the loading start timing based on the transportation start timing and the transportation amount of materials to be transported by the haulage vehicle 300. The transportation amount of materials to be transported by the haulage vehicle 300 is set in advance and recorded in the storage device 340. The arithmetic device 50 transmits a notification including information on the loading start timing and the transportation start timing to the terminal device 400 via the communication device 390. The worker using the terminal device 400 starts loading materials onto the haulage vehicle 300 based on the displayed information. After the loading of the materials is completed, the control device 350 of the transport vehicle 300 starts automatic traveling to the delivery location at the transport start timing determined by the arithmetic device 50.

[0064] Fig. 10 is a block diagram showing yet another example of the configuration of a material supply system. The material supply system shown in Fig. 10 includes an agricultural machine 100, a transport vehicle 300, a terminal device 400, and a server 500. In this example, the computing device 50 is mounted on the server 500.

[0065] The server 500 is a computer provided in a location (for example, a data center) away from the agricultural machine 100, the haulage vehicle 300, and the terminal device 400. The server 500 communicates with the agricultural machine 100, the haulage vehicle 300, and the terminal device 400 via a telecommunications line including, for example, the Internet. The server 500 includes a calculation device 50, a storage device 540, and a communication device 590. The storage device 540 stores computer programs executed by the calculation device 50, data referenced by the calculation device 50, and data generated by the calculation device 50. The communication device 590 transmits and receives signals to and from the agricultural machine 100, the haulage vehicle 300, and the terminal device 400, respectively.

[0066] In the example of FIG. 10 , the arithmetic device 50 in the server 500 determines the transportation start timing of the haulage vehicle 300 and the loading start timing of the materials using the method described above. That is, the arithmetic device 50 determines the transportation start timing based on the consumption state of the materials estimated based on status data including signals output from the positioning device 110 or the remaining amount sensor 120 of the agricultural machine 100 and the location information of the storage location and the delivery location recorded in the storage device 540. Furthermore, the arithmetic device 50 determines the loading start timing based on the transportation start timing and the transportation amount of the materials to be transported by the haulage vehicle 300. The transportation amount of the materials to be transported by the haulage vehicle 300 is set in advance and recorded in the storage device 540. The arithmetic device 50 transmits information indicating the transportation start timing to the haulage vehicle 300 via the communication device 590. The arithmetic device 50 transmits a notification including information on the loading start timing and the transportation start timing to the terminal device 400 via the communication device 590. Based on the displayed information, the worker using the terminal device 400 starts loading materials onto the transport vehicle 300. After the materials have been loaded, the control device 350 of the transport vehicle 300 starts automatic driving to the delivery location at the transportation start timing determined by the calculation device 50.

[0067] Next, an example of the overall operation of the material supply system will be described with reference to FIGS. 11A to 11C.

[0068] FIG. 11A is a diagram showing an example of the overall operation of the material supply system. In the example shown in FIG. 11A, the material supply system has the configuration shown in FIG. 8. The calculation device 50 is mounted on the agricultural machine 100. The agricultural machine 100 (e.g., a rice transplanter) replenishes materials (e.g., seedlings) before starting work and then starts traveling for work. During work, the calculation device 50 of the agricultural machine 100 can predict the time (time of depletion) and point (point of depletion) when the materials will run out, based on a preset work route, the traveling speed of the agricultural machine 100 during work, and the initial amount of materials loaded. In particular, if the traveling speed during work is determined in advance, the time and point of depletion can also be estimated before the agricultural machine 100 starts work. The calculation device 50 determines the timing to start transport and loading based on the time of depletion, the estimated travel time of the transport vehicle 300, and the amount of materials to be transported. The computing device 50 notifies the terminal device 400 used by the worker who loads the materials at the storage location of the loading start timing and the transportation start timing, and notifies the transportation start timing to the transport vehicle 300. The worker loads the materials onto the transport vehicle 300 between the loading start timing and the transportation start timing. After completing the loading of the materials, the transport vehicle 300 starts transporting the materials to the delivery location at the transportation start timing.

[0069] The timing to start transportation is set to an appropriate time based on the estimated time when the materials will run out and the estimated travel time of the transport vehicle 300. This allows the transport vehicle 300 to arrive at the delivery location before the materials loaded on the agricultural machine 100 are depleted. When the materials run out, the agricultural machine 100 suspends operation and heads to the delivery location. At the delivery location, the materials are unloaded from the transport vehicle 300 and replenished to the agricultural machine 100. The material replenishment work can be performed by, for example, the driver of the agricultural machine 100 or an assistant. If a person is on board the transport vehicle 300, that person may also perform the material replenishment work. The materials unloaded from the transport vehicle 300 may be temporarily placed on a road or ridge around the field. Once the replenishment of the materials is complete, the worker operates a device such as a smartphone to issue a return command to the transport vehicle 300. Upon receiving the return command, the transport vehicle 300 automatically returns to the storage location. Meanwhile, the agricultural machine 100 returns to the point in the field where it stopped working and resumes work. When the transport vehicle 300 returns to the storage location, it waits until it receives a notification from the agricultural machine 100 again. When it receives another notification from the agricultural machine 100, the transport vehicle 300 performs the above-mentioned operation again. The above operation is repeated.

[0070] The location of the delivery location may change as work by the agricultural machine 100 progresses. The agricultural machine 100 moves over time and, in some cases, moves between fields to perform work in another field. Therefore, the calculation device 50 may determine, as the delivery location, a location close to the estimated location (depletion point) of the agricultural machine 100 when the resource is depleted. In this case, the agricultural machine 100 may send a notification including the location information of the delivery location to the haulage vehicle 300. The control device 350 of the haulage vehicle 300 may set a route to the delivery location based on the notified location information of the delivery location and the environmental map stored in the storage device 340, and perform automatic driving.

[0071] FIG. 11B is a diagram showing an example of the overall operation of another example of a material supply system. In the example shown in FIG. 11B, the material supply system has the configuration shown in FIG. 10. The arithmetic device 50 is mounted on a server 500. Information on the amount of materials loaded on the transport vehicle 300, the transport time of the materials, and the work route of the agricultural machine 100 is input in advance to the server 500, and this information is stored in a storage device 540. While the agricultural machine 100 is working, the server 500 sequentially acquires information such as the position of the agricultural machine 100, and monitors whether the work by the agricultural machine 100 is progressing as planned. The arithmetic device 50 of the server 500 determines the transport start timing and the loading start timing based on the information sequentially acquired from the agricultural machine 100. The arithmetic device 50 notifies the loading start timing and the transport start timing to a terminal device 400 used by a worker who is performing the work of loading materials at a storage site, and notifies the transport vehicle 300 of the transport start timing. The worker loads the materials onto the transport vehicle 300 between the loading start timing and the transportation start timing. After the loading of the materials is completed, the transport vehicle 300 starts transporting the materials to the delivery location at the transportation start timing. The subsequent operations are the same as those in the example shown in FIG. 11A.

[0072] FIG. 11C is a diagram showing an example of the overall operation of yet another example of a material supply system. In the example shown in FIG. 11C, the material supply system has the configuration shown in FIG. 10. The calculation device 50 is mounted on a transport vehicle 300. In this example, the transport vehicle 300 is configured to travel a predetermined route by autonomous driving. The calculation device 50 of the transport vehicle 300 sequentially acquires information such as the location of the agricultural machine 100 and, based on that information, estimates the location and time when the materials will next be depleted. The calculation device 50 sets a delivery location near the estimated location and determines the transport start timing so that the transport vehicle 300 arrives at the delivery location before the materials are depleted. In this example, the transport vehicle 300 starts transporting materials at the delivery start timing determined by itself, and automatically returns to the storage location upon completing the replenishment and receiving a return command. Upon returning to the storage location, materials are loaded onto the transport vehicle 300 in preparation for the next replenishment. In this state, the transport vehicle 300 determines the next transport start timing and the next delivery location based on the status of the agricultural machine 100. Thereafter, the same operation is repeated.

[0073] 11C, the calculation device 50 is mounted on the transport vehicle 300, but the calculation device 50 may be mounted on the agricultural machine 100 or the server 500. In this case, the calculation device 50 may determine the transport start timing and the location of the delivery location, and transmit a travel command including location information of the delivery location to the transport vehicle 300 at the transport start timing. In response to the travel command, the transport vehicle 300 starts transporting materials to the specified delivery location.

[0074] In the examples of FIGS. 11A to 11C , after completing replenishment at the delivery location, the haulage vehicle 300 returns to the storage location, but it may also stop or head to another location without returning to the storage location. For example, after completing replenishment of materials, the haulage vehicle 300 may head to another delivery location to replenish materials to another agricultural machine. Furthermore, the haulage vehicle 300 does not necessarily receive a command to start hauling while waiting at the storage location. While the haulage vehicle 300 is traveling, a command requesting that materials be transported to a specific delivery location at a specific time may be issued from the agricultural machine 100 or the server 500. Furthermore, the haulage vehicle 300 may determine the timing and delivery location of the next replenishment based on status data transmitted from the agricultural machine 100 while traveling, and control its own traveling so as to arrive at the determined delivery location in a timely manner.

[0075] In the above embodiment, the agricultural machine 100 may travel in a manual or automatic manner. When the agricultural machine 100 travels in an automatic manner, the agricultural machine 100 may travel in accordance with a preset work plan. The work plan may include information that identifies the agricultural machine, the work date, the work start time, the work end time, the field, the work content, and the like, as shown in FIG. 12 , for example. The work plan may include information on the work route and work speed (i.e., the traveling speed during work) of the agricultural machine 100. In this case, the calculation device 50 can estimate the material consumption state based on the preset work plan of the agricultural machine 100. For example, the calculation device 50 can estimate the material consumption state at each point in the field based on information on the work route and work speed of the agricultural machine 100 included in the work plan. Based on the material consumption state estimated in this way, the calculation device 50 may determine the transportation start timing and the loading start timing.

[0076] A specific example of the configuration of the agricultural machine 100 when the agricultural machine 100 is an automatically traveling rice transplanter will be described below.

[0077] 13 is a side view showing an example of the configuration of a rice transplanter 100A, which is an example of agricultural machinery 100. The rice transplanter is a riding type with a four-wheel drive body 101. The body 101 is equipped with a link mechanism 111, a lifting cylinder 115, a seedling planting device 103, and a fertilizer application device 104.

[0078] The machine body 101 is equipped with wheels 112, an engine 113, and a hydraulic continuously variable transmission 114 as mechanisms for traveling. The wheels 112 have steerable left and right front wheels 112A and left and right rear wheels 112B. The engine 113 and the continuously variable transmission 114 are mounted on the front of the machine body 101. Power from the engine 113 is supplied via the continuously variable transmission 114 and the like to the front wheels 112A, rear wheels 112B, seedling planting device 103, and fertilizer applicator 104. The seedling planting device 103 is equipped with a seedling loading table 131 and a planting mechanism 132.

[0079] Unit 1 01 The vehicle is equipped with a driving section 121. The driving section 121 is equipped with a steering wheel, a main speed change lever, an auxiliary speed change lever, an operation control lever, a driver's seat, etc. Furthermore, a spare seedling frame 117 for accommodating spare seedlings is provided in front of the driving section 121. A positioning device 108 is provided above the spare seedling frame 117.

[0080] The positioning device 108 outputs positioning data for calculating the position and orientation of the airframe 101. The positioning device 108 includes a satellite positioning module that receives radio waves from GNSS satellites, and an inertial measurement module that detects the tilt and acceleration of the airframe 101 along three axes.

[0081] In addition to the components shown in Fig. 13, the rice transplanter 100A also includes a control device 150 (see Fig. 9) that controls automatic driving and various sensors. The sensors may include sensors that detect, for example, the steering angle, the operating positions of the main and sub-transmission levers, vehicle speed, engine RPM, and other conditions, as well as their corresponding set values. The sensors may also include sensors that detect the conditions of the link mechanism 111, the seedling planting device 103, and the fertilizer applicator 104, as well as their corresponding set values. For example, the sensors may include a remaining amount sensor 120 (see Fig. 9) that measures the remaining amount of agricultural materials, such as the remaining amount of seedlings and fertilizer.

[0082] The control device 150 changes the vehicle speed and traveling direction of the rice transplanter 100A by controlling the steering angle of the front wheels 112A and the continuously variable transmission 114. The control device 150 also controls the seedling collection amount of the seedling planting device 103 and the fertilizer application amount of the fertilizer application device 104. The control device 150 calculates the coordinates of the rice transplanter 100A on a map (the vehicle's position) based on the satellite positioning data successively sent from the positioning device 110. The control device 150 causes the rice transplanter 100A to travel along the target route based on the calculated vehicle position and a preset target route.

[0083] The rice transplanter 100A can be operated by switching between a manual driving mode and an automatic driving mode. In the automatic driving mode, the control device 150 determines a steering control amount so as to reduce the lateral deviation and azimuth deviation based on the lateral deviation and azimuth deviation calculated by comparing the vehicle position with the target route. The steering angle of the front wheels 112A is adjusted based on the determined steering control amount. The control device 150 also controls the traveling speed so as to travel at a speed equal to or less than a preset reference speed. In the manual driving mode, the control device 150 adjusts the steering angle of the front wheels 112A based on the operation amount of the steering wheel. The control device 150 controls the continuously variable transmission 114 so as to travel at a traveling speed according to the operating positions of the main speed change lever and the sub-speed change lever.

[0084] As described above, the present disclosure includes the systems and methods described in the following sections.

[0085] [Item 1] A material supply system that supplies agricultural materials consumed by agricultural machines in agricultural work to a transport vehicle, A material supply system comprising a computing device that determines the timing for the transport vehicle to start transporting the agricultural materials to the delivery location based on the consumption status of the agricultural materials during agricultural work in the field by the agricultural machine, the location of the storage location of the agricultural materials, and the location of the delivery location of the agricultural materials.

[0086] [Item 2] The computing device estimating a time when the remaining amount of the agricultural material will fall below a predetermined amount based on the consumption state of the agricultural material; estimating a travel time required for the transport vehicle to travel to the delivery location based on a positional relationship between the storage location of the agricultural materials and the delivery location of the agricultural materials; determining the transportation start timing based on the depletion time point and the travel time; Item 1. The material supply system according to item 1.

[0087] [Item 3] 3. The material supply system according to item 2, wherein the calculation device determines the transportation start timing to be a timing before the time obtained by subtracting the travel time from the depletion time.

[0088] [Item 4] 4. The material supply system according to any one of items 1 to 3, wherein the arithmetic device transmits information indicating the timing of starting transportation to a control device that controls automatic driving of the transportation vehicle.

[0089] [Item 5] 5. A material supply system according to any one of items 1 to 4, wherein the calculation device determines a loading start timing for starting loading of the agricultural materials onto the transport vehicle based on the transportation start timing and the amount of agricultural materials being transported by the transport vehicle.

[0090] [Item 6] The computing device estimating a loading time required to load the agricultural materials onto the transport vehicle based on the transport amount; determining, as the loading start timing, a timing before a time obtained by subtracting the loading time from the transportation start timing; Item 5. A material supply system according to item 5.

[0091] [Item 7] 7. The material supply system according to item 5 or 6, wherein the arithmetic device notifies the loading start timing to a terminal device used by a worker performing the loading work.

[0092] [Item 8] Further, a control device is provided that acquires information indicating the transportation start timing and controls the automatic driving of the transportation vehicle, When the control device acquires information indicating the transportation start timing, the control device starts automatic traveling to the delivery location at the transportation start timing. 8. A material supply system according to any one of items 1 to 7.

[0093] [Item 9] 9. A material supply system according to any one of items 1 to 8, wherein the computing device monitors the state of the agricultural machine and estimates the consumption state of the agricultural material based on the state of the agricultural machine.

[0094] [Item 10] 10. A material supply system as described in item 9, wherein the computing device monitors the position and movement speed of the agricultural machine and estimates the consumption state of the agricultural material based on the position and movement speed of the agricultural machine.

[0095] [Item 11] 11. A material supply system according to any one of items 1 to 10, wherein the calculation device estimates the consumption status of the agricultural materials based on a preset work plan for the agricultural machine.

[0096] [Item 12] Item 12. The material supply system according to item 11, wherein the calculation device estimates the consumption status of the agricultural materials based on information on the work route and work speed of the agricultural machine included in the work plan.

[0097] [Item 13] The computing device estimating a depletion point at which the remaining amount of the agricultural material falls below a predetermined amount based on the consumption state of the agricultural material, the work route of the agricultural machine, and the position and movement speed of the agricultural machine; determining the delivery location in accordance with the depletion point; 13. The material supply system according to any one of items 1 to 12.

[0098] [Item 14] Item 9. The material supply system according to item 8, wherein the control device controls the automatic driving of the transport vehicle to travel along a route including the storage location and the delivery location based on a predetermined operation plan for the transport vehicle.

[0099] [Item 15] The material supply system described in item 8 or 14, wherein the control device starts automatic driving from the delivery location to the storage location in response to a command from a device operated by a user after unloading of the agricultural materials from the transport vehicle is completed at the delivery location.

[0100] [Item 16] The material supply system described in any one of items 8, 14, and 15, wherein the control device starts automatic driving to the delivery location when it receives a notification indicating that loading of the agricultural materials onto the transport vehicle at the storage location has been completed and acquires information indicating the timing for starting transportation.

[0101] [Item 17] 17. A material supply system according to any one of items 1 to 16, wherein the computing device is mounted on the agricultural machine, a computer communicating with the agricultural machine, or the transport vehicle.

[0102] [Item 18] the agricultural material includes a plant seedling; The agricultural machine is a transplanter that travels while planting the plant seedlings in a field. 18. A material supply system according to any one of items 1 to 17.

[0103] [Item 19] A method for supplying agricultural materials to be consumed by an agricultural machine in agricultural work to a transport vehicle, comprising: acquiring information on the consumption status of the agricultural materials during agricultural work in the field by the agricultural machine, the location of a storage location for the agricultural materials, and the location of a delivery location for the agricultural materials; determining a timing for starting transportation of the transport vehicle to the delivery location based on a consumption state of the agricultural materials, a location of the storage location, and a location of the delivery location; providing information indicating the transportation start timing to a control device that controls automatic driving of the transportation vehicle; A method comprising: [Industrial Applicability]

[0104] The technology disclosed herein can be applied to material supply systems for agricultural machines that perform agricultural work while consuming agricultural materials, such as rice transplanters, vegetable transplanters, tractors, fertilizer applicators, seed sowing machines, and pesticide sprayers. [Explanation of symbols]

[0105] 10 material supply system, 50 computing device, 62 storage location, 64 delivery location, 70 field, 82 agricultural materials, 100 agricultural machinery, 110 positioning device, 120 remaining amount sensor, 140 storage device, 150 control device, 190 communication device, 300 transport vehicle, 310 positioning device, 320 sensor group, 330 self-location estimation device, 340 storage device, 350 control device, 390 communication device, 400 terminal device, 440 storage device, 450 processing device, 460 display device, 480 communication device, 500 server, 540 storage device, 590 communication device

Claims

1. A material supply system that supplies agricultural materials consumed by agricultural machines in agricultural work to a transport vehicle, a calculation device that determines a timing for starting transport of the transport vehicle to the delivery location based on a consumption state of the agricultural materials in agricultural work performed by the agricultural machine in the field, a location of a storage location for the agricultural materials, and a location of a delivery location for the agricultural materials; The computing device estimating a time when the remaining amount of the agricultural material will fall below a predetermined amount based on the consumption state of the agricultural material; estimating a travel time required for the transport vehicle to travel to the delivery location based on a positional relationship between the storage location of the agricultural materials and the delivery location of the agricultural materials; determining the transportation start timing based on the depletion time point and the travel time; Material supply system.

2. The material supply system according to claim 1 , wherein the calculation device determines, as the transportation start timing, a timing before a time obtained by subtracting the travel time from the depletion time.

3. The material supply system according to claim 1 or 2, wherein the arithmetic device transmits information indicating the transportation start timing to a control device that controls automatic driving of the transportation vehicle.

4. 3. The material supply system according to claim 1, wherein the calculation device determines a loading start timing for starting loading of the agricultural materials onto the transport vehicle based on the transportation start timing and the amount of agricultural materials transported by the transport vehicle.

5. The computing device estimating a loading time required to load the agricultural materials onto the transport vehicle based on the transport amount; determining, as the loading start timing, a timing before a time obtained by subtracting the loading time from the transportation start timing; The material supply system according to claim 4.

6. 5. The material supply system according to claim 4, wherein the arithmetic unit notifies the loading start timing to a terminal device used by a worker who performs the loading work.

7. Further, a control device is provided that acquires information indicating the transportation start timing and controls the automatic driving of the transportation vehicle, When the control device acquires information indicating the transportation start timing, the control device starts automatic traveling to the delivery location at the transportation start timing.

3. The material supply system according to claim 1 or 2.

8. 3. The material supply system according to claim 1, wherein the computing device monitors the state of the agricultural machine and estimates the consumption state of the agricultural material based on the state of the agricultural machine.

9. 9. The material supply system according to claim 8, wherein the computing device monitors the position and speed of the agricultural machine and estimates the consumption state of the agricultural material based on the position and speed of the agricultural machine.

10. 3. The material supply system according to claim 1, wherein the calculation device estimates the consumption state of the agricultural materials based on a predetermined work plan for the agricultural machine.

11. The material supply system according to claim 10 , wherein the calculation device estimates the consumption state of the agricultural materials based on information on the work route and work speed of the agricultural machine included in the work plan.

12. The computing device estimating a depletion point at which the remaining amount of the agricultural material falls below a predetermined amount based on the consumption state of the agricultural material, the work route of the agricultural machine, and the position and movement speed of the agricultural machine; determining the delivery location in accordance with the depletion point; 3. The material supply system according to claim 1 or 2.

13. The material supply system according to claim 7, wherein the control device controls the automatic driving of the transport vehicle so as to travel a route including the storage location and the delivery location based on a predetermined operation plan for the transport vehicle.

14. The material supply system of claim 7, wherein the control device starts automatic driving from the transfer location to the storage location in response to a command from a device operated by a user after unloading of the agricultural materials from the transport vehicle is completed at the transfer location.

15. The material supply system of claim 7, wherein the control device starts automatic driving to the delivery location when it receives a notification indicating that loading of the agricultural materials onto the transport vehicle at the storage location has been completed and acquires information indicating the timing of the start of transportation.

16. The material supply system according to claim 1 or 2, wherein the computing device is mounted on the agricultural machine, a computer communicating with the agricultural machine, or the transport vehicle.

17. the agricultural material includes a plant seedling; The agricultural machine is a transplanter that travels while planting the plant seedlings in a field.

3. The material supply system according to claim 1 or 2.

18. 1. A computer-implemented method for causing a transport vehicle to deliver agricultural inputs for consumption by an agricultural machine in a farm operation, comprising: acquiring information on the consumption status of the agricultural materials during agricultural work in the field by the agricultural machine, the location of a storage location for the agricultural materials, and the location of a delivery location for the agricultural materials; determining a timing for starting transportation of the transport vehicle to the delivery location based on a consumption state of the agricultural materials, a location of the storage location, and a location of the delivery location; providing information indicating the transportation start timing to a control device that controls automatic driving of the transportation vehicle; Including, Determining the transportation start timing includes: estimating a time when the remaining amount of the agricultural material will fall below a predetermined amount based on the consumption state of the agricultural material; estimating a travel time required for the transport vehicle to travel to the delivery location based on a positional relationship between the storage location of the agricultural materials and the delivery location of the agricultural materials; determining the transportation start timing based on the depletion time point and the travel time; A method comprising:

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