Path planning system for autonomously driving agricultural machinery

Abstract

This route-planning system is for a self-driving agricultural machine, and comprises: a storage device that stores a map including a plurality of agricultural fields and paths in and around the plurality of agricultural fields; and a processing device that generates routes for the agricultural machine on the map. The processing device generates a first route, within an agricultural field on the map, along which the agricultural machine travels while executing agricultural work within that agricultural field, and generates a second route, along a path on the map, along which the agricultural machine travels to the agricultural field.

Description

[Technical Field]

[0001] The present disclosure relates to a path planning system for autonomously driving 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 navigate autonomously within fields using positioning systems such as the Global Navigation Satellite System (GNSS) have been put to practical use. Research and development is also underway on work vehicles that can navigate autonomously not only within fields but also outside of them.

[0003] Patent Documents 1 and 2 disclose examples of a system in which an unmanned work vehicle automatically travels between two farm fields separated 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 a technique for more efficiently planning paths for autonomously driven agricultural machines. [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 driven agricultural machine, comprising: a storage device that stores a map including a plurality of fields and roads surrounding the plurality of fields; and a processing device that generates a path for the agricultural machine on the map. The processing device generates a first route in the field on the map along which the agricultural machine travels while performing farm work in the field, and generates a second route on the roads on the map along which the agricultural machine travels toward the field.

[0007] A route planning system according to another aspect of the present disclosure is a route planning system for an autonomously driven agricultural machine, comprising: a storage device that stores a map including a plurality of fields and roads surrounding the plurality of fields; and a processing device that creates a work plan including information on agricultural work to be performed by the agricultural machine and the fields where the agricultural work will be performed, and generates a route for the agricultural machine on the map based on the created work plan.

[0008] 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]

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

[0010] [Figure 1] FIG. 1 is a diagram for explaining an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. [Figure 2]1 is a side view schematically showing an example of a work vehicle and an implement coupled to the work vehicle. FIG. [Figure 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 that performs positioning using RTK-GNSS. [Figure 5] 3A and 3B are diagrams illustrating an example of an operation terminal and an operation switch group provided inside a cabin. [Figure 6] FIG. 2 is a block diagram illustrating an example of the hardware configuration of a management device and a terminal device. [Figure 7] FIG. 1 is a diagram schematically illustrating an example of a work vehicle that automatically travels along a target route in a farm field. [Figure 8] 10 is a flowchart illustrating an example of the operation of steering control 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. 10 is a diagram showing an example of a work vehicle at a position shifted to the right from the target route P. [Figure 9C] FIG. 10 is a diagram showing an example of a work vehicle at a position shifted to the left from a target route P. [Figure 9D] 10 is a diagram showing an example of a work vehicle facing in a direction inclined with respect to a target route P. FIG. [Figure 10] FIG. 1 is a diagram schematically 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. 10 is a diagram illustrating an example of a setting screen displayed on the terminal device. [Figure 12] FIG. 10 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 path. [Figure 15] FIG. 10 is a diagram illustrating an example of a table showing the correspondence between waiting locations and farm fields. [Figure 16]FIG. 10 is a diagram showing an example of a global route generated in a certain work day. [Figure 17] 10A and 10B are diagrams illustrating an example of operation in an embodiment in which an operation terminal generates a route within a field and a management device generates a route outside the field. [Figure 18] FIG. 10 is a diagram illustrating an example of a global path and a local path generated in an environment where obstacles are present. [Figure 19] 1 is a flowchart illustrating a method for path planning and cruise control. [Figure 20] FIG. 1 is a diagram illustrating an example of an environment in which trees are densely distributed around a farm road. [Figure 21] FIG. 10 is a diagram illustrating an example of a map to which information obtained by sensing has been added. DETAILED DESCRIPTION OF THE INVENTION

[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 cultivators, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, 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 work on the ground in a field, such as plowing, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural works are sometimes referred to as "ground work" or simply "work." Traveling while performing agricultural work by a vehicle-type agricultural machine is sometimes referred to as "work travel."

[0012] "Autonomous driving" refers to controlling the movement of an agricultural machine 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 but also the agricultural work operations (e.g., the operation of the implements) may be automatically controlled. When the agricultural machine is a vehicle-type machine, the movement of the agricultural machine through autonomous driving is referred to as "autonomous driving." The control device may control at least one of the steering, speed adjustment, and start and stop of movement required for the movement of the agricultural machine. When controlling a work vehicle equipped with implements, the control device may control operations such as raising and lowering the implements and starting and stopping their operation. Autonomous driving movement includes not only movement of the agricultural machine toward a destination along a predetermined route, but also movement of the agricultural machine following a tracking target. An autonomously driving agricultural machine may move partially based on user instructions. Furthermore, an autonomously driving agricultural machine may operate in a manual driving mode, in which it moves through manual operation by the driver, in addition to an autonomous driving mode. Steering an agricultural machine by the action of a control device, without manual operation, is called "automatic steering." Part or all of the control device may be external to the agricultural machine. Control signals, commands, data, and the like may be communicated 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 within a field or outside a field (e.g., on a road). During autonomous movement, the machine may detect obstacles and take action to avoid them.

[0013] A "work plan" is data that schedules one or more agricultural tasks to be performed by an agricultural machine. The work plan may include, for example, information indicating the order of agricultural tasks to be performed by the agricultural machine and the field on which each task will be performed. The work plan may also include information on the scheduled date and time for each task. A work plan that includes information on the scheduled date and time for each task is particularly referred to as a "work schedule" or simply a "schedule." The work schedule may include information on the scheduled start and / or end times for each task performed on each work day. The work plan or work schedule may include information for each task, such as the content of the task, the implements to be used, and / or the type and amount of agricultural materials to be used. Here, "agricultural materials" refers to materials used in agricultural tasks performed by an agricultural machine. Agricultural materials may also be simply referred to as "materials." Agricultural materials may include materials consumed in agricultural tasks, 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 task, or a processing device installed 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 the agricultural work of multiple agricultural machines. In this case, the management device may create a work plan that includes information about each agricultural work to be 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 and perform the scheduled agricultural work in accordance with the work plan.

[0014] An "environmental map" is data that represents the positions or areas of objects 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. An environmental map may also include information other than the positions of objects in the environment (e.g., attribute information and other information). Environmental maps include maps in various formats, such as point cloud maps or grid maps. Data for local or partial maps that are generated or processed in the process of constructing an environmental map are 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, generated by a processing device that performs path planning. Generating a global path is called global path planning or global path design. In the following description, the global path is also called a "target path" or simply a "path." A global path can 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" refers to a local path that can avoid obstacles and is generated sequentially when an agricultural machine automatically moves along a global path. Generating a local path is called local path planning or local path design. A local path is generated sequentially based on data acquired by one or more sensing devices equipped on the agricultural machine while the agricultural machine is moving. A local path may be defined by multiple waypoints along a portion of the global path. However, if an obstacle exists near the global path, waypoints may be set to bypass the obstacle. The length of the link between waypoints on a local path is shorter than the length of the link between waypoints on 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 an agricultural machine may generate the global path, and a control device installed on the agricultural machine may generate the local path. In this case, the combination of the management device and the control device functions as a "processing device" that performs path planning. The agricultural machine's controller may function as a processor for both global and local path planning.

[0017] "Farm road" means a road that is primarily used for agricultural purposes. Farm roads are not limited to roads paved with asphalt, but also include unpaved roads covered with dirt or gravel. Farm roads include roads (including private roads) that are exclusively passable by vehicle-type agricultural machinery (for example, work vehicles such as tractors) and roads that are also passable by general vehicles (passenger cars, trucks, buses, etc.). Work vehicles may automatically travel on general roads in addition to farm roads. General roads are roads that have been developed for the traffic of general vehicles.

[0018] A "storage location" is a location provided for storing agricultural machinery. A storage location may be, for example, a location managed by a user of the agricultural machinery, or a location jointly operated by multiple users. A storage location may be, for example, a location set aside for storing agricultural machinery, such as a warehouse, barn, or parking lot at the home or business of a user (such as a farmer). The location of the storage location may be registered in advance and recorded in a storage device.

[0019] A "waiting location" is a location provided for an agricultural machine to wait while not performing agricultural work. One or more waiting locations may be provided in an environment in which the agricultural machine performs autonomous driving. The storage location described above is an example of a waiting location. A waiting location may be a location jointly managed or used by multiple users. A waiting location may be, for example, a warehouse, garage, barn, parking lot, or other facility. A waiting location may be a warehouse, barn, garage, or parking lot at the home or business of a farmer who is different from the user of the agricultural machine. Multiple waiting locations may be scattered throughout the environment in which the agricultural machine moves. Work such as replacement or maintenance of agricultural machine parts or implements, or replenishment of materials, may be performed in a waiting location. In this case, parts, tools, or materials required for those work may be stored in the waiting location.

[0020] (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.

[0021] 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.

[0022] The following mainly describes 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. The technology of the present disclosure is not limited to work vehicles such as tractors, but can also be applied to other types of agricultural machinery.

[0023] FIG. 1 is a diagram illustrating 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 a work vehicle 100, a terminal device 400, and a management device 600. The terminal device 400 is a computer used by a user to remotely monitor the work vehicle 100. The management device 600 is a computer managed by a business operator that operates the agricultural management system. The work vehicle 100, the terminal device 400, and the management device 600 can communicate with each other via a network 80. Although FIG. 1 illustrates one work vehicle 100, the agricultural management system may include multiple work vehicles or other agricultural machinery.

[0024] The work vehicle 100 in this embodiment is a tractor. The work vehicle 100 can be fitted with an implement at either the rear or the front, or both. The work vehicle 100 can travel within a field while performing agricultural work according to the type of implement. The work vehicle 100 may also travel within or outside a field without an implement attached.

[0025] The work vehicle 100 has an automatic driving function. That is, the work vehicle 100 can travel by the operation of a control device, without manual operation. The control device in this embodiment is provided inside the work vehicle 100, and can control both the speed and steering of the work vehicle 100. The work vehicle 100 can travel automatically not only within a field, but also outside the field (for example, on a road).

[0026] The work vehicle 100 is equipped with devices used for positioning or self-location estimation, such as a GNSS receiver and a LiDAR sensor. A control device of the work vehicle 100 causes the work vehicle 100 to travel automatically based on the position of the work vehicle 100 and information about a target route. In addition to controlling the travel of the work vehicle 100, the control device also controls the operation of the implement. This allows the work vehicle 100 to perform agricultural work using the implement while traveling automatically within a field. Furthermore, the work vehicle 100 can automatically travel along roads outside the field (e.g., farm roads or public roads) along a target route. When traveling automatically along roads outside the field, the work vehicle 100 travels while generating a local route along the target route that can avoid obstacles, based on data output from sensing devices such as a camera or LiDAR sensor. Within the field, the work vehicle 100 may travel while generating a local route as described above, or may travel along a target route without generating a local route and stop if an obstacle is detected.

[0027] The management device 600 is a computer that manages agricultural work performed by the work vehicle 100. The management device 600 may be, for example, a server computer that centrally manages information about a field on the cloud and supports agriculture by utilizing data on the cloud. The management device 600, for example, creates a work plan for the work vehicle 100 and plans a global path for the work vehicle 100 in accordance with the work plan. The management device 600 generates a global path (target path) using different methods for inside and outside the field. The management device 600 generates a target path within the field based on information about the field. For example, the management device 600 can generate a target path within the field based on various information registered in advance, such as the outline of the field, the area of ​​the field, the location of the field entrance and exit, the width of the work vehicle 100, the width of the implement, the type of work, the type of crop being cultivated, the crop growing area, the crop growth status, or the spacing between crop rows or furrows. The management device 600 generates a target route within the field based on, for example, information input by a user using the terminal device 400 or another device. The management device 600 generates a route within the field, for example, so as to cover the entire work area where the work will be performed. Meanwhile, the management device 600 generates a target route outside the field in accordance with a work plan or user instructions. 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 in the work plan, the location of the field where each farm work will be performed, the location of the field entrances and exits, the scheduled start and end times of each farm work, road surface conditions, weather conditions, or traffic conditions. The management device 600 may generate a target route based on information indicating a route or waypoints specified by a user operating the terminal device 400, regardless of the work plan. The management device 600 may also generate and edit an environmental map based on data collected by the work vehicle 100 or other moving objects using a sensing device such as a LiDAR sensor. The management device 600 transmits the generated work plan, target route, and environmental map data to the work vehicle 100. The work vehicle 100 moves and performs farm work automatically based on this data.

[0028] It should be noted that the global route design and the generation (or editing) of the environmental map may be performed by other devices, not just the management device 600. For example, the control device of the work vehicle 100 may perform the global route design or the generation or editing of the environmental map.

[0029] The terminal device 400 is a computer used by a user located remotely from the work vehicle 100. While the terminal device 400 shown in FIG. 1 is a laptop computer, this is not limiting. The terminal device 400 may be a stationary computer such as a desktop PC (personal computer), or a mobile terminal such as a smartphone or tablet computer. The terminal device 400 may be used to remotely monitor or remotely operate the work vehicle 100. For example, the terminal device 400 can display on a display image captured by one or more cameras (imaging devices) equipped on the work vehicle 100. The user can view the image to confirm the situation around the work vehicle 100 and send instructions to the work vehicle 100 to stop or start. The terminal device 400 can also display on a display a setting screen that allows the user to input information necessary to create a work plan for the work vehicle 100 (e.g., a schedule for each agricultural work). When the user inputs the necessary 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 this information. The terminal device 400 can also be used to register one or more fields where the work vehicle 100 will perform agricultural work, a storage location for the work vehicle 100, and one or more waiting locations. The terminal device 400 may further have a function to display on the display a setting screen that allows the user to input information necessary to set a target route.

[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 schematically shows an example of a work vehicle 100 and an implement 300 coupled to the work vehicle 100. The work vehicle 100 in this embodiment can operate in both a manual driving mode and an automatic driving mode. In the automatic driving mode, the work vehicle 100 can travel unmanned. The work vehicle 100 can be driven automatically both inside and outside a field.

[0032] As shown in Fig. 2, work vehicle 100 includes a vehicle body 101, a prime mover (engine) 102, and a speed change device (transmission) 103. Vehicle body 101 is provided with wheels 104 with tires, and a cabin 105. Wheels 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside cabin 105 are provided a driver's seat 107, a steering device 106, an operation terminal 200, and a group of switches for operation. When work vehicle 100 travels for work in a field, one or both of front wheels 104F and rear wheels 104R may be fitted with crawlers instead of tires.

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

[0034] Cameras 120 may be installed, for example, on the front, rear, left and right sides of work vehicle 100. Cameras 120 capture images of the environment around work vehicle 100 and generate image data. Images acquired by cameras 120 may be transmitted to terminal device 400 for remote monitoring. These images may be used to monitor work vehicle 100 during unmanned operation. Cameras 120 may also be used to generate images for recognizing surrounding features or obstacles, white lines, signs, or markings when work vehicle 100 travels on roads outside of fields (farm roads or public roads).

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

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

[0037] The work vehicle 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 work vehicle 100 based on the signals received by the antenna. The GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the GNSS unit 110 is provided on top of the cabin 105, but may be provided in another location.

[0038] The GNSS unit 110 may include an inertial measurement unit (IMU). Signals from the IMU can be used to complement position data. The IMU can measure the tilt and minute movements of the work vehicle 100. By complementing position data based on satellite signals with data acquired by the IMU, positioning performance can be improved.

[0039] The control device of the work vehicle 100 may use, in addition to the positioning results from the GNSS unit 110, sensing data acquired by sensing devices such as the camera 120 or LiDAR sensor 140 for positioning. If there are features that function as characteristic points in the environment in which the work vehicle 100 is traveling, such as farm roads, forest roads, public roads, or orchards, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the camera 120 or LiDAR sensor 140 and an environmental map that has been stored in advance in a storage device. By using the data acquired by the camera 120 or LiDAR sensor 140 to correct or complement position data based on satellite signals, the position of the work vehicle 100 can be determined with higher accuracy.

[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 travel speed of the work vehicle 100 by changing gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse travel.

[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 steerable wheels, and the traveling direction of the work vehicle 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 to change 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 electric motor under control of a control device arranged inside the work vehicle 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 "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The coupling device 108 allows the implement 300 to be attached to and detached from the work vehicle 100. The coupling device 108 can raise and lower the three-point link using, for example, a hydraulic device, thereby changing the position or attitude of the implement 300. Power can also be sent from the work vehicle 100 to the implement 300 via the universal joint. The work vehicle 100 can pull the implement 300 and cause the implement 300 to perform a predetermined task. The coupling device may be provided at the front of the vehicle body 101. In this case, the implement can be connected to the front of the work vehicle 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 (seed sowing machine), a spreader (fertilizer applicator), a transplanter, a mower (grass cutter), a rake, a baler (grass collector), a harvester (harvesting machine), a sprayer, or a harrow can be connected to the work vehicle 100 and used.

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

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

[0046] In the example of FIG. 3 , the work vehicle 100 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 group of sensors 150 that detect the operating state of the work vehicle 100, a control system 160, a communication device 190, a group of operation switches 210, a buzzer 220, and a drive unit 240. These components are communicatively connected to 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 group of sensors 150 includes a steering wheel sensor 152, a turning angle sensor 154, and an axle sensor 156. The control system 160 includes a memory device 170 and a control device 180. The control device 180 includes multiple electronic control units (ECUs) 181 to 186. Implement 300 includes a drive unit 340, a control unit 380, and a communication unit 390. Note that Fig. 3 shows components that are relatively highly related to the operation of the autonomous driving by work vehicle 100, and does not show other components.

[0047] The GNSS receiver 111 in the GNSS unit 110 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as 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 a satellite signal is received.

[0048] The GNSS unit 110 shown in FIG. 3 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of a work vehicle 100 performing positioning using RTK-GNSS. Positioning using RTK-GNSS uses satellite signals transmitted from multiple GNSS satellites 50 as well as correction signals transmitted from a reference station 60. The reference station 60 may be installed near the field where the work vehicle 100 will be traveling (for example, within 10 km of the work vehicle 100). The reference station 60 generates correction signals, for example in RTCM format, based on the satellite signals received from the multiple GNSS satellites 50 and transmits them to the GNSS unit 110. The RTK receiver 112 includes an antenna and a modem and receives the correction signals transmitted from the reference station 60. The processing circuit 116 of the GNSS unit 110 corrects the positioning results obtained by the GNSS receiver 111 based on the correction signals. 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 obtained through highly accurate positioning using RTK-GNSS. The GNSS unit 110 calculates the position of the work vehicle 100, for example, at a frequency of approximately 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 differential 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 this case, the GNSS unit 110 does not need to be equipped with the RTK receiver 112.

[0050] Even when RTK-GNSS is used, in places where correction signals from the reference station 60 cannot be obtained (for example, on a road far from a field), the position of the work vehicle 100 is estimated by other methods without relying on signals from the RTK receiver 112. For example, the position of the work vehicle 100 can be estimated by matching data output from the LiDAR sensor 140 and / or 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 also include a direction 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, velocity, displacement, and attitude of the work vehicle 100. The processing circuit 116 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signals output from the IMU 115 in addition to the satellite signals and correction signals. The signals output from the IMU 115 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 115 outputs signals at a higher frequency than the GNSS receiver 111. Using these high-frequency signals, the processing circuit 116 can measure the position and orientation of the work vehicle 100 at a higher frequency (e.g., 10 Hz or higher). A three-axis acceleration sensor and a three-axis gyroscope may be provided separately instead of the IMU 115. 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 images of the environment surrounding the work vehicle 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 images of the environment surrounding the work vehicle 100 while the work vehicle 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 higher. The images generated by the camera 120 can be used, for example, when a remote observer uses the terminal device 400 to check the environment surrounding the work vehicle 100. 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 installed at different positions on the work vehicle 100, or a single camera may be installed. A visible light camera that generates a visible light image and an infrared camera that generates an infrared image may be provided separately. Both a visible light camera and an infrared camera may be provided as cameras that generate images for surveillance. The infrared camera can also be used to detect obstacles at night.

[0053] The obstacle sensor 130 detects objects present around the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the work vehicle 100. By providing such a large number of obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0054] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F, which are the steered wheels. The measurement values ​​from 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, i.e., 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 that indicates, 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 work vehicle 100.

[0056] The drive device 240 includes various devices necessary for the travel of the work vehicle 100 and the driving of the implement 300, such as the prime mover 102, transmission 103, steering device 106, and coupling device 108 described above. The prime mover 102 may be equipped with an internal combustion engine such as a diesel engine. The drive device 240 may be equipped with 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 the 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 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 work vehicle 100 travels and data on a global route (target route) for autonomous driving. The environmental map includes information on multiple fields in which the work vehicle 100 will perform agricultural work and the roads in their surrounding areas. The environmental map and target route may be generated by a processor in the management device 600. Note that the control device 180 in this embodiment has the function of generating or editing the environmental map and target route. The control device 180 can edit the environmental map and target route obtained from the management device 600 according to the travel environment of the work vehicle 100. The storage device 170 also stores work plan data received by the communication device 190 from the management device 600. The work plan includes information about multiple agricultural works to be performed by the work vehicle 100 over multiple work days. The work plan may be, for example, work schedule data that includes information about the scheduled times for each agricultural work to be performed by the work vehicle 100 on each work day. The storage device 170 also stores computer programs that cause each ECU in the control device 180 to perform various operations, which will be described later. Such computer programs may be provided to the work vehicle 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 also 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 work vehicle 100 by controlling the prime mover 102 , the transmission 103 , and the brakes included in the drive unit 240 .

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

[0062] The ECU 183 controls the operation of the three-point link and 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 controls to achieve 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 determines the position of the work vehicle 100 based on data output from at least one of the GNSS unit 110, the camera 120, and the LiDAR sensor 140. Within a farm field, the ECU 184 may determine the position of the work vehicle 100 based solely on data output from the GNSS unit 110. The ECU 184 may also estimate or correct the position of the work vehicle 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. Outside of a farm field, the ECU 184 estimates the position of the work vehicle 100 using data output from the LiDAR sensor 140 or the camera 120. For example, ECU 184 may estimate the position of work vehicle 100 by matching data output from LiDAR sensor 140 or camera 120 with an environmental map. During autonomous driving, ECU 184 performs calculations necessary for work vehicle 100 to travel along a target path or a local path based on the estimated position of work vehicle 100. ECU 184 sends a speed change command to ECU 181 and a steering angle change command to ECU 182. In response to the speed change command, ECU 181 changes the speed of work vehicle 100 by controlling prime mover 102, transmission 103, or brakes. In response to the steering angle change command, ECU 182 changes the steering angle by controlling steering device 106.

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

[0065] The ECU 186 generates or edits a map of the environment in which the work vehicle 100 travels. In this embodiment, an environmental map generated by an external device such as the management device 600 is transmitted to the work vehicle 100 and recorded in the storage device 170, but the ECU 186 can also generate or edit the environmental map instead. The following describes the operation when the ECU 186 generates an environmental map. The environmental map can 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 the sensor data output from the LiDAR sensor 140 while the work vehicle 100 is traveling. The ECU 186 can generate the environmental map by connecting the sequentially generated point cloud data using an algorithm such as SLAM. The environmental map generated in this manner is a highly accurate three-dimensional map and can be used by the ECU 184 for self-localization estimation. A two-dimensional map used for global path planning can be generated based on this three-dimensional map. In this specification, the 3D map used for localization and the 2D map used for global route planning are both referred to as “environment maps.” 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 camera 120 or LiDAR sensor 140.

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

[0067] The multiple ECUs included in the control device 180 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In 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 on-board 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 includes circuits for communicating with the implement 300, the terminal device 400, and the management device 600. The communication device 190 includes circuits for transmitting and receiving signals compliant with ISOBUS standards, such as ISOBUS-TIM, between the communication device 390 of the implement 300. This allows the implement 300 to perform desired operations and acquire information from the implement 300. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 and the management device 600. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may also have a function for communicating with a mobile device used by a supervisor near the work vehicle 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 performs operations related to the travel of the work vehicle 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 liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 200, a user can perform various operations, such as switching the autonomous driving mode on / off, recording or editing an environmental map, setting a target route, and switching the implement 300 on / off. At least some of these operations can also be achieved by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user located remotely from the work vehicle 100 may operate the detached operation terminal 200 to control the operation of the work vehicle 100. Instead of the operation terminal 200, the user may control the operation of the work vehicle 100 by operating a computer, such as a terminal device 400, on which necessary application software is installed.

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

[0071] The drive device 340 in the implement 300 shown in FIG. 3 performs the operations required for the implement 300 to perform a predetermined task. The drive device 340 includes devices appropriate for 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 work vehicle 100 via the communication device 390. In addition, a signal appropriate for the state of the implement 300 can also be transmitted from the communication device 390 to the work vehicle 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 read-only memory (ROM) 670, a random access memory (RAM) 680, and a communication device 690. These components are communicatively connected to each other via a bus. The management device 600 manages the schedule of agricultural work performed in the field by the work vehicle 100 and can function as a cloud server that supports agriculture by utilizing the data it manages. A user can input information necessary for creating a work plan using the terminal device 400 and upload that information to the management device 600 via the network 80. The management device 600 can create a schedule for agricultural work, i.e., a work plan, based on that information. The management device 600 can also generate or edit an environmental map and perform global path planning for the work vehicle 100. 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 work vehicle 100 and the terminal device 400 via the network 80. The communication device 690 can perform wired communication in accordance with communication standards such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication in accordance with 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 implemented by a microprocessor or a microcontroller. Alternatively, the processor 660 may be implemented by a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), or a combination of two or more circuits selected from these circuits. The processor 660 sequentially executes a computer program stored in the ROM 670, which describes a group of instructions for executing at least one process, to achieve the desired process.

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

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

[0078] The storage device 650 mainly functions as 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 device.

[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 communicatively connected to one another via a bus. The input device 420 is a device for converting user instructions 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 therefore their description will be omitted.

[0080] [2. Operation] Next, the operations of the work vehicle 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 autonomous driving by the work vehicle 100 will be described. The work vehicle 100 in this embodiment can travel autonomously both inside and outside the field. In the field, the work vehicle 100 drives the implement 300 to perform predetermined agricultural work while traveling along a predetermined target route. If the obstacle sensor 130 detects an obstacle while traveling in the field, the work vehicle 100 stops traveling, emits a warning sound from the buzzer 220, and transmits a warning signal to the terminal device 400. In the field, the position of the work vehicle 100 is determined mainly based on data output from the GNSS unit 110. On the other hand, outside the field, the work vehicle 100 travels autonomously along a target route set on a farm road or public road outside the field. While traveling outside the field, the work vehicle 100 travels while performing local route planning based on data acquired by the camera 120 or the LiDAR sensor 140. When the work vehicle 100 detects an obstacle outside the field, it either avoids the obstacle or stops on the spot. Outside the field, the position of the work vehicle 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] Below, we will first explain the operation of the work vehicle 100 when it travels automatically within a farm field. The operation of the work vehicle 100 when it travels automatically outside a farm field, and the processing of global route design and local route design outside a farm field will be described later.

[0083] FIG. 7 is a schematic diagram illustrating an example of a work vehicle 100 automatically traveling through a field along a target route. In this example, the field includes a work area 72 where the work vehicle 100 performs work using an implement 300 and a headland 74 located near the outer edge of the field. The user can set in advance which areas of the field on the map correspond to the work area 72 or the headland 74. 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 routes P1 are located within the work area 72, and the turning routes P2 are located within the headland 74. Although each main route P1 shown in FIG. 7 is a straight route, each main route P1 may also include curved portions. The dashed line in FIG. 7 represents the working width of the implement 300. The working width is set in advance and recorded in the storage device 170. The working width may be set and recorded by the user operating the operation terminal 200 or the terminal device 400. Alternatively, the working width may be automatically recognized and recorded when the implement 300 is connected to the work vehicle 100. The spacing between the multiple main paths P1 may be set to match the working width. A target route may be created based on user operation before automatic driving begins. The target route may be created to cover the entire work area 72 in a field, for example. The work vehicle 100 automatically travels back and forth from the start point of the work to the end point of the work, along a target route such as that shown in FIG. 7. Note that the target route shown in FIG. 7 is merely an example, and the target route may be defined 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 work vehicle 100 is traveling. The speed is maintained at, for example, a preset speed. While the work vehicle 100 is traveling, the control device 180 acquires data indicating the position of the work vehicle 100 generated by the GNSS unit 110 (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target route (step S122). The deviation represents the distance between the position of the work vehicle 100 at that time and the target route. The control device 180 determines whether the calculated position deviation exceeds a preset threshold (step S123). If the deviation exceeds the threshold, 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 skipped. In the following step S125, the control device 180 determines whether or not a command to end the operation has been received. A command to end the operation may be issued, for example, when a user remotely instructs the work vehicle 100 to stop autonomous driving, or when the work vehicle 100 reaches its destination. If a command to end the operation has not been issued, the process returns to step S121, and the same operation is performed based on the newly measured position of the work vehicle 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 work vehicle 100 identified by the GNSS unit 110 and the target route, but the control may also take into consideration the deviation in heading. For example, when the heading deviation, which is the angular difference between the orientation of the work vehicle 100 identified by the GNSS unit 110 and the direction of the target route, exceeds a preset threshold, the control device 180 may change the control parameters (e.g., steering angle) of the steering device of the drive device 240 in accordance with the deviation.

[0087] An example of steering control by the control device 180 will be described in more detail below with reference to FIGS. 9A to 9D.

[0088] FIG. 9A is a diagram showing an example of a work vehicle 100 traveling along a target route P. FIG. 9B is a diagram showing an example of a work vehicle 100 shifted to the right from the target route P. FIG. 9C is a diagram showing an example of a work vehicle 100 shifted to the left from the target route P. FIG. 9D is a diagram showing an example of a work vehicle 100 facing in an inclined direction with respect to the target route P. In these figures, the pose indicating the position and orientation of the work vehicle 100 measured by the GNSS unit 110 is expressed as r(x, y, θ). (x, y) are coordinates representing the position of the reference point of the work vehicle 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 work vehicle 100 is located at the position where the GNSS antenna is installed on the cabin, but the position of the reference point is arbitrary. θ is an angle representing the measured orientation of the work vehicle 100. In the examples shown, the target route P is parallel to the Y axis, but generally, the target route P is not necessarily parallel to the Y axis.

[0089] As shown in FIG. 9A, if the position and orientation of the work vehicle 100 do not deviate from the target route P, the control device 180 maintains the steering angle and speed of the work vehicle 100 unchanged.

[0090] As shown in Fig. 9B, when the position of work vehicle 100 has shifted to the right from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 leans leftward and approaches route P. At this time, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted, for example, according to the magnitude of position deviation Δx.

[0091] As shown in Fig. 9C, when the position of work vehicle 100 has shifted to the left from target route P, control device 180 changes the steering angle so that the traveling direction of work vehicle 100 tilts to the right and approaches 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, for example, according to the magnitude of position deviation Δx.

[0092] As shown in FIG. 9D , when the position of the work vehicle 100 is not significantly deviated from the target route P but the heading is different from the direction of the target route P, the control device 180 changes the steering angle to reduce the azimuth deviation Δθ. 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 greater the amount of change in the steering angle according to the azimuth deviation Δθ. When the absolute value of the position deviation Δx is large, the steering angle will be changed significantly to return to the route P, which inevitably increases the absolute value of the azimuth deviation Δθ. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight of the azimuth deviation Δθ (i.e., the control gain) used to determine the steering angle.

[0093] Control techniques such as PID control or MPC control (model predictive control) can be applied to the steering control and speed control of work vehicle 100. By applying these control techniques, it is possible to smooth the control that brings work vehicle 100 closer to target path P.

[0094] If an obstacle is detected by one or more obstacle sensors 130 while the work vehicle 100 is traveling, the control device 180 will stop the work vehicle 100. At this time, the buzzer 220 may be caused to emit a warning sound or a warning signal may be sent to the terminal device 400. If it is possible to avoid the obstacle, the control device 180 may control the drive device 240 to avoid the obstacle.

[0095] The work vehicle 100 in this embodiment is capable of autonomous driving not only in farm fields but also outside of farm fields. Outside of farm fields, the control device 180 can detect objects (e.g., other vehicles or pedestrians) that are located relatively far from the work vehicle 100 based on data output from the camera 120 or the LiDAR sensor 140. The control device 180 generates a local route to avoid the detected object, and performs speed control and steering control along the local route, thereby realizing autonomous driving on roads outside of farm fields.

[0096] In this manner, the work vehicle 100 in this embodiment can autonomously travel unmanned within and outside a field. FIG. 10 is a diagram schematically illustrating an example of a situation in which multiple work vehicles 100 are autonomously traveling within a field 70 and on a road 76 outside the field 70. An environmental map and a target route for an area including multiple fields and their surrounding roads are stored in the storage device 170. The environmental map and target route can be generated by the management device 600 or the ECU 185. When the work vehicle 100 travels on a road, the work vehicle 100 travels along the target route with the implement 300 raised while sensing the surroundings using sensing devices such as the camera 120 and the LiDAR sensor 140. While traveling, the control device 180 sequentially generates local routes and causes the work vehicle 100 to travel along the local routes. This enables autonomous traveling while avoiding obstacles. The target route may be changed during travel depending on the situation.

[0097] [2-2. Creating a work plan] In this embodiment, the work vehicle 100 automatically moves between fields and performs agricultural work in each field according to a work plan created by the management device 600. The work plan includes information about one or more agricultural works to be performed by the work vehicle 100. For example, the work plan includes information about one or more agricultural works to be performed by the work vehicle 100 and the fields on which each agricultural work will be performed. The work plan may also include information about multiple agricultural works to be performed by the work vehicle 100 over multiple work days and the fields on which each agricultural work will be performed. More specifically, the work plan may be a database containing work schedule information indicating which agricultural machine will perform which agricultural work in which field at what time for each work day. An example of a case where the work plan is such work schedule data will be described below. The work plan may be created by the processor 660 of the management device 600 based on information entered by the 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 the setting screen 760 shown in Fig. 11. The user can input information necessary for creating a work schedule on this setting screen 760.

[0099] 11 shows an example of a settings screen 760 for when tilling with fertilizer application is performed as agricultural work in a rice field. The settings screen 760 is not limited to the one shown in the figure and can be modified as appropriate. The settings 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 performed.

[0101] The crop plan selection unit 763 displays a list of names of crop plans created in advance. The user can select a desired crop plan from the list. Crop plans are created in advance for each type and variety of crop and are recorded in the storage device 650 of the management device 600. A crop plan is a plan that determines which crops will be cultivated (i.e., planted) in which fields. A crop plan is created by a manager who manages multiple fields before planting crops in the fields. In the example of Figure 11, a crop plan for the rice variety "Koshihibuki" is selected. In this case, the content set on the setting screen 760 is associated with the crop plan for "Koshihibuki."

[0102] The field selection section 764 displays the fields on the map. 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 farming works required to cultivate the selected crop. The user can select one farming work from the plurality of farming works. In the example of FIG. 11, "plowing" is selected from the plurality of farming works. In this case, the selected "plowing" is set as the farming work to be performed.

[0104] The worker selection section 766 displays workers who have been 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 worker does 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 the farm work to be performed.

[0106] The machine selection unit 768 is a section for setting the agricultural machine to be used in the agricultural work. The machine selection unit 768 may display, for example, the type or model of the agricultural machine previously registered by the management device 600, and the type or model of the implement that can be used. The user can select a specific machine from the displayed machines. In the example of FIG. 11, an implement with the model number "NW4511" has been selected. In this case, that 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] The dispersion amount setting section 770 displays a numerical value input from the input device 420. The input numerical value is set as the dispersion amount.

[0109] When the crop plan, field, agricultural 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. Based on the received information, the processor 660 creates a schedule of agricultural work to be performed by each agricultural machine 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 information described 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 also be set.

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

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

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

[0114] In this embodiment, the management device 600 and the control system 160 of the work vehicle 100 work together to function as a route planning system for the work vehicle 100. The storage device 650 stores a map including a plurality of fields and roads around those fields. The processor 660 of the management device 600 functions as a processing device that generates a route for the work vehicle 100 on the map. The management device 600 generates a route for the work vehicle 100 based on a work plan. Note that part or all of the route generation process executed by the management device 600 may be executed by the ECU 185 of the control device 180 of the work vehicle 100. In that case, the combination of the ECU 185 and the management device 600 functions as a processing device that generates a route for the work vehicle 100. Such a processing device creates a work plan for the work vehicle 100 and generates a route for the work vehicle 100 on the map based on the work plan.

[0115] Furthermore, some or all of the route generation processing executed by management device 600 may be executed by operation terminal 200 of work vehicle 100. In this case, the combination of operation terminal 200 and management device 600 functions as a processing device that generates a route for work vehicle 100. Such a processing device creates a work plan for work vehicle 100 and generates a route for work vehicle 100 on a map based on the work plan.

[0116] FIG. 13 is a diagram showing an example of a map referenced during route planning. This map is a two-dimensional digital map, and can be generated or updated by the management device 600 or the ECU 185. The map shown in FIG. 13 includes information on the position (e.g., latitude and longitude) of each point on multiple fields 70 where the work vehicle 100 performs agricultural work and on roads 76 in the surrounding areas. This map also includes location information for a storage location 90 for the work vehicle 100 and a waiting location 96 where the work vehicle 100 temporarily waits. The storage location 90 and waiting location 96 can be registered by a user operating the terminal device 400. A map such as that shown in FIG. 13 can be created for the entire area in which the work vehicle 100 can travel. Note that although the map shown in FIG. 13 is a two-dimensional map, a three-dimensional map may also be used for route planning.

[0117] The storage location 90 may be, for example, a garage, barn, or parking lot adjacent to the user's home or business. The waiting location 96 may be, for example, a location jointly managed or used by multiple users. The waiting location 96 may be a facility such as a parking lot or garage managed and operated by a city, town, or village, an agricultural cooperative, or a company. If the waiting location 96 is a facility that is locked at night, theft of the work vehicle 100 parked in the waiting location 96 can be prevented. While one waiting location 96 is illustrated in FIG. 13 , multiple waiting locations 96 may be provided. Furthermore, if the work vehicle 100 moves within a relatively small area, there is no need to provide a waiting location 96 separate from the storage location 90.

[0118] Before agricultural work begins on each work day, the management device 600 reads from the storage device 650 a map of the area including the field where agricultural work is scheduled to be performed on that work day, and generates a route for the work vehicle 100 based on that map. More specifically, the management device 600 generates a first route (also referred to as a "work travel route") in the field 70 on the map along which the work vehicle 100 will travel while performing agricultural work in that field, and also generates a second route on the map along which the work vehicle 100 will travel toward the field 70. After generating the first and second routes, the management device 600 connects the two to generate a global route for the work vehicle 100.

[0119] Figure 14 is a diagram showing an example of a generated global route. Figure 14 illustrates a group of fields 70A where farm work will be performed on a certain work day, a group of fields 70B where farm work will be performed on the next work day, and a group of fields 70C where farm work will be performed on the work day after that. Figure 14 also illustrates a storage location 90 for the work vehicle 100, a user's home 92 that remotely monitors the work vehicle 100, and two waiting locations 96A and 96B where the work vehicle 100 will wait. For ease of explanation, Figure 14 illustrates the group of fields 70A, the group of fields 70B, the group of fields 70C, the storage location 90, the waiting location 96A, and the waiting location 96B as if they were located relatively close to one another. In reality, the mutual distances between field group 70A, field group 70B, field group 70C, storage location 90, waiting location 96A, and waiting location 96B may be long, for example, from 500 m to 10 km or more.

[0120] In Figure 14, of the global routes generated by the management device 600, routes generated on road 76 are indicated by arrows. The first route (work travel route) generated within the field is omitted from the illustration. Solid arrows indicate an example of the route of the work vehicle 100 on a certain work day. Dashed arrows indicate an example of the route of the work vehicle 100 on the next work day.

[0121] In the example shown in FIG. 14 , the management device 600 generates a route for one work day that starts from the storage location 90, passes through the group of fields 70A, and reaches the waiting location 96A. This is because the waiting location 96A is the closest waiting location to the group of fields 70B where work is scheduled for the next work day. The management device 600 generates a route for the next work day that starts from the waiting location 96A, passes through the group of fields 70B, and reaches the waiting location 96B. This is because the waiting location 96B is the closest waiting location to the group of fields 70C where work is scheduled for the next work day. In this way, the management device 600 generates a route from the field where work is last performed on each work day to the waiting location that is the shortest on average from the group of fields where work is scheduled for the next work day. The work vehicle 100 travels along the generated route.

[0122] In the example shown in FIG. 14, on a certain work day, the work vehicle 100 departs from the storage location 90 and sequentially visits the group of fields 70A where work is scheduled for that day, performing the work indicated in the schedule in each field. In each field, the work vehicle 100 performs the work while automatically traveling along the work travel route, for example, using the method described with reference to FIGS. 7 to 9D. When work in one field is completed, the work vehicle 100 enters the next field and performs the work in the same manner. In this way, when work in the last field of the day is completed, the work vehicle 100 moves to the waiting location 96A. The work vehicle 100 waits at the waiting location 96A until the next work day. On the next work day, the work vehicle 100 departs from the waiting location 96A and sequentially visits the group of fields 70B where work is scheduled for that day, performing the work indicated in the schedule in each field. When work in the last field of the day is completed, work vehicle 100 moves to standby location 96B, where it waits until the next work day. On the next work day, work vehicle 100 similarly departs from standby location 96B, performs work in each of group of fields 70C in turn, and then heads to the designated standby location. This operation allows work vehicle 100 to move efficiently along the optimal route according to the schedule, completing the planned work.

[0123] In the present embodiment, when multiple standby locations (including the storage location 90) are provided within the environment in which the work vehicle 100 travels, data (e.g., a table) indicating the correspondence between the multiple standby locations and the multiple fields may be pre-stored in the storage device 650. FIG. 15 is a diagram showing an example of a table indicating the correspondence between standby locations and the fields. The correspondence between the standby locations and the fields may be determined, for example, based on the travel distance from each standby location to each field. In the example shown in FIG. 15, the standby location closest to fields 1 to 30 is standby location A, the standby location closest to fields 31 to 60 is standby location B, and the standby location closest to fields 61 to 100 is standby location C. By referencing such a table, the management device 600 can determine the standby location closest to the field scheduled for the next work day. As in this example, by providing one or more standby locations 96 separate from the storage location 90, the time required for the work vehicle 100 to travel and the amount of fuel consumed can be reduced compared to returning to the storage location 90 every time. As a result, a series of agricultural tasks can be carried out efficiently over multiple working days.

[0124] Next, an example of a method for generating a global route will be described in more detail with reference to Figure 16. Figure 16 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 that returns from a waiting location 96 to the waiting location 96 via four fields 70. The management device 600 generates a first route (work travel route) 30A within the field 70, and generates a second route 30B on a road 76 around the field 70. In Figure 16, the first route 30A is shown only for the field 70 on the lower left, and the first routes in the other fields 70 are not shown.

[0125] The management device 600 generates a first path 30A as indicated by the solid arrow in FIG. 16 within each field 70 on the map. The management device 600 generates the first path 30A based on settings made in advance by the user, as described with reference to FIG. 7. The first path 30A can be generated so as to cover the entire work area 72 by repeatedly traveling back and forth from the start point S to the end point G. The spacing between rows on the first path 30A can be determined taking into account the width and turning performance of the work vehicle 100 and the implement 300.

[0126] The management device 600 further generates a route from the waiting location 96 to the field 70 and a route connecting multiple fields 70 as second routes 30B. In the example of FIG. 16, in addition to the road 76, the management device 600 generates a second route 30B at the entrance of the field 70 and generates a third route 30C that connects the second route 30B generated at the entrance with a start point S of the first route 30A. In addition to the road 76, the management device 600 also generates a second route 30B at the exit of the field 70 and generates a fourth route 30D that connects the second route 30B generated at the exit with an end point G of the first route 30A. In the example shown in FIG. 16, the entrance and exit of the field 70 are common, and will be referred to as an entrance / exit 71 hereinafter. Each field 70 may have multiple entrances / exits 71, and the entrance and exit may be located in 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.

[0127] In this embodiment, the management device 600 generates the third route 30C and the fourth route 30D in an area of ​​the field 70 excluding areas where agricultural work has been performed. In the example of FIG. 16 , it is assumed that the previous agricultural work has already been performed in the work area 72. Therefore, the management device 600 generates the third route 30C and the fourth route 30D in the headland 74, avoiding the work area 72. This prevents the work area 72, where agricultural work has already been performed, from being trampled by the work vehicle 100. If no agricultural work has yet been performed in the field 70 this season (i.e., the current agricultural work is the first agricultural work), the third route 30C may overlap with the work area 72. On the other hand, the fourth route 30D is a route after the current agricultural work has already been completed, and is therefore set so as not to overlap with the work area 72.

[0128] In the work area 72, multiple types of agricultural work are performed at different times. For example, work such as plowing, planting, fertilizing, pest control, and harvesting may be performed at different times. If some agricultural work is already being performed in the work area 72, the effectiveness of the agricultural work that has already been performed will be diminished if the work vehicle 100 passes over the work area 72. Therefore, in this embodiment, the management device 600 generates the third route 30C and the fourth route 30D to avoid the work area 72 when some agricultural work is already being performed in the work area 72. The areas in which agricultural work has already been performed can be determined based on the work plan. Based on the work plan, the management device 600 can generate the third route 30C and the fourth route 30D in areas excluding areas where work has already been performed.

[0129] 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-described route generation process for each field 70 and the roads 76 in its vicinity. For example, for each work day, the management device 600 may generate all routes necessary to complete all of the farm work scheduled for that work day before the work vehicle 100 begins traveling. Alternatively, the management device 600 may first generate routes for performing part of the farm work scheduled for each work day, and then, after that part of the farm work is completed, generate routes for performing the remaining farm work for that work day. Furthermore, the management device 600 may generate all routes necessary to complete all of the farm work scheduled for multiple work days at once. The management device 600 may change the routes once generated depending on various conditions, such as the progress of the farm work, weather conditions, traffic conditions, or the condition of farm roads.

[0130] As described above, the management device 600 separately generates a first path 30A within the field 70 and a second path 30B outside the field 70, and then connects the first path 30A and the second path 30B. The management device 600 can operate in an intra-field path generation mode in which the first path 30A within the field is generated, and an extra-field path generation mode in which the second path 30B outside the field is generated. In the intra-field path generation mode, the management device 600 generates the first path 30A according to a first path generation algorithm. On the other hand, in the extra-field path generation mode, the management device 600 generates the second path 30B according to a second path generation algorithm that is different from the first path generation algorithm. After generating the first path 30A and the second path 30B, the management device 600 generates a third path 30C and a fourth path 30D that connect the two. This completes the global route design.

[0131] In the in-field route generation mode, the management device 600 generates the first route 30A based on information about the registered field 70. For example, the management device 600 generates the first route 30A based on the outline and area of ​​the registered field 70 and the work area set by the user. 72The first route 30A can be generated based on information such as the area of ​​the headland 74. The first route 30A can be generated for each field 70, for example, before the work vehicle 100 starts operating under autonomous driving.

[0132] On the other hand, in the out-of-field path generation mode, the management device 600 generates the second path 30B according to a second path generation algorithm for each predetermined period (for example, each work day) based on, for example, a work plan. * The second route 30B can be generated according to a second route generation algorithm based on a search algorithm such as a search algorithm based on a search algorithm. The management device 600 may generate the second route 30B in response to an instruction from a user, or may automatically generate the second route 30B at a predetermined timing based on a work plan. The management device 600 may determine the second route 30B depending on the condition of a road 76 (e.g., a farm road) leading to the field 70. For example, if there are trees growing along the road leading to the field 70 and there is a risk that they may interfere with reception of radio waves from GNSS satellites, the management device 600 may generate the second route 30B by excluding such roads.

[0133] In this way, the management device 600 sets the first route 30A within the field and the second route 30B along the road 76 outside the field using different methods (for example, different setting screens, different devices, or different application software). Similarly, when part or all of the route generation process executed by the management device 600 is executed by another device (for example, the operation terminal 200, the terminal device 400, or the ECU 185), the first route 30A within the field and the second route 30B along the road 76 outside the field are set using different methods. For example, when a combination of the operation terminal 200 and the management device 600 functions as a processing device that generates a route for the work vehicle 100, the operation terminal 200 may generate the first route 30A in response to instructions from a user, and the management device 600 may set the second route 30B based on a work plan.

[0134] 17 shows a route generation method using the operation terminal 200 and the management device 600 as an example of a method for setting the first route 30A and the second route 30B using different setting screens, different devices, or different application software. Note that the operation terminal 200 shown in FIG. 17 may be replaced with the terminal device 400 or the ECU 185, and the route generation method is not limited to this embodiment.

[0135] As shown in FIG. 17, when a user performs a predetermined operation on the operation terminal 200, Operation terminal 200 The operation terminal 200 then transitions to an intra-field path generation mode (step S300). In the intra-field path generation mode, the operation terminal 200 displays an environmental map on the display (step S301) and enters a standby state where it waits for input from the user (step S302). The standby state for reception is a state where it waits for input of information required for creating the first path 30A within the field, and this information may include, for example, information such as the start point S, end point G, work area 72, and headland 74 positions within the field. When the information such as the start point S, end point G, work area 72, and headland 74 positions is input (Yes in step S303), the operation terminal 200 generates the first path 30A within the field as shown in FIG. 16 (step S304). After generating the first path 30A, the operation terminal 200 transmits information about the generated first path 30A to the management device 600 (step S305). When the management device 600 receives the information on the first route 30A, it stores the information (step S306).

[0136] On the other hand, when the user connects (logs in) to the management device 600 by performing a predetermined operation on the terminal device 400 (Yes in step S307), the management device 600 transitions to an outside-field path generation mode (step S308). In the outside-field path generation mode, the management device 600 displays an environmental map on the display of the terminal device 400 (step S309), refers to a work plan, and generates a second path 30B in accordance with the work plan (step S310). In addition, in the outside-field path generation mode, the management device 600 refers to information on the first path 30A and generates a third path 30C connecting a start point S of the first path 30A and an entrance portion of the field on the second path 30B (step S311). The management device 600 may further generate a fourth path 30D connecting an end point G of the first path 30A and an exit portion of the field on the second path 30B. The management device 600 may display the first route 30A, the second route 30B, the third route 30C, and the fourth route 30D on the map on the display of the terminal device 400. This allows the user to check the generated routes.

[0137] As described above, the first route 30A within the field can be set according to the conditions within the field. Meanwhile, the second route 30B along the road can be set according to the conditions of the road. The management device 600 generates a global route that the work vehicle 100 should travel within a specified period of time by connecting the separately set first route 30A within the field and the second route 30B outside the field. In this way, by designing the route taking into account the respective attributes of the field 70 and the road 76, it is possible to generate an optimal route according to the conditions within and outside the field.

[0138] In the example shown in FIG. 16 , the work plan indicates that agricultural work will be performed in multiple fields 70 over a predetermined period (e.g., one work day). Therefore, the management device 600 generates a route from a waiting location 96 to one field 70 and routes between the fields 70 along the road 76. In addition to this example, there are cases where the work plan indicates that agricultural work will be performed in one field 70 over a predetermined period. In such cases, the management device 600 generates a route from the waiting location 96 to one field 70 along the road 76 leading to the field 70. The management device 600 further generates a route along the road 76 from the field 70 where agricultural work will be performed last within the predetermined period to a return location to which the work vehicle 100 will return in the work plan. In the example of FIG. 16 , the waiting location 96 corresponds to the return location. The return location may be a location different from the waiting location 96 (e.g., the storage location 90 shown in FIG. 14 ).

[0139] Through the above operations, management device 600 can generate a global route for work vehicle 100 from a departure point to a destination point via one or more fields 70 for each predetermined period (e.g., work day). Management device 600 can generate a global route for work vehicle 100 so that work vehicle 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 work vehicle 100 and stored in storage device 170. ECU 184, which performs automatic driving control, controls ECUs 181 and 182 so that work vehicle 100 travels along the global route. As a result, work vehicle 100 begins traveling along the global route.

[0140] When the work vehicle 100 is traveling outside a field, an obstacle such as a pedestrian or another vehicle may be present on or near the global route. To prevent the work vehicle 100 from colliding with the obstacle, the ECU 185 in the control device 180 sequentially generates a local route that can avoid the obstacle while the work vehicle 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) equipped on the work vehicle 100 while the work vehicle 100 is traveling. The local route is defined by a plurality of waypoints along a portion of the second route 30B. The ECU 185 determines whether an obstacle is present on or near the path of the work vehicle 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 are present, ECU 185 generates a local route that is approximately parallel to second route 30B. Information indicating the generated local route is sent to ECU 184 for automatic driving control. ECU 184 controls ECU 181 and ECU 182 so that work vehicle 100 travels along the local route. This allows work vehicle 100 to travel while avoiding obstacles. Note that if there are traffic lights on the road on which work vehicle 100 is traveling, work vehicle 100 may, for example, recognize the traffic lights based on images captured by camera 120, stop when the light is red, and start when the light is green.

[0141] FIG. 18 is a diagram illustrating an example of a global route and a local route generated in an environment where obstacles are present. In FIG. 18, a global route 30 is illustrated by a dotted arrow, and a local route 32, which is generated sequentially during travel, is illustrated by a solid arrow. The global route 30 is defined by multiple waypoints 30p. The local route 32 is defined by multiple 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 multiple waypoints 30p at multiple locations, including intersections on a road 76. The intervals between the waypoints 30p may be relatively long, for example, several meters to several tens of meters. The ECU 185 generates the local route 32 by setting multiple waypoints 32p based on sensing data output from the sensing device while the work vehicle 100 is traveling. The intervals between waypoints 32p on the local route 32 are shorter than the intervals between waypoints 30p on the global route 30. The intervals between waypoints 32p can be, for example, several tens of centimeters (cm) to several meters (m). The local route 32 is generated within a relatively small range (for example, a range of about several meters) starting from the position of the work vehicle 100. FIG. 18 illustrates an example of a series of local routes 32 generated while the work vehicle 100 travels along a road 76 between fields 70 and turns left at an intersection. While the work vehicle 100 is moving, the ECU 185 repeats the operation of generating a local route from the position of the work vehicle 100 estimated by the ECU 184 to a point, for example, several meters ahead. The work vehicle 100 travels along the local routes that are successively generated.

[0142] In the example shown in FIG. 18, an obstacle 40 (e.g., a person) is present ahead of the work vehicle 100. In FIG. 18, 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 work vehicle 100 is illustrated as a sector. In such a situation, the ECU 185 generates a local route 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 work vehicle 100 will collide with the obstacle 40, for example, based on the sensing data and the width of the work vehicle 100 (including the width of the implement if one is attached). If there is a possibility that the work vehicle 100 will collide with the obstacle 40, the ECU 185 sets multiple waypoints 32p so as to avoid the obstacle 40, and generates the local route 32. Note that the ECU 185 may recognize not only the presence or absence of an obstacle 40 but also the state of the road surface (for example, mud, depressions, etc.) based on sensing data, and if a location where travel is difficult is detected, it may generate a local route 32 to avoid such a location. The work vehicle 100 travels along the local route 32. If the obstacle 40 cannot be avoided no matter how the local route 32 is set, the control device 180 may stop the work vehicle 100. At this time, the control device 180 may send a warning signal to the terminal device 400 to alert the monitor. After stopping, if it is recognized that the obstacle 40 has moved and there is no longer any risk of collision, the control device 180 may resume travel of the work vehicle 100.

[0143] 19 is a flowchart showing the route planning and travel control operations in this embodiment. By executing the operations of steps S141 to S146 shown in FIG. 19, route planning can be performed and the automatic travel of work vehicle 100 can be controlled.

[0144] In the example shown in FIG. 19 , the management device 600 first acquires a map and a work plan from the storage device 650 (step S141). Next, the management device 600 performs global route design for the work vehicle 100 using the method described above based on the map and the work plan (step S142). Global route design can be performed at any timing before the work vehicle 100 starts traveling. Global route design may be performed immediately before the work vehicle 100 starts traveling, or may be performed one day or more before the work vehicle 100 starts traveling. The global route may also be generated based on information (e.g., starting point, destination point, waypoints, etc.) input by the user using the terminal device 400. The management device 600 transmits data indicating the generated global route to the work vehicle 100. Thereafter, the management device 600 issues a travel instruction to the work vehicle 100 at a predetermined timing. In response to this, the control device 180 of the work vehicle 100 controls the drive device 240 to start traveling the work vehicle 100 (step S143). This causes the work vehicle 100 to start traveling. The timing for starting traveling can be set, for example, to an appropriate timing that enables the work vehicle 100 to arrive at the field by the scheduled start time of the first agricultural work on each work day indicated in the work plan. While the work vehicle 100 is traveling, the ECU 185 of the control device 180 uses the method described above to design a local route to avoid collisions with obstacles (step S144). If no obstacle is detected, the ECU 185 generates a local route that is approximately parallel to the global route. If an obstacle is detected, the ECU 185 generates a local route that can avoid the obstacle. Next, the ECU 184 determines whether or not to terminate the traveling of the work vehicle 100 (step S145). For example, if a local route that can avoid the obstacle could not be generated, or if the work vehicle 100 has arrived at the destination point, the ECU 184 stops the work vehicle 100 (step S146). If no obstacle is detected, or if a local route that can avoid the obstacle has been generated, the process returns to step S143, and ECU 184 causes work vehicle 100 to travel along the generated local route. Thereafter, the operations of steps S143 to S145 are repeated until it is determined in step S145 that travel has ended.

[0145] Through the above operations, the work vehicle 100 can automatically travel along the generated route without colliding with any obstacles.

[0146] In the example of FIG. 19 , once the global route is generated, it remains unchanged until the destination is reached. This example is not limiting, and the global route may be modified while the work vehicle 100 is traveling. For example, while the work vehicle 100 is traveling, the ECU 185 may recognize at least one of the condition of the road on which the work vehicle 100 is traveling, the condition of the vegetation around the work vehicle 100, and the weather condition based on sensing data acquired by a sensing device such as the camera 120 or the LiDAR sensor 140, and may change the global route if the recognized condition satisfies a predetermined condition. When the work vehicle 100 is traveling along the global route, some roads may be impassable. For example, heavy rain may cause the road to become muddy, the road surface may collapse, or the road may be impassable due to an accident or other cause. Alternatively, the vegetation around a farm road may grow longer than expected, or new buildings may have been constructed, making it difficult to receive satellite signals from GNSS satellites. Taking such situations into consideration, ECU 185 may detect roads that are difficult to travel based on sensing data acquired while work vehicle 100 is traveling, and change the route to avoid such roads. Furthermore, when ECU 185 changes the route, it may store the changed route in storage device 170 and transmit information about the changed route to management device 600. In that case, management device 600 may use the changed route the next time it generates a route to the same field. This enables flexible route planning that responds to changes in the traveling environment.

[0147] [2-4. Map Update] As described above, global path planning is performed based on a map of the environment in which the work vehicle 100 travels. The map includes position information for multiple fields in the area in which the work vehicle 100 travels and the roads surrounding them. The map may also include information indicating the distribution of features (e.g., grass, trees, waterways, buildings, etc.) around the road. The information indicating the distribution of features may be generated based on data obtained by sensing with a sensing device such as a LiDAR sensor or a camera while the work vehicle 100 or other mobile object is moving. In an environment where vegetation grows along the road or where tall buildings exist near the road, reception of radio waves from GNSS satellites may be hindered, and travel of the work vehicle 100 may be hindered. For example, in an environment where trees are densely distributed around a farm road, as shown in FIG. 20, the leaves growing at the top of the trees form a canopy that acts as an obstacle or multiple reflector for radio waves from the satellite. Accurate positioning using GNSS is difficult on such farm roads. To avoid generating a route on such roads, ECU 186 may recognize structures based on sensing data acquired by a sensing device while work vehicle 100 is traveling, and may reflect the recognized structures on the map. Recognized structures may be, for example, trees, buildings, waterways, signs, etc. ECU 186 may also recognize at least one of the condition of the road on which work vehicle 100 is traveling and the condition of vegetation around work vehicle 100 based on the sensing data, and reflect the recognized conditions on the map.

[0148] Fig. 21 is a diagram showing an example of a map in which information obtained by sensing has been added to the map shown in Fig. 13. Information indicating a building 97 and a tree 98 recognized based on sensing data has been added to the map shown in Fig. 21. Furthermore, attribute information indicating that the GNSS signal reception strength is low and that passage is difficult has been added to a farm road 99 (shown in black in Fig. 21) that runs along the tree 98. In this way, by reflecting changes in the surrounding environment detected by sensing while the work vehicle 100 is traveling on the map, it becomes possible to more appropriately plan a route based on the map.

[0149] In an environment where vegetation grows densely around roads, as in the above example, the condition of the vegetation varies depending on the season, and the ease of passage may change. For example, the proportion of roads covered with vegetation is higher in summer than in winter, and the number of roads that are difficult to pass tends to increase. Therefore, the ECU 186 may generate multiple maps corresponding to the seasons and record them in the storage device 170. For example, the ECU 186 may generate four types of maps: spring, summer, autumn, and winter. These maps share common geographic information such as fields, roads, waiting areas, and buildings, but may differ in attribute information regarding the state of vegetation or the passability of roads. The multiple generated maps are transmitted to the management device 600 and recorded in the storage device 650. The management device 600 may extract, from the multiple recorded maps, a map corresponding to the season in which the work vehicle 100 will perform agricultural work, and generate a route for the work vehicle 100 based on the extracted map. This makes it possible to realize appropriate global route design according to the season.

[0150] (Other embodiments) The configurations and operations of the above-described embodiments are merely examples, and the present disclosure is not limited to the above-described embodiments. Other embodiments will be described below.

[0151] In the above embodiment, the processor 660 of the management device 600 creates a work plan, generates an environmental map, and designs a global route for the work vehicle 100, and the control device 180 inside the work vehicle 100 designs a local route and controls the travel of the work vehicle 100. Alternatively, some of the operations of the management device 600 described above may be executed by the control device 180, the operation terminal 200, or the terminal device 400. For example, the generation of the environmental map and the generation of the global route may be executed by the control device 180, the operation terminal 200, or the terminal device 400.

[0152] The management device 600 may manage the operations of multiple agricultural machines including the work vehicle 100. In this case, the management device 600 may perform global route planning and driving instructions for each agricultural machine based on the schedule of farm work to be performed by each agricultural machine.

[0153] The system for performing path planning or automatic driving control in the above embodiments can also be retrofitted to an agricultural machine that does not have those functions. Such a system can be manufactured and sold independently of the agricultural machine. The 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 on a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunications line (for example, the Internet).

[0154] As described above, the present disclosure includes a path planning system, a control system, an agricultural machine, a method, and a computer program described in the following items.

[0155] [Item A1] A path planning system for an autonomously driven agricultural machine, a storage device that stores a map including a plurality of fields and roads around the plurality of fields; a processing device that generates a route for the agricultural machine on the map; Equipped with the processing device generates, in the field on the map, a first route along which the agricultural machine travels while performing farm work in the field, and generates, on a road on the map, a second route along which the agricultural machine travels toward the field; Route planning system.

[0156] According to the above-described path planning system, the processing device can generate a first path within the field and a second path on a road outside the field, thereby enabling efficient path planning for agricultural machinery both within and outside the field.

[0157] [Item A2] The processing device includes: The system operates in an in-field route generation mode for generating the first route and an out-of-field route generation mode for generating the second route; In the in-field route generation mode, the first route is generated according to a first route generation algorithm; In the out-of-field route generation mode, the second route is generated according to a second route generation algorithm different from the first route generation algorithm; connecting the first path and the second path; 2. The route planning system according to claim A1.

[0158] According to the above configuration, the processing device generates a first route using a first route generation algorithm according to the characteristics of the field, generates a second route using a second route generation algorithm according to the characteristics of the road outside the field, and generates an overall global route by connecting the first route and the second route. This makes it possible to realize an optimal route plan according to the characteristics of both the field and the outside of the field.

[0159] [Item A3] The route planning system according to item A2, wherein the processing device generates the first route and the second route and then connects the first route and the second route.

[0160] According to the above configuration, the processing device generates the first route and the second route independently, and then connects the first route and the second route. This makes it possible to, for example, generate the first route within each field before starting operation of the system, and then generate the second route at an appropriate time according to the road conditions around each field.

[0161] [Item A4] the map includes a waiting location for the agricultural machine; The route planning system according to any one of items A1 to A3, wherein the processing device generates a route from the waiting location to the field and / or a route connecting the multiple fields as the second route.

[0162] According to the above configuration, the processing device can generate a route from a waiting location to a field, a route connecting multiple fields, or both as the second route. Therefore, for example, it is possible to efficiently generate routes required to travel from a waiting location to one or more fields and perform predetermined agricultural work in each field.

[0163] [Item A5] A route planning system described in any of items A1 to A4, wherein the processing device generates the second route at least at the entrance of the field in addition to the road, and generates a third route connecting the second route generated at the entrance and the starting point of the first route.

[0164] According to the above configuration, it is possible to generate a third route that connects the part of the second route at the entrance to the field with the starting point of the first route, thereby efficiently connecting the first route and the second route and further improving the efficiency of overall route planning within and outside the field.

[0165] [Item A6] A route planning system described in any of items A1 to A5, wherein the processing device generates the second route at least at the exit of the field in addition to the road, and generates a fourth route connecting the second route generated at the exit and the end point of the first route.

[0166] According to the above configuration, it is possible to generate a fourth route that connects the portion of the second route at the exit of the inner field with the end point of the first route. This makes it possible to efficiently connect the first route and the second route, further improving the efficiency of overall route planning within and outside the field.

[0167] [Item A7] The path planning system according to item A5, wherein the third path is generated in an area of ​​the field excluding an area where the farm work has been performed.

[0168] According to the above configuration, when the agricultural machine travels along the third route, it does not trample on areas where agricultural work has been done, thereby avoiding the loss of the effectiveness of agricultural work that has already been done.

[0169] [Item A8] The path planning system according to item A6, wherein the fourth path is generated in an area of ​​the field excluding an area where the farm work has been performed.

[0170] According to the above configuration, when the agricultural machine travels along the fourth route, it does not trample on areas where agricultural work has been done, thereby avoiding the loss of the effectiveness of agricultural work that has already been done.

[0171] [Item A9] A path planning system described in any of items A1 to A8, wherein, when the agricultural machine is traveling along the two routes generated by the processing device, the processing device generates a local route that can avoid obstacles and is defined by a plurality of waypoints along a portion of the second route based on sensing data acquired by a sensing device equipped in the agricultural machine, and repeatedly outputs information indicating the local route to a control device that controls the traveling of the agricultural machine.

[0172] According to the above configuration, the agricultural machine traveling along the second route can avoid colliding with an obstacle, thereby enabling the agricultural machine to travel smoothly along roads outside the field.

[0173] [Item A10] The path planning system according to any one of items A1 to A9, wherein the processing device recognizes structures based on sensing data acquired by a sensing device equipped in the agricultural machine and reflects the recognized structures on the map.

[0174] According to the above configuration, the map can be updated to reflect information about new structures not included in the existing map, making it possible to generate a more suitable route based on the updated map the next time a route is planned.

[0175] [Item A11] A route planning system described in any of items A1 to A10, wherein the processing device recognizes at least one of the condition of the road on which the agricultural machine is traveling and the condition of vegetation around the agricultural machine based on sensing data acquired by a sensing device equipped in the agricultural machine, and reflects the recognized conditions on the map.

[0176] According to the above configuration, the condition of the road on which the agricultural machine is traveling and / or the condition of the vegetation around the agricultural machine can be recognized, and the recognized conditions can be reflected in the map to update it. Therefore, the next time a route is planned, a more optimal route can be generated based on the updated map.

[0177] [Item A12] The storage device stores a plurality of maps according to seasons, The processing device extracts, from the plurality of maps, a map corresponding to the season in which the agricultural machine will perform farm work, and generates the first route and the second route based on the extracted map.

[0178] According to the above configuration, the processing device can generate a first route within the field and a second route outside the field based on a map according to the season, which makes it possible to plan appropriate routes according to the season, for example, when passable roads vary depending on the season due to differences in the growth conditions of vegetation depending on the season.

[0179] [item A 13] item A From 1 A 12. A route planning system according to any one of claims 12 to 13, a control device that causes the agricultural machine to travel along the route generated by the processing device; A control system comprising:

[0180] [item A 14] item A 13. A control system according to claim 13; a sensing device that senses the environment around the agricultural machine; Agricultural machinery equipped with:

[0181] [item A 15] 1. A processor-implemented method for path planning for an autonomously operating agricultural machine, comprising: obtaining a map from a storage device, the map including a plurality of fields and roads surrounding the plurality of fields; generating a first route in the field on the map along which the agricultural machine travels while performing farm work in the field; generating a second route along which the agricultural machine travels toward the field on a road on the map; A method comprising:

[0182] [item A 16] A computer program for performing path planning for an autonomously driven agricultural machine, the computer program being stored on a computer-readable non-transitory storage medium, the computer obtaining a map from a storage device, the map including a plurality of fields and roads surrounding the plurality of fields; generating a first route in the field on the map along which the agricultural machine travels while performing farm work in the field; generating a second route along which the agricultural machine travels toward the field on a road on the map; A computer program that executes the following:

[0183] [Item B1] A path planning system for an autonomously driven agricultural machine, a storage device that stores a map including a plurality of fields and roads around the plurality of fields; a processing device that creates a work plan including information on agricultural work to be performed by the agricultural machine and on the field where the agricultural work will be performed, and that generates a route for the agricultural machine on the map based on the created work plan; A path planning system comprising:

[0184] According to the above-described path planning system, the processing device can generate a path for the agricultural machine based on the work plan, thereby enabling efficient path planning for the agricultural machine.

[0185] [Item B2] The path planning system described in item B1, wherein when the work plan indicates that agricultural work will be carried out in multiple fields over a specified period, the processing device generates a path from a waiting location where the agricultural machine is waiting to one of the fields, and a path between the fields, along the road.

[0186] According to the above configuration, it is possible to efficiently generate a route from a waiting location to one of the fields and routes between the fields, which are necessary to carry out agricultural work in the multiple fields indicated in the work plan.

[0187] [Item B3] The path planning system described in item B1, wherein the processing device generates a path from a waiting location where the agricultural machine waits to the field along the road when the work plan indicates that agricultural work will be performed in one field for a specified period.

[0188] According to the above configuration, it is possible to efficiently generate a route from a waiting location to one field, which is necessary to carry out agricultural work in one field indicated by a work plan.

[0189] [Item B4] The path planning system described in item B2 or B3, wherein the processing device generates a path along the road from the field where agricultural work is last performed within a specified period in the work plan to a return location to which the agricultural machine will return.

[0190] According to the above configuration, it is possible to efficiently generate a route from the field where agricultural work is to be carried out last within a predetermined period to the return location to which the agricultural machine is to return, in accordance with the work plan.

[0191] [Item B5] The path planning system described in any one of items B1 to B4, wherein the processing device generates a work travel route in the field on the map along which the agricultural machine travels while performing agricultural work within the field, and generates a route connecting an entrance to the field to a starting point of the work travel route in an area of ​​the field excluding the area where the agricultural work was performed.

[0192] According to the above configuration, a work travel route within a farm field can be generated, and a route connecting the entrance to the farm field to the start point of the work travel route can be generated in an area of ​​the farm field excluding areas where farm work has already been performed. This prevents the agricultural machine from trampling areas where farm work has already been performed when traveling from the entrance to the farm field to the start point of the work travel route, thereby avoiding the loss of the effectiveness of farm work that has already been performed.

[0193] [Item B6] The path planning system according to item B5, wherein the processing device further generates a path connecting an end point of the work travel path to an exit of the field.

[0194] According to the above configuration, it is possible to further generate a route connecting the end point of the work travel route to the exit of the field, making it possible to smoothly connect the work travel route within the field with a route along a road outside the field.

[0195] [Item B7] the work plan includes information indicating the order of a plurality of agricultural works to be performed by the agricultural machine on each of a plurality of work days and information indicating a field in which each agricultural work will be performed; On each work day, the processing device generates all routes necessary to complete all agricultural work scheduled for that work day before the agricultural machine starts traveling. 10. The route planning system according to any one of items B1 to B6.

[0196] According to the above configuration, the processing device generates all routes necessary to complete all agricultural work scheduled for each work day before the agricultural machine starts traveling on that work day, thereby making it possible to execute route planning for each work day even more efficiently.

[0197] [Item B8] A path planning system described in any of items B1 to B7, wherein, when the agricultural machine is traveling along the route generated by the processing device, the processing device generates a local route that can avoid obstacles, defined by a plurality of waypoints along part of the route, based on sensing data acquired by a sensing device equipped in the agricultural machine, and repeatedly outputs information indicating the local route to a control device that controls the traveling of the agricultural machine.

[0198] According to the above configuration, it is possible to prevent the agricultural machine from colliding with an obstacle while traveling, thereby enabling the agricultural machine to travel more smoothly.

[0199] [Item B9] A route planning system described in any of items B1 to B8, wherein when the agricultural machine is traveling along the route generated by the processing device, the processing device recognizes at least one of the condition of the road on which the agricultural machine is traveling, the condition of vegetation around the agricultural machine, and weather conditions based on sensing data acquired by a sensing device equipped in the agricultural machine, and changes the route if the recognized conditions satisfy predetermined conditions.

[0200] According to the above configuration, it is possible to appropriately change the route depending on at least one of the conditions of the road on which the agricultural machine is traveling, the condition of the vegetation around the agricultural machine, and the weather conditions. For example, it is possible to appropriately change the route when the road is muddy, there is vegetation around the road that obstructs the travel of the agricultural machine, or bad weather makes travel or farm work difficult.

[0201] [Item B10] The route planning system according to item B8 or B9, wherein when the processing device changes the route, the processing device stores the changed route in the storage device and adopts the changed route when generating a route from the next time onwards.

[0202] According to the above configuration, if the route is changed, the changed route can be adopted when generating the route next time onwards, allowing agricultural machinery to travel along a route that does not include any difficult-to-pass areas, for example.

[0203] [Item B11] A route planning system according to any one of items B1 to B10; a control device that causes the agricultural machine to travel along the route generated by the processing device; A control system comprising:

[0204] [Item B12] A control system according to item B11, a sensing device that senses the environment around the agricultural machine; Agricultural machinery equipped with:

[0205] [Item B13] 1. A processor-implemented method for path planning for an autonomously operating agricultural machine, comprising: obtaining a map from a storage device, the map including a plurality of fields and roads surrounding the plurality of fields; creating a work plan including information on agricultural work to be performed by the agricultural machine and on a field in which the agricultural work will be performed; generating a route for the agricultural machine on the map based on the created work plan; A method comprising:

[0206] [Item B14] A computer program for performing path planning for an autonomously driven agricultural machine, the computer program being stored on a computer-readable non-transitory storage medium, the computer obtaining a map from a storage device, the map including a plurality of fields and roads surrounding the plurality of fields; creating a work plan including information on agricultural work to be performed by the agricultural machine and on a field in which the agricultural work will be performed; generating a route for the agricultural machine on the map based on the created work plan; A computer program that executes the following: [Industrial Applicability]

[0207] The technology of the present disclosure 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 seed sowing machine, a fertilizer applicator, or an agricultural robot. [Explanation of symbols]

[0208] 30 Global route, 32 Local route, 40 Obstacle, 50 GNSS satellite, 60 Reference station, 70 Field, 71 Entrance / exit, 72 Work area, 74 Headland, 76 Road, 80 Network, 90 Storage area, 92 User's home, 96 Waiting area, 97 Building, 98 Tree, 99 Difficult road, 100 Work vehicle, 101, vehicle body, 102, engine, 103, transmission, 104, wheels, 105, cabin, 106, steering gear, 107, driver's seat, 108, coupling device, 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... turning angle sensor, 156... axle sensor, 160... control system, 170... storage device, 180... control device, 181 to 186... ECU, 190... communication device, 200... operation terminal, 210 Operation switch group, 220, buzzer, 240, drive unit, 300, implement, 340, drive unit, 380, control unit, 390, communication unit, 400, terminal unit, 420, input unit, 430, display unit, 450, storage unit, 460, processor, 470, ROM, 480, RAM, 490, communication unit, 600, management Device , 650...Storage device, 660 processor 、6 70...ROM, 680...RAM, 690...communication device

Claims

1. A path planning system for an autonomously driven agricultural machine, a storage device that stores a map including location information of a plurality of fields and roads around the plurality of fields, and a work plan including information indicating the order of farm work to be performed by the agricultural machine, the plurality of fields on which the farm work will be performed, and the date and time when each farm work is scheduled to be performed; a processing device that generates a route for the agricultural machine on the map; Equipped with The processing device includes: generating a first route along which the agricultural machine travels while performing farm work in each of the plurality of fields, in the fields on the map, based on information input by a user; generating a second route connecting the plurality of fields on a road on the map based on the work plan; After generating the first route and the second route, connecting the first route and the second route. Route planning system.

2. The processing device includes: The system operates in an in-field route generation mode for generating the first route and an out-of-field route generation mode for generating the second route; In the in-field route generation mode, the first route is generated according to a first route generation algorithm; In the out-of-field route generation mode, the second route is generated according to a second route generation algorithm different from the first route generation algorithm; connecting the first path and the second path; The route planning system of claim 1 .

3. the map includes location information of a waiting area provided for the agricultural machine to wait while not performing farm work, The route planning system according to claim 1 , wherein the processing device generates, as the second route, a route from the waiting location to a field among the plurality of fields where agricultural work is to be performed first, based on the work plan.

4. The map includes location information of a plurality of waiting locations provided for the agricultural machine to wait while not performing agricultural work, the storage device stores data indicating a correspondence relationship between the plurality of waiting locations and the plurality of farm fields; The processing device generates, as the second routes based on the data and the work plan, a route from a certain standby location to the field where the agricultural work is to be performed first within a predetermined period, a route connecting multiple fields where the agricultural work is to be performed within the period, and a route from the field where the agricultural work is to be performed last within the period to the standby location or another standby location. The route planning system of claim 1 .

5. 2. The path planning system according to claim 1, wherein the processing device generates the second path at least at the entrance of each of a plurality of fields where the agricultural work is performed in addition to the road, and generates a third path connecting the second path generated at the entrance with a starting point of the first path.

6. 6. The path planning system of claim 5, wherein the processing device generates the second path at least at the exit of each of the plurality of fields in addition to the road, and generates a fourth path connecting the second path generated at the exit with an end point of the first path.

7. The path planning system described in Claim 5, wherein the processing device determines areas in the plurality of fields where agricultural work has already been performed based on the work plan, and generates the third route in an area excluding the areas in each of the plurality of fields where the agricultural work has been performed.

8. The path planning system described in Claim 6, wherein the processing device determines areas in the plurality of fields where agricultural work has already been performed based on the work plan, and generates the fourth route in an area excluding the areas in each of the plurality of fields where the agricultural work has been performed.

9. 2. The path planning system according to claim 1, wherein, when the agricultural machine is traveling along the second route generated by the processing device, the processing device generates a local route that can avoid obstacles, the local route being defined by a plurality of waypoints along a portion of the second route, based on sensing data acquired by a sensing device provided in the agricultural machine, and repeatedly outputs information indicating the local route to a control device that controls the traveling of the agricultural machine.

10. The processing device includes: Based on sensing data acquired by a sensing device provided in the agricultural machine, at least one of structures in the vicinity of the agricultural machine, the condition of the road on which the agricultural machine is traveling, and the condition of vegetation in the vicinity of the agricultural machine is recognized, and the recognized structures and at least one of the conditions are reflected in the map; adding attribute information indicating that the road is difficult to pass to the road on the map based on at least one of the recognized structure and the state; The route planning system of claim 1 .

11. The processing device includes: Based on sensing data acquired by a sensing device provided in the agricultural machine, the state of the road on which the agricultural machine is traveling and the state of vegetation around the agricultural machine are recognized, and the recognized state is reflected in the map; changing the second route when the recognized state satisfies a predetermined condition; The route planning system of claim 1 .

12. The processing device generates a plurality of maps according to different seasons of attribute information relating to the growth state of vegetation or the passability of roads, and stores the maps in the storage device; The route planning system according to claim 11, wherein a map corresponding to a season in which the agricultural machine will perform farm work is extracted from the plurality of maps, and the first route and the second route are generated based on the extracted map.

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

14. A control system according to claim 13; a sensing device that senses the environment around the agricultural machine; Agricultural machinery equipped with:

15. 1. A processor-implemented method for path planning for an autonomously operating agricultural machine, comprising: acquiring from a storage device a map including location information of a plurality of fields and roads around the plurality of fields, and a work plan including information indicating the order of farm work to be performed by the agricultural machine and the fields on which the farm work will be performed; generating a first route along which the agricultural machine travels while performing farm work in the field on the map based on information input by a user; generating a second route along which the agricultural machine travels toward the field on a road on the map based on the work plan; After generating the first route and the second route, connecting the first route and the second route; A method comprising:

16. A computer program for performing path planning for an autonomously driven agricultural machine, the computer program being stored on a computer-readable non-transitory storage medium, the computer acquiring from a storage device a map including location information of a plurality of fields and roads around the plurality of fields, and a work plan including information indicating the order of farm work to be performed by the agricultural machine and the fields on which the farm work will be performed; generating a first route along which the agricultural machine travels while performing farm work in the field on the map based on information input by a user; generating a second route along which the agricultural machine travels toward the field on a road on the map based on the work plan; After generating the first route and the second route, connecting the first route and the second route; A computer program that executes the following:

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