Agricultural machinery control systems and agricultural management systems

Abstract

To more efficiently perform agricultural work by an agricultural machine that performs an automatic operation.SOLUTION: A control system controls an agricultural machine that performs an automatic operation. The control system includes: a storage device that stores a schedule of agricultural work to be executed by the agricultural machine; and a control device that controls the motion of the agricultural machine according to the schedule. After specific agricultural work included in the schedule is completed, the control device moves the agricultural machine to a waiting location different from a storage location of the agricultural machine that has been set in advance, on the basis of the next agricultural work included in the schedule.SELECTED DRAWING: Figure 13

Description

Technical Field

[0001] The present disclosure relates to a control system for agricultural machinery and an agricultural management system.

Background Art

[0002] Research and development are underway for the automation of agricultural machinery used in fields. For example, work vehicles such as tractors, combines, and rice transplanters that automatically travel within a field using a positioning system such as GNSS (Global Navigation Satellite System) have been put into practical use. Research and development of work vehicles that can automatically travel not only within a field but also outside the field including public roads are also underway.

[0003] Patent Documents 1 and 2 disclose an example of a system for automatically driving an unmanned work vehicle between two fields separated from each other by a road.

[0004] Patent Document 3 discloses a vehicle control system that automatically moves a vehicle to a base for filling the energy used for the vehicle's travel during a time period when the schedule of the vehicle user is not registered.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] The present disclosure provides a technique for more efficiently performing farming operations by an agricultural machine that performs automatic driving.

Means for Solving the Problems

[0007] This specification discloses solutions described in the following sections.

[0008] [Item a1] A control system for agricultural machinery, The agricultural machinery is equipped with a control device that controls the automatic operation of the agricultural machinery, The control device moves the agricultural machinery to a stopover location where the preparatory work is performed before the agricultural work is performed, if preparatory work is required for agricultural work, including at least one of the following: replacement of implements attached to the agricultural machinery, maintenance of the implements, replacement of parts of the agricultural machinery, maintenance of parts of the agricultural machinery, and replenishment of materials. Control system.

[0009] [Item a2] The control system according to item a1, wherein the control device determines whether the preparatory work is necessary based on signals output from one or more sensors for detecting the mounting status of the implement, deterioration of the implement, deterioration of parts of the agricultural machinery, or shortage of materials.

[0010] [Item a3] The control system according to item a2, wherein the one or more sensors include at least one of an image sensor positioned to image the implement, the parts of the agricultural machinery, or the material, and a sensor for measuring the remaining amount of the material.

[0011] [Item a4] The control system according to any one of items a1 to a3, wherein the control device sends a notification to a computer used by the worker performing the preparation work when the agricultural machinery is moved to the stopover site.

[0012] [Item a5] The control device, after the preparation work is completed, moves the agricultural machinery to a predetermined storage location for the agricultural machinery or to a field where the next scheduled agricultural work will be performed, as described in any of items a1 to a4.

[0013] [Item a6] The control device is a control system according to any one of items a1 to a5, which determines whether the preparatory work is necessary for the next agricultural work each time the agricultural machine completes.

[0014] [Item a7] The control device determines whether the preparatory work is necessary based on signals output from one or more sensors provided by the agricultural machine after the completion of a day's farming work by the agricultural machine. If the aforementioned preparation work is not required, the agricultural machinery is moved to a predetermined storage location for the agricultural machinery. If the aforementioned preparation work is necessary, the agricultural machinery is moved to the aforementioned stopover location, and after the preparation work is completed, the agricultural machinery is moved to the aforementioned storage location. A control system as described in any of items a1 through a6.

[0015] [Item a8] The control device is A signal is sent to a computer at the candidate stopover site requesting the execution of the preparatory work. If a response is received from the computer indicating that the preparatory work is possible, the candidate location is determined to be the stopover location. If no response is received from the computer indicating that the preparation work is possible, the agricultural machinery is moved to a predetermined storage location for the agricultural machinery without determining the stopover location. The control systems described in items a1 to a6.

[0016] [Item a9] The control device is Send a signal to the first computer at the first candidate location selected from among the plurality of candidate locations, requesting execution of the preparatory work. When a response indicating that the preparatory work is possible is received from the first computer, determine the first candidate location as the stopover location. When a response indicating that the preparatory work is possible is not received from the first computer, send a signal to the second computer at the second candidate location selected from among the plurality of candidate locations, requesting execution of the preparatory work. When a response indicating that the preparatory work is possible is received from the second computer, determine the second candidate location as the stopover location. The control system according to items a1 to a6.

[0017] [Item a10] When moving the agricultural machine to the stopover location, the control device transmits a notification including information indicating the stopover location and the content of the preparatory work to the terminal device used by the user of the agricultural machine. The control system according to any one of items a1 to a9.

[0018] [Item a11] An agricultural machine including a control device for controlling autonomous driving, A management device for managing the agricultural machine, Comprising, Based on an instruction from the management device, the control device causes the agricultural machine to perform agricultural work. For the agricultural work, when at least one of replacement of implements attached to the agricultural machine, maintenance of the implements, replacement of parts of the agricultural machine, maintenance of parts of the agricultural machine, and replenishment of materials is required for the preparatory work, before the agricultural work, move the agricultural machine to a stopover location where the preparatory work is to be performed. An agricultural management system.

[0019] [Item a12] The control device acquires information indicating the content of the agricultural work from the management device, and determines whether or not preparatory work is necessary based on the content of the agricultural work and the state of the agricultural machinery, as described in item a11.

[0020] [Item a13] The agricultural management system according to item a12, wherein the control device determines that the preparation work is necessary if any of the mounting status of the implement of the agricultural machine, the type of material, or the amount of material does not correspond to the content of the agricultural work indicated by the information obtained from the management device, and determines that the preparation work is not necessary if any of the mounting status of the implement, the type of material, or the amount of material corresponds to the content of the agricultural work.

[0021] [Item b1] A control system for agricultural machinery that operates autonomously, A memory device that stores the schedule of agricultural work to be performed by the aforementioned agricultural machinery, A control device that controls the operation of the agricultural machinery according to the aforementioned schedule, Equipped with, The control device, after a specific agricultural task included in the schedule has been completed, moves the agricultural machine to a waiting location different from the predetermined storage location of the agricultural machine, based on the next agricultural task included in the schedule. Control system.

[0022] [Item b2] The control system according to item b1, wherein the control device moves the agricultural machinery to the waiting area based on the positional relationship between the storage area, the field where the specific agricultural work was performed, the field where the next agricultural work will be performed, and the waiting area.

[0023] [Item b3] The control system according to item b1 or b2, wherein the control device moves the agricultural machine to the waiting area when the second travel distance, from the field where the specific agricultural work was performed to the field where the next agricultural work is performed, via the waiting area, is shorter than the first travel distance, from the field where the specific agricultural work was performed to the field where the next agricultural work is performed, via the storage area.

[0024] [Item b4] The control system according to item b3, wherein the control device moves the agricultural machine to the storage location when the second travel distance is longer than the first travel distance.

[0025] [Item b5] The control device is a control system according to any one of items b1 to b4, wherein the control device moves the agricultural machine to the waiting place when the time from the completion of a specific agricultural operation to the start of the next agricultural operation is equal to or greater than a predetermined time.

[0026] [Item b6] The control system according to any one of items b1 to b5, wherein the memory device stores a plurality of agricultural operations performed by the agricultural machine over a plurality of working days, the plurality of agricultural operations including the last agricultural operation performed on each working day as the specific agricultural operation and the first agricultural operation performed on each working day as the next agricultural operation.

[0027] [Item b7] The control system according to any one of items b1 to b6, further comprising an input device for inputting to the control device the storage area, which is a place managed by the user of the agricultural machinery, and the waiting area, which is a place used jointly by the multiple users.

[0028] [Item b8] A management device for managing the schedule of agricultural work, An agricultural machine including a control device for controlling automatic driving and a communication device for receiving the schedule from the management device, Equipped with, The control device, after a specific agricultural task included in the schedule received by the communication device has been completed, moves the agricultural machine to a standby location different from the pre-set storage location, based on the next agricultural task included in the schedule. Agricultural management system.

[0029] [Item b9] The communication device receives a schedule which includes information indicating the field where the specific agricultural work is performed and information indicating the field where the next agricultural work is performed. The control device moves the agricultural machinery to the waiting area based on the positional relationship between the storage area, the field where the specific agricultural work was performed, the field where the next agricultural work will be performed, and the waiting area. The agricultural management system described in item b8.

[0030] [Item b10] The agricultural management system according to item b8 or b9, wherein the control device moves the agricultural machine to the waiting area when the second travel distance from the field where the specific agricultural work was performed, via the waiting area, to the field where the next agricultural work is performed is shorter than the first travel distance when moving from the field where the specific agricultural work was performed, via the storage area, to the field where the next agricultural work is performed.

[0031] [Item b11] The agricultural management system according to item b10, wherein the control device moves the agricultural machine to the storage location when the second travel distance is longer than the first travel distance.

[0032] [Item b12] The communication device receives a schedule which includes information on the start time of the next agricultural work, The agricultural management system according to any one of items b8 to b11, wherein the control device moves the agricultural machine to the waiting location when the time difference between the end time of the completion of the specific agricultural work and the start time of the next agricultural work is greater than or equal to a predetermined time.

[0033] The comprehensive or specific aspects of this disclosure may be implemented by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. Computer-readable storage media are: The device may include volatile storage media or non-volatile storage media. The device may consist of multiple devices. If the device consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices. [Effects of the Invention]

[0034] According to the embodiments of this disclosure, it becomes possible to perform agricultural work more efficiently using autonomously driven agricultural machinery. [Brief explanation of the drawing]

[0035] [Figure 1] This figure illustrates an overview of an agricultural management system according to an exemplary first embodiment of the present disclosure. [Figure 2] This is a schematic side view showing an example of a work vehicle and an implement connected to the work vehicle. [Figure 3] This is a block diagram showing an example configuration of a work vehicle and implement. [Figure 4] This is a conceptual diagram showing an example of a work vehicle that performs positioning using RTK-GNSS. [Figure 5] This is a schematic diagram showing an example of an operating terminal and a group of operating switches installed inside the cabin. [Figure 6] This is a rear view showing an example of the configuration of the rear side of a work vehicle. [Figure 7] This block diagram illustrates the approximate hardware configuration of the management device, the first terminal device, and the second terminal device. [Figure 8] This diagram schematically illustrates an example of a work vehicle that automatically travels along a target route within a field. [Figure 9]This flowchart shows an example of steering control operation during autonomous driving, performed by the control system. [Figure 10A] This figure shows an example of a work vehicle traveling along a target route P. [Figure 10B] This figure shows an example of a work vehicle positioned to the right of the target path P. [Figure 10C] This figure shows an example of a work vehicle positioned to the left of the target path P. [Figure 10D] This figure shows an example of a work vehicle facing in a direction inclined with respect to the target path P. [Figure 11] This diagram schematically illustrates an example of multiple work vehicles automatically driving inside a field and on roads outside the field. [Figure 12] This figure shows an example of a settings screen for creating a schedule. [Figure 13] This is an example of a schedule. [Figure 14] This diagram illustrates the movement of a work vehicle to a stopover point where preparatory work for the next agricultural task is carried out. [Figure 15] This diagram shows an example of a work vehicle heading to the field after the preparation work is complete. [Figure 16] This diagram illustrates an example where a work vehicle moves from its storage location to a stopover site and then performs agricultural work in the field. [Figure 17] This flowchart shows an example of the operation of the control device. [Figure 18] This figure shows an example of a database illustrating the correspondence between the content of preparatory work and the places to visit. [Figure 19] This figure illustrates an overview of an agricultural management system according to an exemplary second embodiment of the present disclosure. [Figure 20] This is a block diagram showing an example configuration of a work vehicle and implement. [Figure 21] This is a block diagram illustrating the approximate hardware configuration of the management device and terminal device. [Figure 22]This diagram illustrates the process of a work vehicle moving to a waiting area for the next day's farm work after completing a day's tasks. [Figure 23] This diagram shows an example of a work vehicle returning to its storage location. [Figure 24] This figure shows another example of a work vehicle moving to a waiting area. [Figure 25] This flowchart shows an example of the control method performed by the control device. [Modes for carrying out the invention]

[0036] Embodiments of the present disclosure are described below. However, descriptions that are unnecessarily detailed may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid the following description becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. The inventors provide the accompanying drawings and the following description so that those skilled in the art can fully understand the present disclosure, and not to limit the subject matter described in the claims. In the following description, components having the same or similar function are denoted by the same reference numerals.

[0037] The following embodiments are illustrative, and the technology of this disclosure is not limited to these embodiments. For example, the numerical values, shapes, materials, steps, order of steps, and display screen layouts shown in the following embodiments are merely examples, and various modifications are possible as long as they do not create a technical inconsistency. Furthermore, it is possible to combine one embodiment with another as long as it does not create a technical inconsistency.

[0038] (Embodiment 1) An exemplary embodiment 1 of the present disclosure provides a control system for agricultural machinery that controls the automatic operation of agricultural machinery. The control system moves the agricultural machinery to a stopover site where preparatory work is to be performed before agricultural work, when preparatory work is required for agricultural work, including at least one of replacing implements attached to the agricultural machinery, maintaining implements, replacing parts of the agricultural machinery, maintaining parts of the agricultural machinery, and replenishing supplies.

[0039] According to the above configuration, when preparatory work for farming is required, agricultural machinery can be automatically moved to a stopover location where that work will be performed. Whether or not preparatory work is required can be determined, for example, by a control device or a management device connected to the control device via a network. With this configuration, agricultural machinery can be automatically moved to a stopover location without the user having to determine the need for preparatory work and give instructions to the agricultural machinery to move. This reduces the user's workload and makes it possible to prepare for farming more efficiently.

[0040] In this disclosure, “agricultural machinery” means machinery used for agricultural purposes. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding cultivators, vegetable transplanters, mowers, seeders, fertilizer spreaders, and agricultural mobile robots. Not only may a work vehicle such as a tractor function as “agricultural machinery” on its own, but the entire work vehicle and implements attached to or towed by the work vehicle may function as a single “agricultural machinery.” Agricultural machinery performs agricultural work on the ground in a field, such as tilling, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural work may be referred to as “ground work” or simply “work.” When a vehicle-type agricultural machine moves while performing agricultural work, it may be referred to as “working while moving.”

[0041] "Autonomous driving" means controlling the movement of agricultural machinery through the operation of a control device, without manual operation by a driver. Agricultural machinery that performs autonomous driving is sometimes called "autonomous farm machinery" or "robot farm machinery." During autonomous driving, not only the movement of the agricultural machinery but also the actions of farm work may be controlled automatically. If the agricultural machinery is a vehicle-type machine, the movement of the agricultural machinery by autonomous driving is called "autonomous driving." The control device can control at least one of the following necessary actions for the movement of the agricultural machinery: steering, adjustment of movement speed, starting and stopping of movement. When controlling a work vehicle equipped with implements, the control device may also control actions such as raising and lowering the implements and starting and stopping the operation of the implements. Movement by autonomous driving may include not only movement of agricultural machinery along a predetermined path toward a destination but also movement following a target. Agricultural machinery that performs autonomous driving may have a function to move partially based on user instructions. In addition to the autonomous driving mode, agricultural machinery that performs autonomous driving may also operate in a manual driving mode in which it is moved by manual operation by a driver. The steering of agricultural machinery by a control device, without manual intervention, is called "automatic steering." Part or all of the control device may be located outside the agricultural machinery. Communication, such as control signals, commands, or data, may take place between the external control device and the agricultural machinery. An autonomously operating agricultural machine may move autonomously while sensing its surroundings, without human intervention in controlling its movement. An autonomously moving agricultural machine can travel unmanned within or outside the field (e.g., on a road). Obstacle detection and obstacle avoidance maneuvers may be performed during autonomous movement.

[0042] "Maintenance" of an implement or component is any action taken to ensure that the implement or component performs its intended function or performance. Maintenance may include, for example, servicing, repairing, adjusting, modifying, inspecting, or reinforcing.

[0043] "Materials" refers to the supplies used in agricultural work performed by agricultural machinery. These materials are also called "agricultural supplies." Materials may include, for example, pesticides, fertilizers, seeds, or seedlings—anything consumed during agricultural work.

[0044] A "stopover point" is a place where agricultural machinery stops for preparatory work. A stopover point may be, for example, a repair shop, a shop selling parts or materials, a personal workshop, or a storage facility. The stopover point may vary depending on the nature of the preparatory work. Replacement, repair, or maintenance of implements or parts may be carried out, for example, in a repair shop, shop, or personal workshop. Replenishing materials may be carried out, for example, in a storage facility, shop, or personal workshop. At the stopover point, an operator or a machine such as a robot performs the prescribed preparatory work.

[0045] The control system may include a memory device that stores map data of the environment in which the agricultural machinery moves. In the following description, this map data will also be referred to as the “environmental map.” The environmental map may include, for example, location information of one or more fields in which the agricultural machinery performs agricultural work, and one or more stopover locations that the agricultural machinery visits. The environmental map may also include location information of storage locations where the agricultural machinery is stored. Based on the environmental map and the location information of the agricultural machinery, the control device can create a route for the agricultural machinery to travel. The location information of the agricultural machinery may be generated, for example, based on data output from a GNSS receiver mounted on the agricultural machinery. In the following description, the route for which the agricultural machinery should travel may be referred to as the “target route.” A management device connected to the control device via a network may create the target route. In this case, the management device transmits information indicating the generated target route to the control device. The control device controls the drive mechanism of the agricultural machinery so that the agricultural machinery moves along the target route. This allows the control device to move the agricultural machinery toward a desired destination, such as a field, stopover location, or storage location.

[0046] The control device may move the agricultural machinery to different stopover locations depending on the nature of the preparation work. The storage device may store data indicating the correspondence between the preparation work and the location of the stopover. Based on this data, the control device can determine the stopover location according to the preparation work and generate a route to that stopover location. The control device can move the agricultural machinery to the stopover location by moving it along the generated route.

[0047] The control system's memory may pre-record a schedule of agricultural tasks to be performed by the agricultural machinery. The control device may control the movement of the agricultural machinery according to this schedule. The schedule may include, for example, information indicating the date, time, and field where each agricultural task performed by the agricultural machinery will be carried out. If the control device determines that preparatory work is required for one of the agricultural tasks included in the schedule, it will move the agricultural machinery to a stopover location where that preparatory work will be performed before the agricultural task.

[0048] Whether or not preparatory work is performed can be determined from various perspectives. For example, the control device may determine whether or not preparatory work is necessary based on signals output from one or more sensors for detecting the mounting status of the implement, deterioration of the implement, deterioration of parts of the agricultural machinery, or shortage of materials. One or more sensors may include, for example, an image sensor positioned to image the implement, parts of the agricultural machinery, or materials, and at least one of a sensor for measuring the remaining amount of materials. The sensor for measuring the remaining amount of materials may be, for example, a weight sensor. If an image sensor is used, the control device may detect deterioration or failure of the implement or parts, or shortage of materials, by image processing based on the signal output from the image sensor. In the following description, a device including one or more sensors for detecting the mounting status of the implement, deterioration of the implement, deterioration of parts of the agricultural machinery, or shortage of materials may be referred to as a "condition detection device".

[0049] The control device may determine whether preparation work is required based on the usage time of the implement or component. For example, the control device may record the usage time from the start of use of the implement or component to the present, and determine that preparation work for replacement is required when the usage time exceeds a threshold.

[0050] The control device may determine whether preparatory work is necessary based on data showing the amount of materials consumed for each farming operation performed by the agricultural machinery. For example, the control device may determine that preparatory work is necessary for replenishing materials if the amount of materials consumed by farming operations performed from the time of the last replenishment to the present exceeds a threshold. The amount of materials consumed for each farming operation can be recorded in a storage device, for example, along with the schedule described above.

[0051] When the control device moves agricultural machinery to a stopover site, it may send a notification to a computer used by an operator performing preparation work at the stopover site. The computer could be, for example, a personal computer (PC), laptop computer, tablet computer, or smartphone. The notification may include, for example, information indicating the content of the preparation work and information indicating the estimated time of arrival at the stopover site. The operator can know from the notification received by the computer that the agricultural machinery is coming to the stopover site. The operator can then prepare the necessary parts, implements, or materials for the preparation work before the agricultural machinery arrives.

[0052] After preparation work is complete, the control device may move the agricultural machinery to a pre-set storage location or to the field where the next scheduled agricultural work will be performed. The storage location may be, for example, a barn at the agricultural machinery owner's home or a garage at the farm operator's business premises. The field where the next scheduled agricultural work will be performed can be identified, for example, by referring to a schedule stored in a memory device. The locations of the storage location and the field may be recorded in advance in the memory device.

[0053] The control device may determine whether preparatory work is required for the next agricultural operation after each agricultural operation performed by agricultural machinery is completed. Whether or not preparatory work is required may be determined based on the output of a sensor or measuring instrument, as described above. The control device may, for example, determine whether or not preparatory work is required after each agricultural operation included in a schedule stored in a memory device is completed.

[0054] The control device may determine whether preparation work is required after the day's farming work by the agricultural machinery is completed, based on signals output from one or more sensors on the agricultural machinery. If no preparation work is required, the control device moves the agricultural machinery to a pre-set storage location. Conversely, if preparation work is required, the control device moves the agricultural machinery to a stopover location where the preparation work will be performed, and then moves the agricultural machinery back to the storage location after the preparation work is completed. This operation allows the agricultural machinery to stop at a stopover location where preparation work is performed after the last farming task of the day is completed, if preparation work is required for the next farming task scheduled for the following day or later, and then return to the storage location after the preparation work is completed.

[0055] The control device may perform the following operations (a1) to (a3) ​​if preparatory work is required. (a1) A signal is sent to a computer at a candidate stopover site requesting it to perform preparatory work. (a2) If a response is received from the computer indicating that preparatory work is possible, the candidate location is designated as a stopover. (a3) If no response is received from the computer indicating that preparation work is possible, the agricultural machinery will be moved to a pre-set storage location without determining a stopover point. The above operation allows agricultural machinery to be moved to a candidate site only if preparatory work is possible at that site. The computer at the candidate site may be configured to send a response to the control device indicating that preparatory work is possible, for example, based on the actions of the worker at the candidate site.

[0056] The control system may include a storage device that stores a database containing location information for each of several candidate sites that are potential stopovers, and information indicating one or more preparatory tasks to be performed at each of the candidate sites. The control device may refer to the database and select one candidate site from among the multiple candidate sites that is capable of performing the preparatory tasks necessary for agricultural work as a stopover.

[0057] The control device may perform the following operations (b1) to (b3) if preparatory work is required. (b1) A signal is sent to a first computer at a first candidate site selected from among several candidate sites, requesting that preparatory work be performed. (b2) If a response is received from the first computer indicating that preparation work is possible, the first candidate site is selected as a stopover. (b3) If no response is received from the first computer indicating that preparatory work is possible, a signal is sent to the second computer at the second candidate site, which has been selected from among the multiple candidate sites, requesting that preparatory work be performed. (b4) If a response is received from the second computer indicating that preparation work is possible, the second candidate site is selected as a stopover. The above process allows for the search of potential sites from among multiple candidate sites where preparatory work can be carried out. Therefore, even if, for example, preparatory work cannot be carried out at one candidate site due to a shortage of parts, materials, or personnel, a suitable candidate site can be determined from other candidate sites.

[0058] When the control device moves the agricultural machinery to a stopover location, it may send a notification to a terminal device used by the user of the agricultural machinery, containing information indicating the stopover location and the details of the preparation work. By sending such a notification, the user can be informed that preparation work will be carried out at the stopover location. The user may be, for example, the owner of the agricultural machinery or a worker who uses the agricultural machinery on a daily basis. The terminal device may be any computer, such as a smartphone or tablet computer. After the preparation work is completed, the control device may move the agricultural machinery to a pre-set storage location. In this case, the notification may include information indicating the estimated time of arrival at the storage location. This allows the user to know the estimated time when the agricultural machinery will return to the storage location.

[0059] The control device may determine whether preparation work is required while the agricultural machinery is performing agricultural work in the field. For example, the control device may determine that preparation work is required if it detects a malfunction or failure of an implement or part based on signals output from one or more sensors during agricultural work. In this case, the control device may have the agricultural machinery interrupt its work and move to a stopover point. Alternatively, the control device may have the agricultural machinery move to a stopover point after agricultural work in that field is completed, or after all agricultural work for the day is completed. In this case, the control device may send a notification to the terminal device when it determines that preparation work is required, informing the user that the machinery will stop at a stopover point before returning to storage after agricultural work in that field or all agricultural work for the day is completed.

[0060] If preparatory work at a stopover necessitates a change to the originally planned farming schedule, the management device that manages the schedule may revise the schedule to account for the time required for the preparatory work. In this case, the control device may send a notification to the first terminal device indicating that the schedule has been changed. This notification may include information indicating the revised farming schedule. This allows the user to see the notification and understand that the schedule has been changed.

[0061] A farming management system according to another embodiment of the present disclosure comprises a farming machine including a control device for controlling automatic operation, and a management device for managing the farming machine. The control device causes the farming machine to perform farming work based on instructions from the management device. If preparatory work is required for farming work, including at least one of replacing implements attached to the farming machine, maintaining implements, replacing parts of the farming machine, maintaining parts of the farming machine, and replenishing materials, the control device moves the farming machine to a stopover site where preparatory work is performed before farming work.

[0062] A "management device" is a computer for managing agricultural machinery. The management device may comprise, for example, one or more processors and one or more memories. The processors can perform desired processing by sequentially executing computer programs stored in memory. The management device may be, for example, a computer such as a cloud server located remotely from the agricultural machinery. Signals may be transmitted and received between the management device and the control unit of the agricultural machinery via a network. Alternatively, one of several electronic control units (ECUs) mounted on the agricultural machinery may function as the management device. The management device and the control unit may be implemented as a single device. The management device may also be a computer installed at the user's home or business premises.

[0063] The control device may, for example, instruct the control device of the agricultural machinery to perform agricultural work based on the schedule of agricultural work stored in the memory of the agricultural management system. The control device can then move the agricultural machinery to the field and have the agricultural machinery perform agricultural work in that field, in accordance with the instructions from the control device.

[0064] The control device may acquire information indicating the content of the farm work from the management device and determine whether preparatory work is necessary based on the content of the farm work and the condition of the agricultural machinery. The condition of the agricultural machinery may be, for example, the mounting status of implements, the condition of parts of the agricultural machinery, or the degree of shortage of materials.

[0065] The control device may determine that preparation work is necessary if the state of the implements attached to the agricultural machinery, the type of materials, or the quantity of materials does not correspond to the content of the agricultural work indicated by the information obtained from the management device. Conversely, the control device may determine that preparation work is not necessary if the state of the implements attached, the type of materials, or the quantity of materials corresponds to the content of the agricultural work. For example, if the implements to be used for the next agricultural work are not attached to the agricultural machinery, or if the materials to be used for the next agricultural work are not sufficiently loaded onto the agricultural machinery, the control device will determine that preparation work is necessary. In that case, the control device will move the agricultural machinery to the stopover location where the preparation work will be performed. This will allow the preparation work to be carried out appropriately according to the agricultural work.

[0066] A method for controlling the automated operation of agricultural machinery according to other embodiments of the present disclosure includes determining whether preparatory work is required for farming, including at least one of replacing implements attached to the agricultural machinery, maintaining implements, replacing parts of the agricultural machinery, maintaining parts of the agricultural machinery, and replenishing supplies; and, if preparatory work is required, moving the agricultural machinery to a stopover site where the preparatory work will be performed before farming.

[0067] A computer program for controlling the automatic operation of agricultural machinery according to other embodiments of the present disclosure causes the computer to determine whether preparatory work is required for farming, including at least one of replacing implements attached to the agricultural machinery, maintaining implements, replacing parts of the agricultural machinery, maintaining parts of the agricultural machinery, and replenishing materials; and, if preparatory work is required, to move the agricultural machinery to a stopover site where the preparatory work will be performed before farming.

[0068] The following describes embodiments in which the technology of this disclosure is applied to a work vehicle such as a tractor, which is an example of agricultural machinery. The technology of this disclosure can be applied not only to work vehicles such as tractors, but also to other types of agricultural machinery.

[0069] Figure 1 is a diagram illustrating the outline of an agricultural management system according to this embodiment. The agricultural management system shown in Figure 1 comprises a work vehicle 100, a first terminal device 400, a second terminal device 500, and a management device 600. The first terminal device 400 is a computer used by a user to remotely monitor the work vehicle 100. The second terminal device 500 is a computer located at a stopover point where the work vehicle 100 stops for preparatory work before agricultural work. The management device 600 may be a computer managed by the operator of the agricultural management system. The work vehicle 100, the first terminal device 400, the second terminal device 500, and the management device 600 can communicate with each other via a network 80. Although Figure 1 illustrates one work vehicle 100, the agricultural management system may include multiple work vehicles or other agricultural machinery. If multiple stopover points are provided, a second terminal device 500 may be located at each stopover point.

[0070] In this embodiment, the work vehicle 100 is a tractor. The tractor can be fitted with implements on either the rear or the front, or both. The tractor can travel within the field while performing agricultural work according to the type of implement. The tractor may also travel within or outside the field without any implements attached.

[0071] The work vehicle 100 is equipped with an automatic driving function. That is, the work vehicle 100 can be driven by the operation of a control device without manual operation. The control device in this embodiment is installed inside the work vehicle 100 and can control both the speed and steering of the work vehicle 100. The work vehicle 100 can automatically drive not only within the field but also outside the field, including on public roads.

[0072] The work vehicle 100 is equipped with a positioning device 110 including a GNSS receiver. The control device automatically drives the work vehicle 100 based on the position of the work vehicle 100 identified by the positioning device 110 and a target route stored in a memory device. In addition to controlling the movement of the work vehicle 100, the control device also controls the operation of the implement. As a result, the work vehicle 100 can perform work using the implement while automatically driving.

[0073] The management device 600 is a computer that manages the movement and work of the work vehicle 100. The management device 600 may also be a server computer that centrally manages information about the field on the cloud and supports agriculture by utilizing the data on the cloud. For example, the management device 600 stores the schedule of agricultural work to be performed by the work vehicle 100 and gives instructions to the work vehicle 100 to travel and perform agricultural work according to that schedule.

[0074] The first terminal device 400 is a computer used by a user located away from the work vehicle 100. The first terminal device 400 shown in Figure 1 is a smartphone, but is not limited to this. The first terminal device 400 may be a mobile device such as a smartphone, tablet computer, or laptop computer, or a stationary computer such as a desktop PC. The first terminal device 400 may be used to monitor the work vehicle 100. For example, the first terminal device 400 can display video footage captured by one or more cameras on the work vehicle 100. The user can view this video footage to check the surroundings of the work vehicle 100. The first terminal device 400 may also receive notifications when the work vehicle 100 is heading to a specific stopover location for preparatory work. The user can see these notifications and know that preparatory work will be performed at the stopover location. The first terminal device 400 may also be configured to receive completion notifications when the preparatory work is completed. The user can see these completion notifications and know that the preparatory work is complete. The terminal device 400 further displays a settings screen on its display for the user to input information necessary to create a schedule of farm work to be performed by the work vehicle 100. When the user inputs the necessary information on the settings screen and performs a transmission operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates and records a farm work schedule based on that information. The management device 600 transmits the farm work schedule to the work vehicle 100. The work vehicle 100 moves between multiple fields according to the received schedule and performs farm work at each field. The terminal device 400 may also include an input device for inputting the storage location of the work vehicle 100 and location information of one or more stopover locations.

[0075] The second terminal device 500 is a computer used by workers performing preparatory work at a stopover site. The second terminal device 500 may be any computer, such as a laptop computer, desktop PC, server computer, tablet computer, or smartphone. The second terminal device 500 receives a notification when the work vehicle 100 is heading to the stopover site for preparatory work. Workers at the stopover site see the notification and know that the work vehicle 100 is coming to the stopover site. Workers can then prepare for the preparatory work based on the content of the notification. The second terminal device 500 may also be used by workers to perform a completion operation when the preparatory work is completed. When a worker performs a completion operation, the second terminal device 500 sends a signal to the work vehicle 100 indicating that the preparatory work is complete. This signal may be sent via the management device 600. Upon receiving the signal, the work vehicle 100 moves to its storage location or to the field where the next scheduled agricultural work will be performed. At this time, the work vehicle 100 or the management device 600 transmits a completion notification to the first terminal device 400 indicating that the preparation work has been completed.

[0076] The system configuration and operation in this embodiment will be described in more detail below.

[0077] [1. Structure] Figure 2 is a schematic side view showing an example of a work vehicle 100 and an implement 300 connected to the work vehicle 100. In this embodiment, the work vehicle 100 has functions for both manual driving mode and automatic driving mode. In automatic driving mode, the work vehicle 100 can be driven unmanned. The work vehicle 100 can be driven automatically both inside and outside the field (including roads).

[0078] As shown in Figure 2, the work vehicle 100 comprises a vehicle body 101, a prime mover (engine) 102, and a transmission 103. The vehicle body 101 is provided with tires 104 (wheels) and a cabin 105. The tires 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside the cabin 105 are a driver's seat 107, a steering device 106, an operating terminal 200, and a group of switches for operation. When the work vehicle 100 is operating in a field, one or both of the front wheels 104F and rear wheels 104R may be crawlers instead of tires.

[0079] The work vehicle 100 shown in Figure 2 is further equipped with multiple cameras 120. The cameras 120 may be installed, for example, on the front, rear, left, and right sides of the work vehicle 100. The cameras 120 capture images of the environment around the work vehicle 100 and generate image data. The images acquired by the cameras 120 may be transmitted to a first terminal device 400 for remote monitoring. These images may be used to monitor the work vehicle 100 when it is operating unmanned. The cameras 120 may also be used to generate images for recognizing white lines, signs, markings, or surrounding obstacles when the work vehicle 100 is traveling on a road.

[0080] The work vehicle 100 further comprises a positioning device 110. The positioning device 110 includes a GNSS receiver. The GNSS receiver comprises 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 positioning device 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 positioning device 110 is located on top of the cabin 105, but it may be located in other positions.

[0081] The positioning device 110 may include an inertial measuring unit (IMU). Position data can be supplemented using signals from the IMU. The IMU can measure the tilt and minute movements of the work vehicle 100. Positioning performance can be improved by supplementing satellite signal-based position data using data acquired by the IMU.

[0082] The work vehicle 100 shown in Figure 2 is further equipped with a LiDAR sensor 140. In this example, the LiDAR sensor 140 is located at the lower front of the vehicle body 101. The LiDAR sensor 140 may be located in other positions. While the work vehicle 100 is moving, the LiDAR sensor 140 repeatedly outputs sensor data indicating the distance and direction of each measurement point on objects 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 the control device of the work vehicle 100. The control device can perform processing such as generating an environmental map based on the sensor data, using algorithms such as SLAM (Simultaneous Localization and Mapping). The generation of the environmental map may be performed by another computer, such as a management device 600 located outside the work vehicle 100. The sensor data output from the LiDAR sensor 140 can also be used for obstacle detection.

[0083] The positioning device 110 may use data acquired by 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, the position 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 previously recorded in a storage device. By correcting or supplementing position data based on satellite signals using the data acquired by the camera 120 or LiDAR sensor 140, the position of the work vehicle 100 can be determined with even higher accuracy.

[0084] The work vehicle 100 is further equipped with multiple obstacle sensors 130. In the example shown in Figure 2, obstacle sensors 130 are provided in front of and behind the cabin 105. Obstacle sensors 130 may also be located in other areas. For example, one or more obstacle sensors 130 may be provided at any location on the side, front, and rear of the vehicle body 101. Obstacle sensors 130 can be used to detect surrounding obstacles during autonomous driving and to stop or detour the work vehicle 100.

[0085] 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 propulsion force and travel speed of the work vehicle 100 by shifting gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse.

[0086] The steering system 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering system that assists steering by the steering wheel. The front wheels 104F are steering wheels, and the direction of travel of the work vehicle 100 can be changed by changing their steering 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 system includes a hydraulic system or electric motor that supplies auxiliary 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 system or electric motor under control from a control device located inside the work vehicle 100.

[0087] 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 change the position or orientation of the implement 300 by raising and lowering the three-point link, for example, by a hydraulic device. Power can also be supplied 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 operation. The coupling device may be provided at the front of the vehicle body 101. In that case, the implement can be connected to the front of the work vehicle 100.

[0088] The implement 300 shown in Figure 2 is a rotary tiller, but the implement 300 is not limited to a rotary tiller. For example, any implement such as a seeder, spreader, transplanter, mower, rake, baler, harvester, spreader, or harrow can be connected to the work vehicle 100 and used.

[0089] The work vehicle 100 shown in Figure 2 is capable of being operated by a person, but may also be designed for unmanned operation only. In that case, components necessary only for manned operation, such as the cabin 105, steering system 106, and driver's seat 107, do not need to be provided on the work vehicle 100. The unmanned work vehicle 100 can be driven autonomously or by remote control by a user.

[0090] Figure 3 is a block diagram showing an example configuration of a work vehicle 100 and an 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 first terminal device 400, the second terminal device 500, and the management device 600 via the network 80.

[0091] In the example shown in Figure 3, the work vehicle 100 includes a positioning device 110, a camera 120, an obstacle sensor 130, a LiDAR sensor 140, and an operating terminal 200, as well as a group of sensors 150 for detecting the operating status of the work vehicle 100, a control system 160, a communication device 190, a group of operating switches 210, a buzzer 220, a status detection device 230, and a drive device 240. These components are connected to each other via a bus for communication. The positioning device 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 steering angle sensor 154, and an axle sensor 156. The control system 160 includes a storage device 170 and a control device 180. The control device 180 includes a plurality of electronic control units (ECUs) 181 to 186. The implement 300 comprises a drive unit 340, a control unit 380, and a communication device 390. Figure 3 shows components that are relatively highly relevant to the operation of the automated driving of the work vehicle 100, and other components are not shown.

[0092] The GNSS receiver 111 in the positioning device 110 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data may be generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0093] The positioning device 110 shown in Figure 3 uses RTK (Real Time Kinematic)-GNSS to position the work vehicle 100. Figure 4 is a conceptual diagram showing an example of a work vehicle 100 performing positioning using RTK-GNSS. In RTK-GNSS positioning, in addition to satellite signals transmitted from multiple GNSS satellites 50, a correction signal transmitted from a base station 60 is used. The base station 60 can be installed near the field where the work vehicle 100 is traveling (for example, within 1 km of the work vehicle 100). Based on the satellite signals received from multiple GNSS satellites 50, the base station 60 generates a correction signal, for example, in RTCM format and transmits it to the positioning device 110. The RTK receiver 112 includes an antenna and a modem and receives the correction signal transmitted from the base station 60. The processing circuit 116 of the positioning device 110 corrects the positioning result from the GNSS receiver 111 based on the correction signal. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, an error of a few centimeters. Position information, including latitude, longitude, and altitude, is acquired by high-precision positioning using RTK-GNSS. The positioning device 110 calculates the position of the work vehicle 100, for example, at a frequency of about 1 to 10 times per second.

[0094] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method that can obtain the necessary accuracy of positional information (such as interferometric positioning or relative positioning) can be used. For example, positioning may be performed using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System). If the necessary accuracy of positional information can be obtained without using the correction signal transmitted from the base station 60, the positional information may be generated without using the correction signal. In that case, the positioning device 110 does not need to be equipped with an RTK receiver 112.

[0095] The positioning device 110 in this embodiment further includes an IMU 115. The IMU 115 may include a 3-axis accelerometer and a 3-axis gyroscope. The IMU 115 may also include an orientation sensor such as a 3-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals indicating various quantities such as 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. By utilizing 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). Instead of the IMU 115, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU 115 may be provided as a separate device from the positioning device 110.

[0096] In the example shown in Figure 3, the processing circuit 116 calculates the position of the work vehicle 100 based on signals output from the GNSS receiver 111, the RTK receiver 112, and the IMU 115. The processing circuit 116 may further estimate or correct the position of the work vehicle 100 based on data acquired by the camera 120 or the LiDAR sensor 140. By utilizing the data acquired by the camera 120 or the LiDAR sensor 140, the accuracy of positioning can be further improved.

[0097] The position calculation is not limited to the positioning device 110; it may be performed by other devices. For example, the control device 180 or an external computer may acquire the output data of each receiver and sensor necessary for positioning and estimate the position of the work vehicle 100 based on that data.

[0098] Camera 120 is an imaging device that captures the environment around the work vehicle 100. Camera 120 includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary MetalOxide Semiconductor). Camera 120 may also include an optical system including one or more lenses and a signal processing circuit. While the work vehicle 100 is in motion, Camera 120 captures the environment around the work vehicle 100 and generates image (e.g., video) data. Camera 120 can capture video at a frame rate of, for example, 3 frames per second (fps) or higher. The images generated by Camera 120 can be used, for example, when a remote observer uses a first terminal device 400 to check the environment around the work vehicle 100. The images generated by Camera 120 may be used for positioning or obstacle detection. As shown in Figure 2, multiple cameras 120 may be installed at different locations on the work vehicle 100, or a single camera may be installed. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be provided separately. Both the visible light camera and the infrared camera may be provided as cameras that generate surveillance images. The infrared camera can also be used for detecting obstacles at night.

[0099] 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 closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be installed at different locations on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be placed at different locations on the work vehicle 100. By providing many such obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0100] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The steering angle sensor 154 measures the steering angle of the front wheels 104F, which are the steering wheels. The values ​​measured by the steering wheel sensor 152 and the steering angle sensor 154 are used for steering control by the control device 180.

[0101] The axle sensor 156 measures the rotational speed of the axle connected to the tire 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that utilizes, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value indicating, for example, the number of rotations of the axle per minute (in rpm). The axle sensor 156 is used to measure the speed of the work vehicle 100.

[0102] The drive system 240 includes various devices necessary for the movement of the work vehicle 100 and the drive of the implement 300, such as the prime mover 102, the transmission 103, the steering system 106, and the coupling device 108. The prime mover 102 may be an internal combustion engine, such as a diesel engine. The drive system 240 may also be equipped with an electric motor for traction, either in place of or in conjunction with the internal combustion engine.

[0103] The buzzer 220 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 220 emits a warning sound when an obstacle is detected during autonomous driving. The buzzer 220 is controlled by the control device 180.

[0104] The state detection device 230 is a device equipped with one or more sensors for detecting the mounting status of the implement 300, deterioration of the implement 300, deterioration of parts of the work vehicle 100, or shortage of materials. The one or more sensors may include, for example, at least one of an image sensor positioned to capture images of the implement 300, parts of the work vehicle 100, or materials consumed in agricultural work, and a sensor for measuring the remaining amount of materials. Specific examples of the state detection device 230 will be described later.

[0105] The storage device 170 includes one or more storage media such as flash memory or magnetic disks. The storage device 170 stores various data generated by the positioning device 110, camera 120, obstacle sensor 130, sensor group 150, state detection device 230, and control device 180. The data stored in the storage device 170 may include an environmental map, which is map data of the environment in which the work vehicle 100 travels, and target route data in autonomous driving. The environmental map includes information on multiple fields where the work vehicle 100 performs agricultural work and the surrounding roads. The environmental map and target route may be generated by the control device 180 itself or by a processor in the management device 600. In this embodiment, an example in which the target route is created by the control device 180 is described. The storage device 170 also stores the schedule of agricultural work (hereinafter also referred to as the "work schedule") received by the communication device 190 from the management device 600. The work schedule includes information indicating multiple agricultural tasks to be performed by the work vehicle 100 over multiple work days. The storage device 170 also stores computer programs that cause each ECU in the control unit 180 to perform various operations described later. Such computer programs can be provided to the work vehicle 100 via a storage medium (e.g., semiconductor memory or optical disc) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0106] The control device 180 includes a plurality of ECUs. These ECUs include, for example, ECU 181 for speed control, ECU 182 for steering control, ECU 183 for implement control, ECU 184 for automatic driving control, ECU 185 for route creation, and ECU 186 for state estimation. ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102, transmission 103, and brakes included in the drive unit 240. ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic system or electric motor included in the steering unit 106 based on the measurement values ​​of the steering wheel sensor 152. ECU 183 controls the operation of the three-point link and PTO shaft included in the coupling device 108 in order to cause the implement 300 to perform desired operations. ECU 183 also generates signals to control the operation of the implement 300 and transmits these signals from the communication device 190 to the implement 300. ECU184 performs calculations and controls to achieve autonomous driving based on signals output from the positioning device 110, steering wheel sensor 152, steering angle sensor 154, and axle sensor 156. During autonomous driving, ECU184 sends a command value for speed change to ECU181 and a command value for steering angle change to ECU182. ECU181 changes the speed of the work vehicle 100 by controlling the prime mover 102, transmission 103, or brakes based on the speed change command value. ECU182 changes the steering angle by controlling the steering device 106 based on the steering angle change command value. ECU185 creates a target route for the work vehicle 100 and records that information in the storage device 170. ECU185 determines the destination of the work vehicle 100 based on the work schedule stored in the storage device 170 and determines the route from the current position of the work vehicle 100 to the destination. ECU185 creates a target route, for example, the route that will take the shortest time to reach the destination, based on an environmental map containing road information stored in the memory device 170. ECU186 estimates the status of the work vehicle 100 or implement 300 based on the signal output from the status detection device 230 and determines whether preparatory work is required. If ECU186 determines that preparatory work is required, it determines the stopover points corresponding to that preparatory work.Once a stopover location is determined, the ECU 185 creates a target route to that stopover location. The ECU 185 stores the created target route in the storage device 170. The ECU 184 controls the drive unit 240 to drive the work vehicle 100 along the target route. When the ECU 186 determines a stopover location, it instructs the communication device 190 to send notifications to the first terminal device 400 used by the user and the second terminal device 500 used by the worker performing preparatory work at that stopover location.

[0107] These ECUs enable the control unit 180 to perform autonomous driving, determine whether preparatory work is necessary, decide on stopovers, create target routes, and communicate with other devices. During autonomous driving, the control unit 180 controls the drive unit 240 based on the position of the work vehicle 100 measured or estimated by the positioning device 110 and the target route stored in the storage device 170. This allows the control unit 180 to drive the work vehicle 100 along the target route.

[0108] Multiple ECUs included in the control unit 180 can communicate with each other according to 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 Figure 3, each of the ECUs 181 to 186 is shown as a separate block, but each of their functions may be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 181 to 186 may be provided. The control unit 180 may also include ECUs other than ECUs 181 to 186, and any number of ECUs can be provided depending on their function. Each ECU includes a processing circuit containing one or more processors.

[0109] The communication device 190 is a device that includes circuits for communicating with the implement 300, the first terminal device 400, the second terminal device 500, and the management device 600. The communication device 190 includes circuits for transmitting and receiving signals compliant with ISOBUS standards, such as ISOBUS-TIM, to and from the communication device 390 of the implement 300. This allows the implement 300 to perform desired operations or to obtain information from the implement 300. The communication device 190 may further include antennas and communication circuits for transmitting and receiving signals via the network 80 to and from the respective communication devices of the first terminal device 400, the second terminal device 500, 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 the function of communicating with a portable terminal used by a monitor near the work vehicle 100. Communication with such mobile devices may take place using any wireless communication standard, such as Wi-Fi®, 3G, 4G, or 5G cellular mobile communication, or Bluetooth®.

[0110] The operation terminal 200 is a terminal for the user to perform operations related to the driving of the work vehicle 100 and the operation of the implement 300, and is also called a virtual terminal (VT). The operation terminal 200 may be equipped with a display device such as a touchscreen and / or one or more buttons. The display device may be a display such as a liquid crystal or organic light-emitting diode (OLED). By operating the operation terminal 200, the user can perform various operations such as switching the automatic driving mode on / off, recording or editing the 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 away from the work vehicle 100 may control the operation of the work vehicle 100 by operating the detached operation terminal 200. Instead of the operation terminal 200, the user may control the operation of the work vehicle 100 by operating a computer with the necessary application software installed, such as a first terminal device 400.

[0111] Figure 5 is a schematic diagram showing an example of an operating terminal 200 and a group of operating switches 210 provided inside the cabin 105. Inside the cabin 105 is a group of switches 210, which includes a number of switches that can be operated by the user. The group of operating switches 210 may include, for example, a switch for selecting the gear of the main or sub-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 the implement 300. Note that if the work vehicle 100 only performs unmanned operation and does not have the function of manned operation, the work vehicle 100 does not need to be equipped with a group of operating switches 210.

[0112] The drive unit 340 in the implement 300 shown in Figure 3 performs the operations necessary for the implement 300 to perform a predetermined task. The drive unit 340 includes devices depending on the application of the implement 300, such as a hydraulic system, an electric motor, or a pump. The control device 380 controls the operation of the drive unit 340. The control device 380 causes the drive unit 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. It can also transmit signals corresponding to the state of the implement 300 from the communication device 390 to the work vehicle 100.

[0113] Next, an example of the state detection device 230 will be described with reference to Figure 6.

[0114] Figure 6 is a rear view showing an example of the configuration of the rear side of the work vehicle 100. The work vehicle 100 shown in Figure 6 is equipped with a camera 232 on the rear side for photographing the implement 300. The camera 232 is an example of a state detection device 230. In this example, the camera 232 is positioned to photograph the connection between the implement 300 and the coupling device 108 of the work vehicle 100. The camera 232 may include an image sensor such as a CCD or CMOS and a signal processing circuit for processing the signal output from the image sensor. In this example, the ECU 186 in the control device 180 recognizes the mounting status of the implement 300 based on the image captured by the camera 232. For example, based on the image, the ECU 186 can recognize whether the implement 300 is correctly mounted according to the next scheduled farm work. For recognition, an algorithm utilizing a trained model trained by machine learning may be used. Based on the recognition result, the ECU 186 can determine whether preparatory work such as replacement or maintenance of the implement 300 is necessary.

[0115] If ECU186 determines that preparatory work such as replacement or maintenance of implement 300 is necessary, it determines a stopover location (e.g., a repair shop, a store, or a warehouse of the user's acquaintance) where the preparatory work will be performed. In this embodiment, a database associating the type of preparatory work with the location information of the stopover location is pre-stored in the storage device 170. ECU186 refers to this database to obtain the location information of the stopover location where the necessary preparatory work will be performed and sends this location information to ECU185. ECU185 creates a target route to the stopover location based on this location information. For example, the target route may be the shortest route from the current location of the work vehicle 100 to the stopover location. Once ECU185 has created the target route, it sends this information to ECU184. ECU184 controls the drive unit 240 to drive the work vehicle 100 according to the target route.

[0116] The condition detection device 230 may include a camera that photographs areas other than the connection between the implement 300 and the work vehicle 100. Such a camera may be positioned to photograph specific parts of the implement 300 or the work vehicle 100. For example, depending on the type of implement 300 or work vehicle 100, a camera may be positioned to photograph parts such as rotary tines, cutting blades, or planting tines. In that case, the ECU 186 can estimate the degree of wear or damage to the part based on the image of the part, and based on the estimation result, determine whether preparatory work such as replacement or repair of the part is necessary. Alternatively, the ECU 186 may detect tire wear, crawler tension or wear, or chain slack based on images acquired by a camera that photographs the tires or crawler, and determine whether preparatory work is necessary.

[0117] The condition detection device 230 may include, in place of or in addition to, a sensor for measuring the amount of wear on specific parts (e.g., claws or cutting blades) in the work vehicle 100 or implement 300. Such sensors may be, for example, laser scanners, ultrasonic sensors, or other types of distance measuring sensors. These sensors can measure the shape of the claws or cutting blades, and thus the amount of wear can be estimated based on that shape.

[0118] The implement 300 may be, for example, a work machine that uses agricultural materials (fertilizer, seeds, pesticides, or seedlings, etc.) consumed by agricultural work, such as a fertilizer spreader, seed planter, pesticide sprayer, or planter. Alternatively, the work vehicle 100 itself may have a function to plant seedlings, such as a rice transplanter. In such cases, the state detection device 230 may be equipped with a sensor (for example, a weight sensor) that measures the remaining amount of material. The control device may determine whether or not preparatory work is required to replenish the material based on the remaining amount of material measured by the sensor.

[0119] The condition detection device 230 may include sensors for measuring the amount of engine oil or the battery level. Based on the signals output from these sensors, the ECU 186 can detect a shortage of engine oil or battery level. If the ECU 186 detects such shortages, it may determine that preparatory work such as changing the engine oil or battery, or charging the battery, is required.

[0120] Next, the configurations of the management device 600, the first terminal device 400, and the second terminal device 500 will be described. Figure 7 is a block diagram illustrating the approximate hardware configuration of the management device 600, the first terminal device 400, and the second terminal device 500.

[0121] The management device 600 comprises a storage device 650, a processor 660, a ROM (Read Only Memory) 670, a RAM (Random Access Memory) 680, and a communication device 690. These components are connected to each other via a bus for communication. The management device 600 manages the schedule of agricultural work performed by the work vehicle 100 in the field and can function as a cloud server to support agriculture by utilizing the managed data. For example, a user can create a work schedule using the first terminal device 400 and upload the work schedule information to the management device 600 via the network 80.

[0122] The communication device 690 is a communication module for communicating with the work vehicle 100, the first terminal device 400, and the second terminal device 500 via the network 80. The communication device 690 can perform wired communication compliant with communication standards such as IEEE 1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication compliant with Bluetooth (registered trademark) or Wi-Fi standards, or cellular mobile communication such as 3G, 4G, or 5G.

[0123] Processor 660 could be, for example, a semiconductor integrated circuit including a central processing unit (CPU). Processor 660 could be implemented by a microprocessor or microcontroller. Alternatively, Processor 660 could be an FPGA (Field Programmable Gate Array), GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), or ASSP (Application Specific Standard Product) equipped with a CPU. Alternatively, this can also be achieved by 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 set of instructions for performing at least one process, to achieve the desired process.

[0124] ROM670 can be, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. ROM670 stores programs that control the operation of processor 660. ROM670 does not have to be a single storage medium; it may be a collection of multiple storage media. Some of these storage media may be removable memory.

[0125] RAM680 provides a workspace for temporarily unpacking the control program stored in ROM670 during boot-up. RAM680 does not need to be a single storage medium; it may be a collection of multiple storage media.

[0126] The storage device 650 primarily 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 cloud storage.

[0127] The first terminal device 400 comprises an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are connected to each other via a bus so as to be able to communicate with each other. The input device 420 is a device for converting user instructions into data and inputting them into the 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 descriptions of the processor 460, ROM 470, RAM 480, storage device 450, and communication device 490 are as described in the hardware configuration example of the management device 600, and are therefore omitted here.

[0128] The second terminal device 500 comprises an input device 520, a display device 530, a storage device 550, a processor 560, a ROM 570, a RAM 580, and a communication device 590. These components are connected to each other via a bus so as to be able to communicate with each other. The input device 520 is a device for converting instructions from a user (e.g., a worker at a stopover location) into data and inputting it into the computer. The input device 520 may be, for example, a keyboard, a mouse, or a touch panel. The display device 530 may be, for example, a liquid crystal display or an organic EL display. The descriptions of the processor 560, ROM 570, RAM 580, storage device 550, and communication device 590 are as described in the hardware configuration example of the management device 600, and their descriptions are omitted here.

[0129] [2. Operation] Next, the operation of the work vehicle 100, the first terminal device 400, the second terminal device 500, and the management device 600 will be explained.

[0130] [2-1. Automatic Driving Operation] First, we will explain an example of the automated driving operation of the work vehicle 100.

[0131] Figure 8 schematically shows an example of a work vehicle 100 that automatically travels within a field along a target path. In this example, the field includes a work area 72 where the work vehicle 100 performs work using the implement 300, and a headland 74 located near the outer edge of the field. The user can pre-set which areas on the field map correspond to the work area 72 or the headland 74. The target path in this example includes a plurality of parallel main paths P1 and a plurality of turning paths P2 connecting the plurality of main paths P1. The main paths P1 are located within the work area 72, and the turning paths P2 are located within the headland 74. Although each main path P1 shown in Figure 8 is a straight path, each main path P1 may include a curved portion. The dashed line in Figure 8 represents the working width of the implement 300. The working width is pre-set and recorded in the storage device 170. The working width can be set and recorded by the user operating the control terminal 200. 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 can be set to match the working width. The target path can be created based on user operations before automatic operation begins. The target path can be created, for example, to cover the entire work area 72 within the field. The work vehicle 100 automatically travels along the target path shown in Figure 8, repeatedly making round trips from the start point to the end point of the work. Note that the target path shown in Figure 8 is merely an example, and the method of defining the target path is arbitrary.

[0132] Next, we will explain an example of control during autonomous driving by the control device 180.

[0133] Figure 9 is a flowchart illustrating an example of steering control operation during automatic driving performed by the control device 180. The control device 180 performs automatic steering while the work vehicle 100 is in motion by executing the operations from steps S121 to S125 shown in Figure 9. The speed is maintained, for example, at a preset speed. While the work vehicle 100 is in motion, the control device 180 acquires data indicating the position of the work vehicle 100 generated by the positioning device 110 (step S121). Next, the control device 180 calculates the deviation between the position of the work vehicle 100 and the target path (step S122). The deviation represents the distance between the position of the work vehicle 100 at that time and the target path. 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 that the deviation becomes smaller. If the deviation does not exceed the threshold in step S123, the operation in step S124 is omitted. In the following step S125, the control device 180 determines whether or not it has received a command to terminate the operation. A command to terminate the operation may be issued, for example, when a user remotely instructs the automatic operation to stop, or when the work vehicle 100 reaches its destination. If no command to terminate the operation has been issued, the process returns to step S121 and performs the same operation based on the newly measured position of the work vehicle 100. The control device 180 repeats the operations from steps S121 to S125 until a command to terminate the operation is issued. The above operations are performed by the ECUs 182 and 184 in the control device 180.

[0134] In the example shown in Figure 9, the control device 180 controls the drive unit 240 based only on the deviation between the position of the work vehicle 100 identified by the positioning device 110 and the target path, but it may also take into account the azimuth deviation. For example, if the azimuth deviation, which is the angular difference between the orientation of the work vehicle 100 identified by the positioning device 110 and the direction of the target path, exceeds a preset threshold, the control device 180 may change the control parameters of the steering device of the drive unit 240 (e.g., steering angle) according to that deviation.

[0135] Below, we will explain in more detail an example of steering control by the control device 180, referring to Figures 10A to 10D.

[0136] Figure 10A shows an example of a work vehicle 100 traveling along a target path P. Figure 10B shows an example of a work vehicle 100 positioned to the right of the target path P. Figure 10C shows an example of a work vehicle 100 positioned to the left of the target path P. Figure 10D shows an example of a work vehicle 100 facing inclined relative to the target path P. In these figures, the position and orientation of the work vehicle 100 as measured by the positioning device 110 are represented 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 Figures 10A to 10D, the reference point of the work vehicle 100 is located 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 illustrated example, the target path P is parallel to the Y-axis, but generally, the target path P is not necessarily parallel to the Y-axis.

[0137] As shown in Figure 10A, if the position and orientation of the work vehicle 100 are not deviating from the target path P, the control device 180 maintains the steering angle and speed of the work vehicle 100 without changing them.

[0138] As shown in Figure 10B, if the position of the work vehicle 100 is shifted to the right of the target path P, the control device 180 changes the steering angle so that the direction of travel of the work vehicle 100 is tilted to the left and approaches path 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 the position deviation Δx.

[0139] As shown in Figure 10C, if the position of the work vehicle 100 is shifted to the left of the target path P, the control device 180 changes the steering angle so that the direction of travel of the work vehicle 100 is tilted to the right and approaches path P. In this case as well, the speed may be changed in addition to the steering angle. The amount of change in the steering angle can be adjusted, for example, according to the magnitude of the position deviation Δx.

[0140] As shown in Figure 10D, if the position of the work vehicle 100 is not significantly off the target path P, but its orientation differs from that of the target path P, the control device 180 changes the steering angle to reduce the azimuth deviation Δθ. In this case as well, the speed may be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted, for example, according to the magnitudes of the position deviation Δx and the azimuth deviation Δθ. For example, the smaller the absolute value of the position deviation Δx, the larger the amount of change in the steering angle corresponding to the azimuth deviation Δθ may be. When the absolute value of the position deviation Δx is large, the steering angle will be changed significantly in order to return to path P, so the absolute value of the azimuth deviation Δθ will inevitably be large. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight (i.e., control gain) of the azimuth deviation Δθ used to determine the steering angle.

[0141] Control technologies such as PID control or MPC control (model predictive control) can be applied to the steering and speed control of the work vehicle 100. By applying these control technologies, the control of the work vehicle 100 to approach the target path P can be made smoother.

[0142] Furthermore, if one or more obstacle sensors 130 detect an obstacle while the vehicle is in motion, the control device 180 will stop the work vehicle 100. The control device 180 may also control the drive unit 240 to avoid the obstacle when one is detected. The control device 180 can also detect objects located relatively far from the work vehicle 100 (for example, other vehicles or pedestrians) based on data output from the LiDAR sensor 140. The control device 180 can also achieve automated driving on public roads by performing speed control and steering control to avoid the detected object.

[0143] In this embodiment, the work vehicle 100 can automatically travel unmanned both inside and outside the field. Figure 11 schematically shows an example of multiple work vehicles 100 automatically traveling inside the field 70 and on the road 76 outside the field 70. The storage device 170 records environmental maps and target route information for both inside and outside the field, including public roads. The environmental maps and target routes can be generated, for example, by the ECU 185 of the control device 180. When the work vehicle 100 travels on a public road, the work vehicle 100 travels along the target route with the implement 300 raised, sensing its surroundings using sensing devices such as the camera 120 and LiDAR sensor 140. The target route may be changed during travel depending on the situation.

[0144] [2-2. Creating a work schedule] In this embodiment, the work vehicle 100 automatically moves between fields and performs agricultural work in each field according to the work schedule recorded in the storage device 170. The work schedule may include information on multiple agricultural tasks performed over multiple work days. Specifically, the work schedule may be a database containing information indicating which agricultural machine will perform which agricultural task at which time in which field for each work day. The work schedule 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 how to create a work schedule will be described below.

[0145] Figure 12 shows an example of a settings screen 760 displayed on the display device 430 of the terminal device 400. The processor 460 of the terminal device 400 responds to user operations using the input device 420 by launching an application for schedule creation and displaying a settings screen 760 as shown in Figure 12 on the display device 430. The user can input the information necessary to create a work schedule on this settings screen 760.

[0146] Figure 12 shows an example of a settings screen 760 when tilling accompanied by fertilizer application is performed as an agricultural operation in a rice field. The settings screen 760 is not limited to the one shown and can be changed as appropriate. The settings screen 760 in the example in Figure 12 includes a date setting unit 762, a cropping plan selection unit 763, a field selection unit 764, a work selection unit 765, a worker selection unit 766, a time setting unit 767, a machine selection unit 768, a fertilizer selection unit 769, and a spreading amount setting unit 770.

[0147] The date setting unit 762 displays the date entered by the input device 420. The entered date is set as the date on which the farm work will be performed.

[0148] The planting plan selection unit 763 displays a list of names of pre-created planting plans. The user can select the desired planting plan from the list. Planting plans are created in advance for each type and variety of crop and recorded in the storage device 650 of the management device 600. A planting plan is a plan of which crops to plant in which fields. Planting plans are made by managers or other personnel who manage multiple fields before the crops are planted in the fields. A field is a partitioned field where crops are planted (i.e., transplanted). In the example in Figure 12, the planting plan for the rice variety "Koshiibuki" is selected. In this case, the settings made on the setting screen 760 are associated with the planting plan for "Koshiibuki".

[0149] The field selection unit 764 displays the fields in the environmental map. The user can select any field from the displayed fields. In the example in Figure 12, the section indicating "Field A" is selected. In this case, the selected "Field A" is set as the field where agricultural work will be carried out.

[0150] The task selection unit 765 displays several farming tasks necessary to cultivate the selected crop. The user can select one farming task from among the several. In the example in Figure 12, "tilling" is selected from among the several farming tasks. In this case, the selected "tilling" is set as the farming task to be performed.

[0151] The worker selection unit 766 displays pre-registered workers. The user can select one or more workers from the displayed workers. In the example in Figure 12, "Worker B" and "Worker C" are selected from among the multiple workers. In this case, the selected "Worker B" and "Worker C" are set as the workers responsible for performing or managing the agricultural work. In this embodiment, since the agricultural machinery performs the agricultural work automatically, the workers do not actually perform the work themselves, but only remotely monitor the agricultural work performed by the agricultural machinery.

[0152] The time setting unit 767 displays the work time entered from the input device 420. The work time is specified by the start time and end time. The entered work time is set as the scheduled time for the agricultural work to be performed.

[0153] The machine selection unit 768 is the part that sets the agricultural machinery to be used in the farming work. The machine selection unit 768 may display, for example, the type or model of agricultural machinery registered in advance by the management device 600, and the type or model of available implements. The user can select a specific machine from the displayed machines. In the example in Figure 12, an implement with the model number "NW4511" is selected. In this case, that implement is set as the machine to be used in the farming work.

[0154] The fertilizer selection unit 769 displays the names of several fertilizers that have been pre-registered by the management device 600. The user can select a specific fertilizer from among the displayed fertilizers. The selected fertilizer is then set as the fertilizer to be used in that agricultural operation.

[0155] The spraying amount setting unit 770 displays the numerical value entered from the input device 420. The entered numerical value is set as the spraying amount.

[0156] On the settings screen 760, when the planting plan, field, farm work, worker, working hours, fertilizer, and application amount are entered 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 farm work to be performed by each agricultural machine and stores it in the storage device 650.

[0157] The information on agricultural work managed by the management device 600 is not limited to what is described above. For example, the type and amount of pesticides used in the field may be set on the setting screen 760. Information on agricultural work other than that shown in Figure 12 may also be set.

[0158] Figure 13 shows an example of a farm work schedule created by the management device 600. In this example, the schedule includes information for each registered agricultural machine indicating the day and time the farm work will be performed, the field, the work content, and the implements to be used. In addition to the information shown in Figure 13, the schedule may also include information such as pesticides or the amount of pesticides to be sprayed, depending on the work content. According to such a schedule, the processor 660 of the management device 600 issues instructions to the work vehicle 100 for farm work. The schedule may be downloaded by the control device 180 of the work vehicle 100 and also stored in the storage device 170. In that case, the control device 180 may spontaneously start operating according to the schedule stored in the storage device 170.

[0159] [2-3. Determining whether preparatory work is necessary and traveling to the stopover location] Next, we will explain specific examples of actions involved in determining whether preparatory work is necessary and moving the work vehicle 100 to the stopover location.

[0160] Figure 14 illustrates the operation of a work vehicle 100 moving to a stopover site 94 where preparatory work is performed for the next agricultural operation. Figure 14 illustrates multiple fields 70 where the work vehicle 100 performs agricultural work, a storage location 90 for the work vehicle 100, the user's home 92 from which the work vehicle 100 is remotely monitored, and a stopover site 94 where preparatory work is performed. The locations of the fields 70, storage location 90, and stopover site 94 are pre-recorded in the storage device 170 along with environmental map data. The storage location 90 may be, for example, a warehouse, barn, or parking lot adjacent to the user's home 92 or business premises. The stopover site 94 may be, for example, a repair shop, a parts or implement dealer, a materials storage, or a personal workshop. The work vehicle 100 performs agricultural work in one or more fields 70 per day. What kind of agricultural work the work vehicle 100 performs in which field 70 at which time may be determined according to a schedule transmitted from the management device 600. The schedule data is downloaded in advance and stored in the storage device 170. The control device 180 controls the drive unit 240 so that the work vehicle 100 performs agricultural work in the designated field 70 at the designated time, according to the schedule.

[0161] In Figure 14, the routes taken by the work vehicle 100 are illustrated with arrows. The solid arrows show examples of routes taken by the work vehicle 100 when it leaves the storage area 90 and enters each field 70. The dashed arrows show examples of routes taken by the work vehicle 100 when it moves to a stopover point 94 after completing agricultural work in the field 70. The dotted arrows show examples of routes taken by the work vehicle 100 when it returns from the stopover point 94 to the storage area 90.

[0162] In this example, the work vehicle 100 departs from the storage area 90 and sequentially visits several fields 70 where farm work is scheduled for that day, performing the farm work indicated in the schedule at each field. At each field, the work vehicle 100 performs farm work while automatically driving in the manner described, for example with reference to Figure 8. When farm work is completed at one field, the work vehicle 100 enters the next field and performs farm work in the same manner. In this way, the work vehicle 100 automatically performs farm work at several fields 70. The control device 180 determines, for example, whether preparation work is required based on the signal output from the status detection device 230 after all farm work scheduled for the day has been completed, or after each farm work has been completed. For example, as described with reference to Figure 6, the control device 180 can determine whether a malfunction or other problem has occurred in a part or implement 300 based on the image of the part or implement 300 of the work vehicle 100 taken by the camera 232. Alternatively, the control device 180 can determine whether or not there is a shortage of materials based on signals output from sensors that measure the remaining amount of materials such as fertilizer, seeds, pesticides, or seedlings. Based on these determinations, the control device 180 determines whether or not preparatory work is required, such as replacing or maintaining parts of the work vehicle 100 or implement 300, or replenishing materials.

[0163] When the control device 180 determines that preparatory work is necessary, it refers to a database stored in the storage device 170 to determine a stopover point 94 where the preparatory work will be performed. The control device 180 creates a target route to the stopover point 94 and controls the drive unit 240 so that the work vehicle 100 travels along that target route. For example, the control device 180 creates a target route to the stopover point 94 from the field 70 where the last agricultural work of the day was performed, or from any field 70 where agricultural work has been completed. In other words, the control device 180 creates a target route on the map, at least along the road from the field 70 to the stopover point 94.

[0164] This allows the work vehicle 100 to automatically move to the stopover point 94 along the target route. Figure 14 shows an example of the target route to the stopover point 94 with dashed arrows. As the target route, for example, the route that reaches the stopover point 94 in the shortest time may be selected.

[0165] While moving, the work vehicle 100 detects obstacles such as pedestrians or other vehicles using the obstacle sensor 130, LiDAR sensor 140, and camera 120, and heads towards the stopover point 94 while controlling its steering and speed to avoid obstacles. The work vehicle 100 also performs actions such as recognizing traffic lights based on images taken by the camera 120, stopping at red lights, and starting at green lights.

[0166] When the control device 180 moves the work vehicle 100 to a stopover point 94, it sends a notification to a first terminal device 400 used by a user at home 92 or another location, and to a second terminal device 500 used by a worker performing preparatory work at the stopover point 94. This notification may include information such as the details of the work and the estimated time of arrival at the stopover point 94. The notification may be sent directly from the work vehicle 100 to the first terminal device 400 and the second terminal device 500, or it may be sent via the management device 600.

[0167] At stop 94, preparatory work is performed, such as replacing or inspecting parts or implements 300, or replenishing materials. The details of the preparatory work are notified in advance to the second terminal device 500, and the worker can prepare based on this notification, for example, by preparing replacement parts, tools for maintenance, or materials to be replenished. When the work vehicle 100 arrives at stop 94, the worker can immediately begin the preparatory work. Once the preparatory work is completed, the worker operates the second terminal device 500 to complete the work.

[0168] When the operation to complete the work is performed, the second terminal device 500 transmits a signal to the communication device 190 of the work vehicle 100 indicating that the work has been completed. This signal may also be transmitted to the work vehicle 100 via the management device 600. Upon receiving this signal, the control device 180 of the work vehicle 100 creates a route to the storage area 90 or the field where the next scheduled agricultural work will be performed, and moves the work vehicle 100 along that route.

[0169] When the control device 180 receives a completion notification, it may send a notification to the first terminal device 400 used by the user indicating that the preparation work has been completed. This notification may include, for example, information that the preparation work has been completed and the expected time of arrival at the storage location 90. If the preparation work is performed for a fee, information on the fee for the preparation work may be included in the notification. The fee for the preparation work may be determined according to the content of the preparation work. The fee may be determined by the worker or may be predetermined for each preparation work. Information on the fee for each preparation work may be recorded, for example, in the storage device 650 of the management device 600. The second terminal device 500 may obtain information on the fee according to the content of the preparation work performed from the management device 600 and determine the fee. Note that if the preparation work is performed by an individual such as an acquaintance of the user, the preparation work may be performed free of charge.

[0170] Figure 14 shows an example of the route taken by the work vehicle 100 after the preparation work is completed, indicated by a dotted arrow. In the example shown in Figure 14, after the preparation work is completed, the control device 180 creates a route from the stopover point 94 to a pre-set storage location 90 and moves the work vehicle 100 along that route. The control device 180 creates a target route on a map, for example, on the road from at least the stopover point 94 to the storage location 90.

[0171] As a result, the work vehicle 100 automatically moves to the storage area 90. This operation may occur, for example, after the last agricultural task scheduled for the day has been completed, and preparatory work for the next agricultural task scheduled for the following day or later has been carried out. If there is still agricultural work to be completed that day after the preparatory work, the control device 180 may move the work vehicle 100 to the field 70 where the next agricultural task will be performed and resume the agricultural work, as shown in Figure 15.

[0172] In the above example, the control device 180 determines whether preparatory work is required after the completion of the last scheduled farming task of the day, or after the completion of each farming task. The example is not limited to this; for example, it may determine whether preparatory work is required for the first farming task of the day before the start of the day's farming activities.

[0173] Figure 16 shows an example of a route created when it is determined that preparatory work is required before the work vehicle 100 begins its daily farm work. In this example, the control device 180 of the work vehicle 100 determines, based on the output from one or more sensors, whether preparatory work is required for the first farm work to be performed, such as replacing parts or implements or replenishing materials. If preparatory work is required, the control device 180 creates a route to a stop 94 corresponding to that preparatory work. In Figure 16, an example of the route created at this time is shown by a dashed arrow. The control device 180 creates a route (target route) on the map, at least from the storage area 90 to the stop 94 corresponding to the preparatory work, and moves the work vehicle 100 along the created route.

[0174] This ensures that necessary preparatory work is carried out before agricultural work begins. After the preparatory work is completed, the control device 180 creates a route on the map from the stopover point 94 to the field 70 where the first agricultural work of the day will be performed, as illustrated by the dotted arrow in Figure 16, and moves the work vehicle 100 along that route. This allows the work vehicle 100 to begin agricultural work with all necessary preparatory work completed.

[0175] After the preparation work, the work vehicle 100 moves sequentially to the multiple fields 70 scheduled for that day, as shown by the solid arrows in Figure 16, and performs agricultural work. When all agricultural work is completed, the work vehicle 100 returns to the storage area 90. In this example as well, when agricultural work is completed at each field, or when all agricultural work is completed, the control device 180 may determine whether preparation work is necessary. If it is determined that preparation work is necessary, the control device 180 determines a stopover point corresponding to that preparation work and moves the work vehicle 100 to that stopover point. The stopover point determined at this time may be the same as the stopover point 94 where preparation work was previously performed, or it may be different.

[0176] The operation shown in Figure 16 can also be applied when the work vehicle 100 departs the storage location 90 without an implement attached, and preparation work for attaching the implement is performed at a stopover location 94. For example, consider a situation where a specific implement is needed for the first farm work of the day, but that implement is unusable due to a malfunction. In this case, the work vehicle 100 may depart the storage location 90 without attaching the implement. The control device 180 may determine that preparation work for attaching the implement is necessary when it detects, based on the sensor output, that the implement is not attached. The control device 180 determines a stopover location 94 where the preparation work can be performed and drives the work vehicle 100 toward the stopover location 94. The stopover location 94 may be, for example, an implement dealership or a warehouse of an acquaintance of the user (for example, another farmer). According to this embodiment, the operation of going to a dealership to buy an implement or going to another farmer to borrow an implement can also be automated. As in this example, attaching an implement when it is not attached is also interpreted in this disclosure as "replacement" of the implement.

[0177] Next, an example of the operation of the control device 180 will be explained in more detail with reference to Figure 17.

[0178] Figure 17 is a flowchart illustrating an example of a control method performed by the control device 180. In this example, the work vehicle 100 is parked at the storage area 90 until it begins moving for farm work. In this state, the control device 180 awaits an instruction from the management device 600 to begin moving (step S201). The processor 660 of the management device 600, for example, according to a schedule stored in the storage device 650 (see Figure 13), gives the control device 180 an instruction to begin moving as the scheduled start time for the first farm work of the day approaches.

[0179] In the example shown in Figure 17, when the control device 180 receives an instruction to start moving, it determines whether or not preparation work is required (step S202). Whether or not preparation work is required can be determined based on signals output from one or more sensors included in the state detection device 230, as described above. If no preparation work is required, the process proceeds to step S208. If preparation work is required, the control device 180 determines a stopover point corresponding to that preparation work (step S203). The control device 180 determines a stopover point corresponding to the required preparation work by, for example, referring to a database stored in the storage device 170.

[0180] Figure 18 shows an example of a database that shows the correspondence between the content of preparatory work and the stopover locations. Such a database may be created in advance and stored in the storage device 170. The control device 180 can refer to the database and determine appropriate stopover locations based on the content of the necessary preparatory work. The database may include location information for each stopover location. Alternatively, the location information for each stopover location may be recorded as separate data in the storage device 170. The database may also include fee information for each preparatory work. The fees may be determined individually by the operators at the stopover locations.

[0181] In the example shown in Figure 17, once the control device 180 determines a stopover point, it creates a route to that stopover point based on its location information (step S204). The control device 180 determines, for example, the shortest route to reach that stopover point. Next, the control device 180 instructs the communication device 190 to send a notification to the second terminal device 500 (step S205). The notification may include, for example, information on the work to be done and the estimated time of arrival at the stopover point. Information on the work to be done may include, for example, information on the type and quantity of necessary parts, implements, or materials. Workers at the stopover point see this notification and prepare for preparatory work. The control device 180 may also send a notification to the first terminal device 400 indicating that preparatory work will be performed. Such a notification allows the user to know that preparatory work will be performed. If the schedule changes due to the preparatory work, the control device 180 may send a notification from the communication device 190 to the first terminal device 400 containing information on the revised schedule. The revised schedule can be created, for example, by the processor 660 of the management device 600 and transmitted to the control device 180.

[0182] Next, the control device 180 starts controlling the drive unit 240 so that the work vehicle 100 moves to the stopover point (step S206). The control device 180 controls the steering and travel speed of the work vehicle 100 while sensing the surroundings using sensing devices such as the camera 120 and LiDAR sensor 140. As a result, the work vehicle 100 moves towards the stopover point while avoiding obstacles.

[0183] When the work vehicle 100 arrives at the stopover site, preparation work is carried out. Once the preparation work is completed, the worker at the stopover site operates the second terminal device 500 to send a signal to the work vehicle 100 indicating that the work is complete. The control device 180 determines whether the preparation work is complete based on whether or not a signal indicating the completion of the work has been received (step S207).

[0184] Once the preparation work is complete, the control device 180 refers to the schedule and determines whether there are any unfinished farming tasks scheduled for that day (step S208). If there are unfinished farming tasks, the control device 180 creates a route to the next scheduled field (step S209). The control device 180 moves the work vehicle 100 to that field and starts the farming work (step S210). In the field, the control device 180 controls the work vehicle 100 in the manner described with reference to Figure 8, for example, and causes the work vehicle 100 to perform the work. When the farming work is completed (Yes in step S211), the control device 180 returns to step S202 and determines again whether preparation work is required for the next farming task. If all farming tasks to be performed on that day have been completed, the control device 180 determines whether preparation work is required for the next farming task scheduled for the following day or a later workday. Thereafter, the same operation is repeated until it is determined in step S208 that there are no unfinished farming tasks.

[0185] In step S208, if the control device 180 determines that all farm work scheduled for that day has been completed, it creates a route to the storage location 90 (step S221). Based on the current position of the work vehicle 100 obtained from the positioning device 110 and the location of the storage location 90 and the environmental map previously recorded in the storage device 170, the control device 180 creates a route to the storage location 90. The control device 180 controls the drive unit 240 so that the work vehicle 100 moves to the storage location 90 along that route (step S222).

[0186] Through the above operations, the work vehicle 100 can determine whether preparatory work is necessary for the next scheduled farming task, move to a stopover location where the preparatory work will be performed if necessary, and return to the storage location 90 after the completion of the preparatory work. According to this embodiment, the work vehicle 100 automatically performs the above operations without the user giving any instructions to the work vehicle 100. Therefore, the preparatory work necessary for the next farming task can be performed efficiently.

[0187] In the example shown in Figure 17, the control device 180 determines whether preparation work is necessary each time agricultural work in a field is completed. Alternatively, the determination of whether preparation work is necessary could be made only when all agricultural work scheduled for the day has been completed.

[0188] (Modified version of Embodiment 1) The configuration and operation of the above embodiments are illustrative only, and this disclosure is not limited to the above embodiments. Hereinafter, examples of modifications of Embodiment 1 are given.

[0189] In the example shown in Figure 18, one stopover location corresponds to one type of preparatory work. However, the system is not limited to this example; multiple candidate stopover locations may be set for a single type of preparatory work. In that case, the control device 180 may send a signal to a computer at one of the candidate stopover locations selected from among the candidate locations, requesting that the preparatory work be performed. If the control device 180 receives a response from the computer indicating that the preparatory work is possible, it may decide that the candidate location is the stopover location. Conversely, if the control device 180 does not receive a response from the computer indicating that the preparatory work is possible, it may return the work vehicle 100 to the storage location 90 without deciding on a stopover location.

[0190] The control device 180 may send a signal to a first computer at a first candidate site selected from among multiple candidate sites, requesting the execution of preparatory work. If the control device 180 receives a response from the first computer indicating that preparatory work is possible, it may decide that the first candidate site is a stopover. Conversely, if the control device 180 does not receive a response from the first computer indicating that preparatory work is possible, it may send a signal to a second computer at a second candidate site selected from among multiple candidate sites, requesting the execution of preparatory work. In that case, if the control device 180 receives a response from the second computer indicating that preparatory work is possible, it may decide that the second candidate site is a stopover. If the control device 180 does not receive a response from the second computer indicating that preparatory work is possible, it may send a similar signal to computers at other candidate sites to inquire whether preparatory work is possible, or it may return the work vehicle 100 to the storage area 90 without deciding on a stopover.

[0191] In the above embodiment, the control device 180 located inside the work vehicle 100 performs all of the following: determining the stops, creating the route for the work vehicle 100, and controlling its movement. Alternatively, some of the operations of the control device 180 may be performed by the processor 660 of the management device 600. For example, the processor 660 may perform the determination of stops and the creation of the route. In that case, the control device 180 may be configured to control the automatic driving of the work vehicle 100 based on the stop information and route information transmitted from the management device 600.

[0192] While the work vehicle 100 is performing agricultural work in a field, the control device 180 may determine whether preparatory work is necessary based on the output of one or more sensors. If it determines that preparatory work is necessary during agricultural work, the control device 180 may have the work vehicle 100 interrupt the agricultural work and move to a stopover location. Alternatively, the control device 180 may have the work vehicle 100 move to a stopover location after the agricultural work in that field is completed, or after all agricultural work for the day is completed. In this case, the control device 180 may send a notification to the first terminal device 400 when it determines that preparatory work is necessary, informing the user that after the agricultural work in that field or all agricultural work for the day is completed, preparatory work will be carried out at the stopover location before returning to the storage location.

[0193] (Embodiment 2) Next, an exemplary embodiment 2 of the present disclosure will be described. The following will primarily describe the differences from embodiment 1, and will omit explanations of overlapping matters.

[0194] An exemplary embodiment 2 of the present disclosure provides a control system for an automated agricultural machine, comprising a memory device and a control device. The memory device stores a schedule of agricultural tasks to be performed by the agricultural machine. The control device controls the operation of the agricultural machine according to the schedule. After a specific agricultural task included in the schedule is completed, the control device moves the agricultural machine to a standby location different from a pre-set storage location, based on the next agricultural task included in the schedule.

[0195] According to the above configuration, agricultural machinery can be moved to a waiting location different from its storage location based on the next agricultural task included in the schedule. For example, the control device can move the agricultural machinery to either the storage location or the waiting location based on the location of the field where the next agricultural task will be performed (hereinafter also referred to as the "next field"). This makes it possible, for example, to move the agricultural machinery to the waiting location if, after the agricultural tasks scheduled for the day are completed, the field where the next agricultural task scheduled for the following day or later will be performed is closer to the waiting location than to the storage location. Alternatively, the control device may move the agricultural machinery to either the storage location or the waiting location based on the scheduled start time (or date and time) of the next agricultural task. For example, if there is a relatively long gap between the completion of an agricultural task in a field and the scheduled start time of the next agricultural task, the control device may return the agricultural machinery to the storage location, and if the gap is relatively short (for example, between 2 hours and less than 6 hours), it may move the agricultural machinery to a waiting location relatively close to the next field. Furthermore, if the time between agricultural tasks is short and the agricultural machinery does not need to wait, the control device may move the agricultural machinery directly to the next field. Through this operation, the agricultural machinery can be moved to a waiting area according to the next scheduled agricultural task, and then moved from the waiting area to the field in time for the start of the next task. This reduces the time and fuel consumption required for movement compared to returning the agricultural machinery to its storage location before moving it to the next field. As a result, a series of agricultural tasks using agricultural machinery can be performed more efficiently.

[0196] A "farm work schedule" is data that outlines the planned schedule for one or more farm operations performed by agricultural machinery. For example, a farm work schedule may include information indicating the date and time of the planned operation, and the field where the operation will be performed, for each farm operation performed by the agricultural machinery. The schedule may also include information such as the nature of the operation, the implements used, and / or the type and quantity of materials used for each operation. Here, "materials" refers to the supplies used in the farm operations performed by the agricultural machinery. Materials are also called "agricultural supplies." Materials may include, for example, pesticides, fertilizers, seeds, or seedlings—materials consumed by the farm operations. A farm work schedule may be created by a control device that communicates with agricultural machinery to manage farm operations. The control device can create a schedule based on information entered by a user (such as a farm manager or farm worker) operating a terminal device. The control device may manage farm operations for multiple agricultural machines. In that case, the schedule may include information on farm operations performed by multiple agricultural machines. The schedule can be downloaded to the agricultural machinery and recorded in the machinery's memory.

[0197] A "storage location" is a place designated for storing agricultural machinery. The storage location may be, for example, a place managed by the user of the agricultural machinery. It may be a warehouse, barn, or parking lot at the user's home or business premises, or any other place reserved for the storage of agricultural machinery. The location of the storage location may be pre-registered and recorded in a storage device.

[0198] A “waiting area” is a place provided for agricultural machinery to temporarily wait. One or more waiting areas are provided in the environment in which agricultural machinery operates autonomously. In this specification, waiting areas may be referred to as “stations.” A waiting area may be a place jointly managed or used by multiple users (such as agricultural workers). A waiting area may be, for example, a warehouse, garage, barn, parking lot, or other facility. A waiting area may be a warehouse, barn, garage, or parking lot at the home or business premises of an agricultural worker different from the user of the agricultural machinery. Multiple waiting areas may be scattered throughout the environment in which the agricultural machinery is moving. In that case, the control device may move the agricultural machinery to one of the waiting areas selected from among the multiple waiting areas. Work such as replacing or maintaining parts or implements of the agricultural machinery, or replenishing materials, may be performed at the waiting area. In that case, the waiting area may be stocked with the parts, tools, or materials necessary for such work.

[0199] The control device may move agricultural machinery to a waiting area based on the positional relationship between the storage area, the first field where a specific agricultural operation was performed, the second field where the next agricultural operation will be performed, and the waiting area. For example, the control device may decide whether to move agricultural machinery to the storage area or the waiting area based on the relative positions of the storage area, the first field, the second field, and the waiting area. For example, the control device may move agricultural machinery to the waiting area if the second travel distance (moving from the first field to the next field via the waiting area) is shorter than the first travel distance (moving from the first field via the storage area to the field where the next agricultural operation will be performed). Conversely, if the second travel distance is longer than the first travel distance, the control device may move agricultural machinery to the storage area. This operation allows agricultural machinery to be moved to the location with the shorter total travel distance between the storage area and the waiting area. This makes it possible to reduce travel time and fuel consumption.

[0200] The control device may move agricultural machinery to a waiting area if the time between the completion of a specific agricultural task and the start of the next agricultural task is greater than or equal to a predetermined time (e.g., 2 hours or 4 hours). Conversely, if the time difference is less than the predetermined time, the control device may move agricultural machinery directly to the field where the next agricultural task will be performed. The predetermined time is not limited to a fixed value and may be changed, for example, depending on the relative positions of the first field where the specific agricultural task was performed, the second field where the next agricultural task will be performed, and the waiting area. For example, the longer the distance between the first field and the second field, the longer the predetermined time may be set. The control device may determine the predetermined time automatically, or it may be set based on user input.

[0201] The control device can move agricultural machinery to the scheduled field at the scheduled time and perform agricultural work according to a schedule recorded in the storage device. The schedule may include information on multiple agricultural tasks to be performed in multiple fields. In this case, when agricultural work in one field is completed, the control device moves the agricultural machinery for the next scheduled agricultural task. At this time, the control device may move the agricultural machinery to either the storage area, the waiting area, or the next field, depending on the time difference (also called "free time") between the end time of agricultural work in one field and the scheduled start time of agricultural work in the next field. For example, if the above time difference is relatively short, the control device may move the agricultural machinery directly to the next field. If the above time difference is relatively long, the control device may move the agricultural machinery to either the storage area or the waiting area. For example, if all agricultural work scheduled for the day is completed and no further agricultural work will be performed until the next day or later, the control device may move the agricultural machinery to either the storage area or the waiting area. Alternatively, if the idle time between two agricultural operations performed in two fields exceeds a threshold (e.g., two or four hours), the control device may move the agricultural machinery to either the storage area or the standby area. For example, if the idle time is between a first hour (e.g., two hours) and a second hour (e.g., six hours), the control device may move the agricultural machinery to the standby area, and if the idle time is longer than the second hour, it may move the agricultural machinery to the storage area. The first and second hours may be determined by the control device or the user, taking into account the travel time of the agricultural machinery, which depends on the locations of the two fields, the storage area, and the standby area.

[0202] Thus, the control device may decide whether to move the agricultural machinery to a storage location or a waiting location after agricultural work in a field has been completed, provided certain conditions are met. The control device may make the above decision only after the completion of the last agricultural task scheduled for the day. Alternatively, the control device may make the above decision in the middle of the day's agricultural work, for example, after the completion of an agricultural task that has a relatively long gap before the next agricultural task begins. In the event that waiting becomes necessary due to unexpected events such as a sudden change in weather or equipment trouble, the control device may move the agricultural machinery to a waiting location near the field where the next agricultural task will be performed and have it wait there.

[0203] The schedule may include information on multiple farming tasks performed by one or more agricultural machines managed by the user over multiple working days. In this case, the storage device stores information on multiple farming tasks as the schedule, for example, including the last farming task performed on each working day as the specific farming task, and the first farming task performed on each working day as the next farming task. In this case, the control device may move the agricultural machine to a waiting area or storage area after the last farming task is completed on each working day, based on the location of the field where the next farming task will be performed, etc.

[0204] The control system may further include an input device for inputting storage locations and standby locations to the control device. The input device may be capable of inputting multiple storage locations and / or multiple standby locations. The input device may be mounted, for example, on a terminal device used by a user. The user can input storage locations and standby locations by operating the input device.

[0205] The storage device may store map data of the environment in which the agricultural machinery moves (environmental map). The environmental map may include, for example, location information of one or more fields where the agricultural machinery performs agricultural work, storage locations for the agricultural machinery, and one or more waiting locations. The control device can create a path (target path) on which the agricultural machinery should move based on the environmental map and the location information of the agricultural machinery. The location information of the agricultural machinery can be generated, for example, based on data output from a GNSS receiver mounted on the agricultural machinery. A management device connected to the control device via a network may create the target path. In this case, the management device transmits information indicating the created target path to the control device. The control device controls the drive mechanism of the agricultural machinery so that the agricultural machinery moves along the target path. This allows the control device to move the agricultural machinery toward a desired destination, such as a field, storage location, or waiting location.

[0206] When the control unit moves the agricultural machinery to a waiting location, it may send a notification to a terminal device used by the user of the agricultural machinery. The notification may include information that identifies the waiting location to which the agricultural machinery is being moved. By sending such a notification, the user can know that the agricultural machinery will not return to its storage location but will be moved to the waiting location. The user may be, for example, the owner of the agricultural machinery or the worker who uses the agricultural machinery on a daily basis. The terminal device may be any computer, such as a smartphone, tablet computer, or personal computer (PC). After moving the agricultural machinery to the waiting location, if the control unit has determined the date and time for the agricultural machinery to be returned to its storage location, it may notify the terminal device of information indicating that date and time. This allows the user to know the date and time when the agricultural machinery is scheduled to return to its storage location.

[0207] Another embodiment of the agricultural management system of this disclosure comprises a control device and an agricultural machine. The control device manages the schedule of agricultural work. The agricultural machine includes a control device that controls automatic operation and a communication device that receives the schedule from the control device. After a specific agricultural work included in the schedule received by the communication device is completed, the control device moves the agricultural machine to a standby location different from a preset storage location based on the next agricultural work included in the schedule.

[0208] With the above configuration, similar to the previously described embodiment, agricultural machinery can be moved to a waiting location different from its original storage location based on the next agricultural task. This reduces the time spent moving agricultural machinery and the amount of fuel consumed, allowing for the efficient execution of a series of agricultural tasks included in the schedule.

[0209] The control device may, for example, instruct the control device of the agricultural machinery to perform agricultural work based on the schedule of agricultural work stored in the memory of the agricultural management system. The control device can then move the agricultural machinery to the field and have the agricultural machinery perform agricultural work in that field, in accordance with the instructions from the control device.

[0210] The communication device can receive a schedule that includes information indicating the field where a specific agricultural operation is to be performed and information indicating the field where the next agricultural operation will be performed. The control device may move the agricultural machinery to the standby location based on the positional relationship between the storage location, the field where the specific agricultural operation was performed, the field where the next agricultural operation will be performed, and the standby location.

[0211] The control device may move the agricultural machinery to the waiting area if the second travel distance, which is the distance from the field where a specific agricultural operation was performed to the field where the next agricultural operation is performed via a waiting area, is shorter than the first travel distance, which is the distance from the field where a specific agricultural operation was performed to the field where the next agricultural operation is performed via a storage area. The control device may move the agricultural machinery to the storage area if the second travel distance is longer than the first travel distance.

[0212] The communication device may receive a schedule as described above, which includes information on the start time of the next agricultural task. The control device may move the agricultural machinery to a waiting area if the time difference between the end time of a particular agricultural task and the start time of the next agricultural task is greater than or equal to a predetermined time.

[0213] A control method for an automated agricultural machine according to another embodiment of the present disclosure includes obtaining a schedule of agricultural tasks to be performed by the agricultural machine from a storage device and controlling the operation of the agricultural machine according to the schedule. Controlling the operation of the agricultural machine includes, after a specific agricultural task included in the schedule has been completed, moving the agricultural machine to a standby location different from a predetermined storage location for the agricultural machine, based on the next agricultural task included in the schedule.

[0214] A computer program for controlling an automated agricultural machine according to yet another embodiment of the present disclosure causes the computer to retrieve a schedule of agricultural tasks to be performed by the agricultural machine from a storage device and to control the operation of the agricultural machine according to the schedule. Controlling the operation of the agricultural machine includes moving the agricultural machine to a standby location different from a predetermined storage location for the agricultural machine, based on the next agricultural task included in the schedule after a specific agricultural task included in the schedule has been completed.

[0215] Figure 19 is a diagram illustrating the overview of the agricultural management system according to this embodiment. The agricultural management system shown in Figure 19 comprises a work vehicle 100, a terminal device 400, and a management device 600. The configuration shown in Figure 19 is the same as the configuration shown in Figure 1, except that the second terminal device 500 is omitted. The terminal device 400 corresponds to the first terminal device 400 in the example in Figure 1. The terminal device 400 is a computer used by a user who remotely monitors the work vehicle 100. The management device 600 is a computer managed by the operator who runs the agricultural management system. The work vehicle 100, the terminal device 400, and the management device 600 can communicate with each other via the network 80. Although Figure 19 illustrates one work vehicle 100, the agricultural management system may include multiple work vehicles or other agricultural machinery. The configurations of the work vehicle 100, the terminal device 400, and the management device 600 are the same as those in the example in Figure 1.

[0216] The terminal device 400 in this embodiment may include an input device for inputting location information of the storage location of the work vehicle 100 and one or more waiting locations.

[0217] Figure 20 is a block diagram showing an example configuration of the work vehicle 100 and implement 300 in this embodiment. The configuration shown in Figure 20 is the same as the configuration shown in Figure 3, except that the second terminal device 500 and the ECU 186 in the control device 180 are omitted.

[0218] Figure 21 is a block diagram illustrating the schematic hardware configuration of the management device 600 and the terminal device 400. The configuration shown in Figure 21 is the same as the configuration of the management device 600 and the first terminal device 400 shown in Figure 7.

[0219] [Transportation to storage and waiting areas] Next, we will describe an example of movement control performed after the work vehicle 100 has completed a specific agricultural task.

[0220] The work vehicle 100 performs agricultural work in one or more fields per day. The type of agricultural work that the work vehicle 100 performs, at which time, and in which field is determined according to the schedule. The control device 180 controls the drive unit 240 so that the work vehicle 100 performs agricultural work in the designated field 70 at the designated time, according to the schedule.

[0221] In this embodiment, the control device 180 moves the work vehicle 100 to a waiting location different from a pre-set storage location, based on the next agricultural task included in the schedule, after a specific agricultural task included in the schedule has been completed. More specifically, after a specific agricultural task included in the schedule has been completed, the control device 180 moves the work vehicle 100 to one destination selected from the storage location and one or more waiting locations, based on the positional relationship between the field where the specific agricultural task was performed, the field where the next agricultural task will be performed, the storage location, and one or more waiting locations. The location information of the storage location and one or more waiting locations is registered in advance based on operations performed by the user using the input device 420 of the terminal device 400 and stored in the storage devices 650 and 170.

[0222] The following example illustrates a case where "specific farm work" is the last farm work performed on each workday, and "next farm work" is the first farm work performed on the next workday.

[0223] Figure 22 illustrates the operation of a work vehicle 100 moving to a station 96, which is a waiting area, for farm work on the next work day after completing farm work for the day. Figure 22 illustrates multiple fields 70A where the work vehicle 100 performs farm work on a given work day, multiple fields 70B where the work vehicle 100 performs farm work on the next work day, a storage area 90 for the work vehicle 100, the home 92 of a user who remotely monitors the work vehicle 100, and a station 96 where the work vehicle 100 waits. Station 96 is an example of a waiting area. Field 70A includes four fields 70A1, 70A2, 70A3, and 70A4. Field 70B includes two fields 70B1 and 70B2. The number of fields where farm work is performed on a single work day can be set arbitrarily. The locations of field 70A, field 70B, storage area 90, and station 96 are pre-recorded in the storage device 170 along with the environmental map data.

[0224] The storage location 90 may be, for example, a garage, barn, or parking lot adjacent to the user's home 92 or business premises. The station 96 may be a place jointly managed or used by multiple users. The station 96 may be a facility such as a parking lot or garage managed and operated by a municipality, agricultural cooperative, or company. If the station 96 is a facility that is locked at night, theft of the work vehicle 100 parked at the station 96 can be prevented. Figure 22 illustrates one station 96, but multiple stations (i.e., waiting areas) may be provided. At the station 96, services such as replacement or maintenance of parts of the work vehicle 100 or implement 300, or replenishment of materials (pesticides, fertilizers, seedlings, or seeds, etc.) may be provided. The station 96 may be provided for a fee. In that case, the management device 600 may charge the user based on the actual usage of the station 96 by the work vehicle 100. In the example shown in Figure 22, station 96 is located near field 70B, but station 96 may be located at a distance from field 70B. In the example shown in Figure 22, the distances between field 70A, field 70B, storage area 90, and station 96 are relatively close, but this is just one example. The distances between field 70A, field 70B, storage area 90, and station 96 may be long, for example, 1 km to 10 km or more.

[0225] In Figure 22, the routes taken by the work vehicle 100 are illustrated with arrows. Solid arrows show an example route from the time the work vehicle 100 leaves the storage area 90 until it finishes its daily farm work. Dashed arrows show an example route from the time the work vehicle 100 finishes its last farm work of the day until it moves to station 96. In this example, the work vehicle 100 leaves the storage area 90 and sequentially visits several fields 70A where farm work is scheduled for that day, performing the scheduled farm work at each field. At each field, the work vehicle 100 performs farm work while automatically driving in the manner described, for example, with reference to Figure 8. Once farm work is completed at one field, the work vehicle 100 enters the next field and performs farm work in the same manner. In this way, once farm work at the last field 70A4 of the day is completed, the control device 180 of the work vehicle 100 decides whether to return the work vehicle 100 to the storage area 90 or move it to station 96. This decision is made by the ECU 185 in the control unit 180.

[0226] The control device 180 determines whether to move the work vehicle 100 to the storage location 90 or to the station 96, based on the positional relationship between the storage location 90, the field 70A4 where the last agricultural work of the workday was performed, the field 70B1 where the first agricultural work of the next workday will be performed, and the station 96. For example, the control device 180 moves the work vehicle 100 to the station 96 if the second travel distance from field 70A4 to field 70B1 via station 96 is shorter than the first travel distance from field 70A4 to field 70B1 via storage location 90. Conversely, if the second travel distance is longer than the first travel distance, the control device 180 moves the work vehicle 100 to the storage location 90. The control device 180 calculates the first and second travel distances based on the environmental map stored in the storage device 170. For example, the control device 180 calculates the distance of the shortest route from field 70A4, via storage area 90, to field 70B1 where the next agricultural work will be performed, as the first travel distance. Similarly, the control device 180 calculates the distance of the shortest route from field 70A4, via station 96, to field 70B1 where the next agricultural work will be performed, as the second travel distance. The control device 180 compares the first travel distance and the second travel distance, and if the first travel distance is shorter, it returns the work vehicle 100 to storage area 90; if the second travel distance is shorter, it moves the work vehicle 100 to station 96. This operation reduces the time and fuel consumption required for the movement of the work vehicle 100, thereby making the series of agricultural operations more efficient.

[0227] While moving, the work vehicle 100 detects obstacles such as pedestrians or other vehicles using the obstacle sensor 130, LiDAR sensor 140, and camera 120, and drives while controlling steering and speed to avoid obstacles. The work vehicle 100 can also perform actions such as recognizing traffic lights based on images taken by the camera 120, stopping at red lights, and starting at green lights.

[0228] In this embodiment, the control device 180 decides whether or not to proceed to station 96 when agricultural work is completed in field 70A4, but this decision may be made at other times. In this embodiment, the field where agricultural work is performed last on each workday is predetermined. Therefore, for example, the above decision can be made when departing from storage 90, when agricultural work is being performed in any of the fields 70A, or when driving on a road. However, agricultural work may not proceed according to schedule due to sudden changes in weather or other factors. In such cases, the field where agricultural work is performed first on the next workday may change from the original plan. As in the example above, by deciding whether or not to move to station 96 when the last agricultural work is completed on each workday, it is possible to respond flexibly to such unforeseen schedule changes.

[0229] When the control device 180 moves the work vehicle 100 to station 96, it may send a notification to a terminal device 400 used by a user at home 92 or another location. This notification may include information that identifies station 96, such as the name or location of station 96. The notification may be sent directly from the work vehicle 100 to the terminal device 400 or via the management device 600. By sending such a notification, the user can know that the work vehicle 100 will not return to storage location 90 but will remain at station 96.

[0230] Upon reaching station 96, the work vehicle 100 waits at station 96 until the next work day. On the next work day, as shown in Figure 23, the work vehicle 100 departs station 96 and sequentially visits fields 70B1 and 70B2 where agricultural work is scheduled for that day, and performs the agricultural work. Once the last agricultural work of that work day is completed, the control device 180, in the same manner as above, determines whether to move to station 96 or return to storage 90 based on the location of the field where the first agricultural work scheduled for the next work day will be performed. Figure 23 shows an example of a route when the work vehicle 100 returns to storage 90. Such a route may be adopted when the field where the first agricultural work scheduled for the next work day will be performed is closer to storage 90 than to station 96. When the work vehicle 100 is to be returned to storage 90, as in this example, the control device 180 may send a notification to the terminal device 400. Such a notification may include information indicating the time when the work vehicle 100 is scheduled to return to storage 90. This allows the user to know that the work vehicle 100 is returning to the storage location 90. If multiple waiting locations are set, the control device 180 may determine the destination with the shortest travel distance from among the multiple waiting locations and storage location 90, and move the work vehicle 100 to that destination. The same operation is repeated thereafter until the agricultural work for all work days included in the schedule is completed.

[0231] Figure 24 shows an example where multiple stations 96 (96A and 96B) are provided in the environment in which the work vehicle 100 travels. In this example, the control device 180 selects one location from storage area 90, station 96A, and station 96B after agricultural work is completed in field 70B2. In the example in Figure 24, station 96B is located near field 70C where agricultural work scheduled for the next workday will be carried out. In this case, since moving to station 96B minimizes the travel distance, the control device 180 moves the work vehicle 100 to station 96B.

[0232] Next, an example of the operation of the control device 180 will be explained in more detail with reference to Figure 25.

[0233] Figure 25 is a flowchart illustrating an example of a control method performed by the control device 180. In this example, the work vehicle 100 is parked at the storage area 90 until it begins moving for farm work. In this state, the control device 180 awaits an instruction from the management device 600 to begin moving (step S201). The processor 660 of the management device 600 instructs the control device 180 to begin moving as the scheduled start time for the first farm work of the day approaches, according to the schedule stored in the storage device 650.

[0234] When the control device 180 receives an instruction to start moving, it creates a route to the field where the first farm work of the day will be performed (step S202). The control device 180 moves the work vehicle 100 along that route to the field and starts the farm work (step S203). In the field, the control device 180 controls the work vehicle 100 in the manner described with reference to Figure 8, for example, and causes the work vehicle 100 to perform the work. When the farm work is completed (Yes in step S204), the control device 180 refers to the schedule and determines whether there are any unfinished farm work tasks remaining among the farm work tasks scheduled for that day (step S205). If there are unfinished farm work tasks, the control device 180 returns to step S202, creates a route to the next field, and moves the work vehicle to that field. The control device 180 repeats the operations from steps S202 to S205 until the last farm work task of the workday is completed.

[0235] When the last farm work of the workday is completed, the control device 180 refers to the schedule and determines whether there is farm work on the next workday (step S206). If there is farm work on the next workday, the control device 180 calculates the shortest travel distance (first travel distance) when moving to the field where the first farm work will be performed on the next workday via the storage area 90, and the shortest travel distance (second travel distance) when moving to the field via the station 96 (step S207). If there are multiple stations (waiting areas), the travel distance calculated for the station with the shortest travel distance is taken as the second travel distance. The control device 180 compares the first travel distance and the second travel distance (step S208). If the first travel distance is shorter than the second travel distance, the control device 180 creates a route to the storage area 90 and moves the work vehicle 100 to the storage area 90 along the route (step S209). Conversely, if the first travel distance is longer than the second travel distance, the control device 180 creates a route to station 96 and moves the work vehicle 100 along that route to station 96 (step S210). After steps S209 and S210, the process returns to step S201. The control device 180 performs the above operations for the next work day as well. On each work day, the control device 180 performs the above operations until it is determined in step S206 that there is no farm work for the next work day.

[0236] If, in step S206, it is determined that there is no farm work to be done on the next workday, the control device 180 creates a route from the current location of the work vehicle 100 to the storage location 90 and causes the work vehicle 100 to travel along that route. As a result, the control device 180 causes the work vehicle 100 to return to the storage location 90.

[0237] The above operations reduce the distance traveled by the work vehicle 100 for agricultural work performed in multiple fields over multiple working days, thereby reducing travel time and fuel consumption. This allows for more efficient execution of a series of agricultural tasks. According to this embodiment, the control device 180 of the work vehicle 100 automatically performs the above operations without the user having to give instructions to the work vehicle 100. Therefore, the effort required from the user is reduced.

[0238] (Modified version of Embodiment 2) The configuration and operation of Embodiment 2 described above are illustrative, and this disclosure is not limited to the above configuration and operation. Examples of modifications of Embodiment 2 are given below.

[0239] In the above embodiment 2, the control device 180 decides whether to return to the storage location or move to the waiting location after the completion of the last agricultural work on each workday. The control device 180 is not limited to this operation, but may, for example, decide whether to proceed to the next field, return to the storage location, or move to the waiting location each time an agricultural work is completed. For example, consider the case where agricultural work in multiple fields 70A and agricultural work in multiple fields 70B shown in Figure 22 is performed by the work vehicle 100 on the same day. In this case, the control device 180 may decide the destination based on the time difference between the time when work at each field is completed and the scheduled start time of the next agricultural work. For example, each time an agricultural work at a field is completed, the control device 180 may determine whether the above time difference is greater than a threshold and decide the destination based on the result of the determination. If the time difference is less than or equal to the threshold, the control device 180 moves the work vehicle 100 directly to the next field. Conversely, if the time difference is greater than the threshold, the control device 180 may perform the same processing as in steps S207 and S208 shown in Figure 25 to decide whether to move the work vehicle 100 to the storage location or to the waiting location. An appropriate value for the threshold depends on the positional relationship between the field where the agricultural work has been completed, the field where the next agricultural work will be performed, the storage location, and the waiting location. Therefore, the control device 180 may determine the threshold according to these positional relationships.

[0240] The control device 180 may calculate the estimated shortest travel distance from the field where the farming work was completed to the next field each time farming work is completed, and determine the destination based on the calculation result. For example, if the calculated travel distance is less than or equal to a threshold (e.g., 100m, 500m, or 1km), the control device 180 may move the work vehicle 100 directly to the next field. Conversely, if the calculated travel distance is greater than the threshold, the control device 180 may decide whether to move the work vehicle 100 directly to the next field, return it to the storage area, or move it to a waiting area, depending on the time remaining until the scheduled start time of the next farming work.

[0241] The control device 180 may group multiple fields that are relatively close together as a field group, and on each workday, after completing agricultural work in each field group, it may decide whether to move the work vehicle 100 directly to the next field, return to the storage area, or move it to a waiting area. This is because fields belonging to the same field group are located close to each other, so it is often unnecessary to move the work vehicle 100 to the storage area or waiting area between agricultural work in those fields. However, when performing agricultural work in multiple fields belonging to one field group, it may be necessary to, for example, replace implements or replenish materials. In such cases, the control device 180 may move the work vehicle 100 to the storage area or waiting area for implement replacement or material replenishment.

[0242] In the embodiment shown in Figure 25, the control device 180 moves the work vehicle 100 to station 96 when the second travel distance is shorter than the first travel distance. Alternatively, the control device 180 may move the work vehicle 100 to station 96 when a specific agricultural task (for example, the last agricultural task performed on a given workday) and the next agricultural task (for example, the first agricultural task performed on the next workday) are the same, and the second travel distance is shorter than the first travel distance. If the specific agricultural task and the next agricultural task are different, the control device 180 may move the work vehicle 100 to storage 90 regardless of the first and second travel distances. When the specific agricultural task and the next agricultural task are different, for example, the content of the agricultural tasks performed is different, such as tilling and pesticide spraying. In that case, it may be necessary to return to storage 90 for tasks such as replacing implements. When a particular farming task differs from the next farming task, the above action of returning the work vehicle 100 to the storage area 90 allows necessary tasks such as replacing implements to be performed at the storage area 90.

[0243] Alternatively, the control device 180 may move the work vehicle 100 to station 96 if the specific agricultural work and the next agricultural work are the same, and the travel distance from station 96 to the field where the next agricultural work is performed (third travel distance) is shorter than the travel distance from the field where the specific agricultural work was performed to the storage location 90 (fourth travel distance).

[0244] In the above-described embodiment, the control device 180 inside the work vehicle 100 performs all of the determination of the destination of the work vehicle 100, the creation of the route of the work vehicle 100, and the running control. Instead of such a form, a part of the operation of the above-described control device 180 may be executed by the processor 660 of the management device 600. For example, the processor 660 may execute the determination of the destination and the creation of the route. In that case, the control device 180 may be configured to perform the control of the automatic driving of the work vehicle 100 based on the destination information and the route information transmitted from the management device 600. The management device 600 may manage the operations of a plurality of agricultural machines including the work vehicle 100. In that case, the management device 600 may give an operation instruction to each agricultural machine based on the schedule of the agricultural work executed by each agricultural machine.

[0245] The device that performs the automatic driving control in the above embodiments can also be attached later to an agricultural machine that does not have those functions. Such a device can be manufactured and sold independently of the agricultural machine. The computer program used in such a device can also be manufactured and sold independently of the agricultural machine. The computer program can be provided, for example, stored in a non-temporary storage medium readable by a computer. The computer program can also be provided by downloading via a telecommunication line (for example, the Internet).

Industrial Applicability

[0246] The technology of the present disclosure can be applied to a management system for agricultural machines such as, for example, a tractor, a harvester, a rice transplanter, a riding management machine, a vegetable transplanter, a lawn mower, a seeding machine, a fertilizer applicator, or an agricultural robot.

Explanation of Signs

[0247] 50: GNSS satellite, 60: base station, 70: field, 72: work area, 74: headland, 76: road, 80: network, 90: storage location, 92: user's home, 94: stopover location, 96: station (standby location), 100: work vehicle, 101: vehicle body, 102: prime mover (engine), 103: transmission, 104: tires, 105: cabin, 106: steering gear 107: Driver's seat, 108: Coupling device, 110: Positioning device, 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: Steering angle sensor, 156: Rotation sensor, 160: Control system, 170: Recording Memory device, 180: Control device, 181, 182, 183, 184, 185, 186: ECU, 190: Communication device, 200: Operation terminal, 210: Operation switch group, 220: Buzzer, 230: Status detection device, 232: Camera, 240: Drive device, 300: Implement, 340: Drive device, 380: Control device, 390: Communication device, 400: First terminal device, 420: Input device, 430: Display Device, 450: Storage device, 460: Processor, 470: ROM, 480: RAM, 490: Communication device, 500: Second terminal device, 520: Input device, 530: Display device, 550: Storage device, 560: Processor, 570: ROM, 580: RAM, 590: Communication device, 600: Management device, 660: Processor, 650: Storage device, 670: ROM, 680: RAM, 690: Communication device

Claims

1. A control system for agricultural machinery that operates autonomously, A memory device that stores the schedule of agricultural work to be performed by the aforementioned agricultural machinery, A control device that controls the operation of the agricultural machinery according to the aforementioned schedule, Equipped with, The control device moves the agricultural machinery to the waiting location based on the positional relationship between the field where the specific agricultural work included in the schedule was completed, the field where the next agricultural work included in the schedule will be performed, a pre-set storage location for the agricultural machinery, and a waiting location different from the storage location, after the completion of the specific agricultural work included in the schedule. Control system.

2. The control system according to claim 1, wherein the control device moves the agricultural machine to the waiting area when the second travel distance, from the field where the specific agricultural work was performed to the field where the next agricultural work is performed, via the waiting area, is shorter than the first travel distance, from the field where the specific agricultural work was performed to the field where the next agricultural work is performed, via the storage area.

3. The control system according to claim 2, wherein the control device moves the agricultural machine to the storage location when the second travel distance is longer than the first travel distance.

4. The control system according to any one of claims 1 to 3, wherein the control device moves the agricultural machine to the waiting location if the time from the completion of the specific agricultural work to the start of the next agricultural work is longer than a predetermined time.

5. The control system according to any one of claims 1 to 4, wherein the storage device stores a plurality of agricultural operations performed by the agricultural machine over a plurality of working days, the plurality of agricultural operations including the last agricultural operation performed on each working day as the specific agricultural operation, and the first agricultural operation performed on each working day as the next agricultural operation.

6. The control system according to any one of claims 1 to 5, further comprising an input device for inputting to the control device the storage area, which is a place managed by the user of the agricultural machinery, and the waiting area, which is a place used jointly by multiple users.

7. A management device for managing the schedule of agricultural work, An agricultural machine including a control device for controlling automatic driving and a communication device for receiving the schedule from the management device, Equipped with, The control device, after the completion of a specific agricultural task included in the schedule received by the communication device, moves the agricultural machine to the waiting location based on the positional relationship between the field where the specific agricultural task was performed, the field where the next agricultural task included in the schedule will be performed, a pre-set storage location for the agricultural machine, and a waiting location different from the storage location. Agricultural management system.

8. The communication device receives a schedule which includes information indicating the field where the specific agricultural work is performed and information indicating the field where the next agricultural work is performed. The agricultural management system according to claim 7.

9. The agricultural management system according to claim 7 or 8, wherein the control device moves the agricultural machine to the waiting area when the second travel distance, from the field where the specific agricultural work was performed to the field where the next agricultural work is performed, via the waiting area, is shorter than the first travel distance, from the field where the specific agricultural work was performed to the field where the next agricultural work is performed, via the storage area.

10. The agricultural management system according to claim 9, wherein the control device moves the agricultural machine to the storage location when the second travel distance is longer than the first travel distance.

11. The communication device receives a schedule which includes information on the start time of the next agricultural work, The agricultural management system according to any one of claims 7 to 10, wherein the control device moves the agricultural machine to the waiting location when the time difference between the end time of the completion of the specific agricultural work and the start time of the next agricultural work is greater than or equal to a predetermined time.

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