Agricultural machinery

Abstract

To easily execute charging of energy without moving an agricultural machine to a station or the like, where charging of energy is executed.SOLUTION: An agricultural machine includes an engine, a plurality of package bodies filled with energy for driving at least one of a work device and the engine, a vehicle body on which at least a plurality of package bodies are mounted, and a control device for controlling travelling of the vehicle body. When there exists at least one package body whose energy is a threshold or more of the plurality of package bodies, the control device executes control of travelling to move the vehicle body to another vehicle body.SELECTED DRAWING: Figure 36

Description

Technical Field

[0001] The present invention relates to, for example, agricultural machinery.

Background Art

[0002] Conventionally, as an agricultural machine equipped with a battery, the agricultural machine of Patent Document 1 is known. In the agricultural machine of Patent Document 1, it can travel by an electric motor driven by the power of the battery.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] An agricultural machine as shown in Patent Document 1 has attracted attention as an agricultural machine with excellent environmental performance because it does not emit exhaust gas compared to an agricultural machine that travels by a diesel engine. However, since the energy for traveling of the agricultural machine of Patent Document 1 is a battery, there is a problem that it is difficult to travel for a long time. When the agricultural machine performs agricultural work for a long time, energy must be filled in the battery during the agricultural work. However, in order to fill the energy, there is a problem that the agricultural machine must be moved to a predetermined place such as a charging station, such as a place away from the field.

[0005] Therefore, an object of the present invention is to provide an agricultural machine that can easily fill energy without moving to a station for filling energy or the like.

Means for Solving the Problems

[0006] The technical means of the present invention for solving this technical problem is characterized by the following: The agricultural machine comprises a prime mover, a plurality of packages filled with energy to drive at least one of the working device and the prime mover, a vehicle body on which at least the plurality of packages are mounted, and a control device for controlling the movement of the vehicle body, wherein if at least one of the plurality of packages has an energy level equal to or greater than a threshold, the control device controls the movement of the vehicle body toward the other vehicle bodies.

[0007] The agricultural machine comprises a prime mover, a plurality of packages filled with energy to drive at least one of the working device and the prime mover, a vehicle body on which at least the plurality of packages are mounted, and a communication device, wherein the communication device transmits a signal indicating that if there is at least one package whose energy is above a threshold, the package can be passed to another vehicle body.

[0008] The agricultural machine is equipped with a communication device that transmits a signal indicating that if there is at least one package whose energy is above a threshold, the package can be passed to another vehicle body.

[0009] When the communication device receives a request from the other vehicle to bring the package, the control device controls the vehicle to move toward the other vehicle.

[0010] The control device extracts from the plurality of packages a filled package whose energy is above a threshold, and if there are multiple extracted filled packages, it selects a filled package from the plurality that can be transferred to another vehicle.

[0011] The agricultural machine is equipped with a control device that extracts from the plurality of packages that have an energy level above a threshold, and if there are multiple extracted filled packages, it selects from the plurality of filled packages that can be transferred to another vehicle.

[0012] The control device stops the vehicle when the distance between the vehicle and the other vehicle falls below a threshold. [Effects of the Invention]

[0013] According to the present invention, energy can be easily refueled without having to move to an energy refueling station or the like. [Brief explanation of the drawing]

[0014] [Figure 1] This is an overall diagram showing the energy support system for agricultural machinery in the first embodiment. [Figure 2] This is a functional block diagram of the electronic equipment for agricultural machinery. [Figure 3] This is a perspective view of a lifting device used in agricultural machinery. [Figure 4] This is a perspective view of the battery mounting section of agricultural machinery, and a diagram illustrating the operation when replacing the battery. [Figure 5] This figure shows an example of a screen displayed on an external device. [Figure 6A] This diagram shows how to obtain the field outline H10 (field map MP2) from the travel trajectory K1. [Figure 6B] This diagram shows how to determine the field outline H10 (field map MP2) from the inflection point of the travel trajectory K1. [Figure 6C] This diagram shows how to determine the contour H10 (field map MP2) from switch operations during driving. [Figure 7A] This is a diagram showing an example of screen M11. [Figure 7B] This is a diagram showing an example of screen M12. [Figure 8A]It is a diagram in which a unit work area A3 is created in the work area A2. [Figure 8B] It is a diagram showing a unit work area A3 different from that in Fig. 8A. [Figure 8C] It is an explanatory diagram for explaining the creation of the planned travel route L1. [Figure 9] It is a diagram showing an example of the screen M1. [Figure 10] It is a diagram showing the state of moving the tractor from the shed to the field and returning from the field to the shed. [Figure 11A] It is a diagram showing the state of delivering the first package body to the field H1. [Figure 11B] It is a diagram showing the state of collecting the second package body 6B. [Figure 12] It is a diagram showing an example of a work plan. [Figure 13] It is a diagram showing the relationship between agricultural work and the energy consumption per unit area. [Figure 14] It is a diagram showing the model number of the package body for each machine and the energy information. [Figure 15A] It is a diagram showing the operation from calculating the number of package bodies from the work plan. [Figure 15B] It is a diagram showing the operation of delivering the first package body in the delivery plan. [Figure 16] It is a diagram showing an example of a delivery plan. [Figure 17] It is a diagram showing the operation of collecting the second package body in the collection plan. [Figure 18] It is a diagram showing an example of a collection plan. [Figure 19] It is a diagram showing an example of a delivery history. [Figure 20] It is a diagram showing the relationship between the remaining amount of energy, the filling amount, the number of filling times, and the coefficient. [Figure 21] It is a diagram showing an example of the degree of deterioration of the package body. [Figure 22] It is a diagram showing the relationship between the model number of the package body and the delivery fee. [Figure 23] It is a diagram showing an example of the screen M15. [Figure 24] This figure shows an example of the screen displayed when setting up a relay location. [Figure 25] This diagram shows the relationship between the edges representing the outline of the field and the relay points. [Figure 26A] This screen displays a message indicating that the first package will be placed at a transit point during delivery. [Figure 26B] This diagram shows a message indicating that the second package, which was placed at the relay point during the retrieval process, should be retrieved. [Figure 27A] This is a diagram showing a field map on screen M31 of an agricultural terminal. [Figure 27B] This is a diagram showing a field map including the supply location PH on the screen M31 of the agricultural terminal. [Figure 28A] This diagram shows a field map with relay points and supply locations (PH) marked, along with a message regarding the delivery of packaged goods. [Figure 28B] This diagram shows a field map with relay points and supply locations (PH) marked, along with a message about collecting the packaged items. [Figure 29] This diagram shows a tractor moving towards a resupply point. [Figure 30] This diagram shows the delivery of the first package and materials to field H1. [Figure 31] This diagram shows the operation of the transport vehicle T, which is loaded with the first package and materials. [Figure 32] This diagram shows the transport vehicle moving from relay point A5 towards the tractor. [Figure 33] This diagram shows the delivery of the first package and empty container to field H1. [Figure 34] This diagram shows the operation of transport vehicle T, which is equipped with an empty container for the first package and materials. [Figure 35] This is an overall diagram showing the energy support system for agricultural machinery in the second embodiment. [Figure 36] This is a functional block diagram of the electronic equipment for agricultural machinery. [Figure 37] This shows the first and second tractors working in field H1. [Figure 38] This shows the operation when the second tractor transfers a filled package to the first tractor. [Figure 39] This is a diagram showing an example of a filled package. [Figure 40] This is a diagram showing an example of how to display a charging package. [Figure 41] This diagram shows a scenario where a second tractor transfers a filled package to a first tractor in a field or on a road (farm road). [Figure 42] This is an overall view of the tractor. [Modes for carrying out the invention]

[0015] [First Embodiment] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1 shows an energy support system for agricultural machinery. This energy support system for agricultural machinery includes a management device 100. The management device 100 is a stationary computer such as a server, a portable computer such as a smartphone, tablet, or laptop computer. The agricultural machinery 101 is a tractor, combine harvester, rice transplanter, implement, etc. In this embodiment, we will proceed with the explanation assuming that the agricultural machinery 101 is a tractor and the management device 100 is a server.

[0016] <Agricultural machinery> Figure 42 is a side view showing a tractor 101a, one of the agricultural machines 101, and an implement 101b attached to the tractor 101a. Hereafter, the front of the driver seated in the driver's seat 10 of the tractor 101a will be referred to as the front, the rear of the driver as the rear, the left side of the driver as the left, and the right side of the driver as the right. The horizontal direction, which is perpendicular to the longitudinal direction of the tractor 101a, will be referred to as the vehicle width direction.

[0017] As shown in Figure 42, the tractor 101a (agricultural machine 101a) comprises a body 3, a prime mover 4, a transmission 5, and a package body 6. The body 3 has a running gear 7 and is capable of movement. The running gear 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of the tire type or crawler type. Similarly, the rear wheels 7R may also be of the tire type or crawler type. The prime mover 4 is an electric motor. The prime mover 4 is driven by electrical energy (energy source) supplied from the package body 6. The transmission 5 can switch the propulsion force of the running gear 7 by changing the gear, and can also switch the running gear 7 between forward and reverse. A driver's seat 10 is provided at the rear of the body 3. The driver's seat 10 is installed inside a cabin 9 provided in the body 3. A steering wheel 30 is provided in front of the driver's seat 10.

[0018] The package 6 is an energy-filled package, such as a battery filled with electrical energy, a hydrogen tank filled with hydrogen, or an LPG (Liquidated Petroleum Gas) tank. When a hydrogen tank is installed, for example, a fuel cell that generates electricity using hydrogen and oxygen from the air is installed on the tractor 101a, and hydrogen is supplied from the tank to the fuel cell, thereby supplying the electricity generated by the fuel cell to the prime mover 4 and driving the prime mover 4. When an LPG tank is installed, for example, a generator that generates electricity using a gas engine is installed on the tractor 101a, and gas is supplied from the tank to the gas engine, thereby supplying electricity to the prime mover 4 and driving the prime mover 4. In this embodiment, for the sake of explanation, the package 6 is assumed to be a battery, and the prime mover 4 is assumed to be an electric motor driven by the battery's power.

[0019] The package body 6 is detachable from the vehicle body 3. For example, the engine 4 and the package body 6 are located at the front of the vehicle body 3, but their placement is not limited.

[0020] Furthermore, a connecting section consisting of a three-point linkage mechanism or the like is provided at the rear of the vehicle body 3. The connecting section is a lifting device 8 that allows the work implement 101b to be attached to and detached, and also allows the work implement 101b to travel. By connecting the implement 101b to the lifting device 8, the implement 101b can be towed by the vehicle body 3. The connecting section may also be a towing device that does not lift or lower the implement 101b. The implement 101b includes tilling devices for tilling, furrowing devices for making ridges, planting devices for planting crops, fertilizer spreaders for spreading fertilizer, pesticide spreaders for spreading pesticides, harvesting devices for harvesting, mowing devices for cutting hay, etc., spreading devices for spreading hay, etc., hay collecting devices for collecting hay, etc., and shaping devices for shaping hay, etc.

[0021] As shown in Figure 2, the transmission 5 receives power from the prime mover 4 and transmits power to the drive system and the work system. The transmission 5 comprises a main shaft (drive shaft) 5a, a main transmission unit 5b, a sub-transmission unit 5c, a shuttle unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. The drive shaft 5a is rotatably supported in the housing case (transmission case) of the transmission 5, and power from the crankshaft of the prime mover 4 is transmitted to the drive shaft 5a. The main transmission unit 5b has multiple gears and a shifter that changes the connection of these gears. The main transmission unit 5b changes the rotation input from the drive shaft 5a and outputs it (changes speed) by appropriately changing the connection (meshing) of the multiple gears with the shifter.

[0022] The auxiliary transmission unit 5c, like the main transmission unit 5b, has multiple gears and a shifter that changes the connection of these gears. The auxiliary transmission unit 5c changes the rotation input from the main transmission unit 5b and outputs it (changes speed) by appropriately changing the connection (meshing) of the multiple gears with the shifter. The shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13. Power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via gears, etc. The forward / reverse switching unit 13 is composed of, for example, a hydraulic clutch, and the rotation direction of the shuttle shaft 12, i.e., the forward and reverse of the tractor 101a, is switched by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports the rear axle 21R to which the rear wheels 7R are attached.

[0023] The PTO power transmission unit 5e includes a PTO drive shaft 14 and a PTO clutch 15. The PTO drive shaft 14 is rotatably supported and capable of receiving power from the drive shaft 5a. The PTO drive shaft 14 is connected to the PTO shaft 16 via gears or the like. The PTO clutch 15 is, for example, a hydraulic clutch, and by engaging and disengaging the hydraulic clutch, it switches between a state in which power from the drive shaft 5a is transmitted to the PTO drive shaft 14 and a state in which power from the drive shaft 5a is not transmitted to the PTO drive shaft 14.

[0024] The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 are capable of receiving power from the drive shaft 5a, and for example, the power of the shuttle 12 is transmitted via the gears and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front differential device 20F, and the front differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

[0025] The first clutch 17 and the second clutch 18 are composed of hydraulic clutches, etc. An oil passage is connected to the first clutch 17, and this oil passage is connected to a first operating valve 25 to which hydraulic fluid discharged from a hydraulic pump is supplied. The first clutch 17 switches between an engaged state and an engaged state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and this oil passage is connected to a second operating valve 26. The second clutch 18 switches between an engaged state and an engaged state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves, and they switch between an engaged state and an engaged state by energizing or demagnetizing the solenoid of the solenoid valve.

[0026] When the first clutch 17 is disengaged and the second clutch 18 is engaged, power from the shuttle shaft 12 is transmitted to the front wheel 7F through the second clutch 18. This results in four-wheel drive (4WD) with the front wheel 7F and rear wheel 7R driven by power, and the rotational speeds of the front wheel 7F and rear wheel 7R are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is engaged and the second clutch 18 is disengaged, it becomes four-wheel drive, and the rotational speed of the front wheel 7F is faster than the rotational speed of the rear wheel 7R (4WD increased speed state). Furthermore, when both the first clutch 17 and the second clutch 18 are disengaged, power from the shuttle shaft 12 is not transmitted to the front wheel 7F, resulting in two-wheel drive (2WD) with the rear wheel 7R driven by power.

[0027] As shown in Figures 2 and 3, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear of the case (transmission case) housing the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (rises and falls) by the drive of the lift cylinder 8e. The lift cylinder 8e is made up of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve 27. The lift cylinder 8e switches between a connected state and a disconnected state depending on the opening of the control valve 27. The control valve 27 is, for example, a two-position switching valve with a solenoid valve, and switches between a connected state and a disconnected state by energizing or demagnetizing the solenoid of the solenoid valve. When the control valve 27 is set to the connected state, the lift cylinder 8e is driven (extends and retracts) by the hydraulic pump, and when it is set to the disconnected state, the drive of the lift cylinder 8e is restricted (locked).

[0028] The front end of the lower link 8b is supported at the rear lower part of the transmission 5 so as to be able to swing upward or downward. The front end of the top link 8c is supported at the rear of the transmission 5, above the lower link 8b, so as to be able to swing upward or downward. The lift rod 8d connects the lift arm 8a and the lower link 8b. The implement 101b is connected to the rear of the lower link 8b and the rear of the top link 8c. When the lift cylinder 8e is driven (extends and retracts), the lift arm 8a moves up and down, and the lower link 8b, which is connected to the lift arm 8a via the lift rod 8d, also moves up and down. As a result, the implement 101b swings (moves up and down) up or down, with the front of the lower link 8b as the pivot point. When the drive of the lift cylinder 8e is restricted, the up and down movement of the implement 101b is also locked.

[0029] As shown in Figure 4, the package body 6 is equipped with a battery pack and electrical units (relays, fuses, etc.) inside a roughly rectangular parallelepiped casing. The battery pack is composed of multiple battery modules. Each battery module is composed of multiple cells. The package body 6 thus configured is a battery capable of charging and discharging electrical energy, and more specifically, it is a lithium-ion battery. The package body 6 is held from the outside of the casing by a holder 6a1, and a gripping portion 6b1 is provided at the front end of the holder 6a1. The mounting portion 19 of the vehicle body 3 is equipped with a housing portion 19a that can accommodate the entire package body 6, an opening 19b provided on the front side of the housing portion 19a in the vehicle width direction, and a flap-type lid portion 19c that can close the opening 19b. Normally, the package body 6 is housed in the housing portion 19a, the opening 19b is closed by the lid portion 19c, and power can be supplied from the package body 6 to the tractor 101a.

[0030] When replacing the package body 6, the lid 19c is opened to expose the opening 19b. While gripping the gripping portion 6b1 of the package body 6 being installed, the holder 6a1 is pulled towards the front, sliding the package body 6 towards the front in the vehicle width direction and removing it from the storage section 19a. The rear end of the new replacement package body 6 is inserted into the now empty storage section 19a through the opening 19b. Next, while gripping the gripping portion 6b1 of the new replacement package body 6, the holder 6a1 is pushed towards the rear, sliding the new replacement package body 6 towards the rear in the vehicle width direction. After the entire new replacement package body 6 is housed in the storage section 19a, the lid 19c is closed to close the opening 19b. The package body 6 is replaced in the manner described above. The configuration of the package body 6 and the mounting portion 19 is an example, and any configuration may be adopted as long as the package body 6 can be attached to and detached from the mounting portion 19.

[0031] As shown in Figure 2, the tractor 101a is equipped with a steering system 29. The steering system 29 includes a steering wheel 30, a rotating shaft (steering shaft) 31 that rotates with the rotation of the steering wheel 30, and an auxiliary mechanism (power steering mechanism) 32 that assists in steering the steering wheel 30. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic fluid discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 that is operated by the control valve 34. The control valve 34 is a solenoid valve that operates based on a control signal. The control valve 34 is a three-position changeable valve that can be switched by, for example, the movement of a spool. The control valve 34 can also be switched by steering the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheel 7F.

[0032] Therefore, by operating the handle 30, the switching position and opening degree of the control valve 34 are switched according to the handle 30, and the steering cylinder 35 extends or retracts to the left or right according to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheel 7F. Note that the steering device 29 described above is just one example and is not limited to the above configuration.

[0033] As shown in Figure 2, the tractor 101a is equipped with a positioning device 40A. The positioning device 40A can detect its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. That is, the positioning device 40A receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite and detects its position (e.g., latitude and longitude) based on the satellite signals. The positioning device 40A has a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device that has an antenna and the like and receives satellite signals transmitted from the positioning satellite, and is mounted on the vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is mounted on a cabin 9 provided on the vehicle body 3. Note that the mounting location of the receiving device 41 is not limited to this embodiment.

[0034] The inertial measurement device 42 includes an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, and the like. The inertial measurement device 42 is installed below the vehicle body 3, for example, the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc., of the vehicle body 3.

[0035] As shown in Figure 2, the tractor 101a is equipped with a communication device 45A. The communication device 45A is connected to the positioning device 40A, the control device 60, operating members (levers, switches, dials, etc.), and sensors via the in-vehicle communication network N1, and receives electrical signals. The communication device 45A can communicate with an external network (external) different from the in-vehicle communication network N1. The communication device 45A can perform wireless communication using, for example, the IEEE 802.11 series communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth® Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication device 45A can also perform wireless communication using, for example, a mobile phone network or a data communication network. The communication device 45A transmits the vehicle position (position of the tractor 101a) detected by the positioning device 40A to the management device 100.

[0036] As shown in Figure 2, the tractor 101a is equipped with a control device 60. The control device 60 includes a processing unit (CPU, etc.) and a memory unit, and performs predetermined control based on a program stored in the memory unit. More specifically, the control device 60 controls the driving and working systems of the tractor 101a based on operation signals when operating components (levers, switches, dials, etc.) installed around the driver's seat 10 are operated, and detection signals from various sensors mounted on the vehicle body 3.

[0037] When the shuttle lever 43a, which switches the vehicle body 3 forward or backward, is operated to the forward position, the control device 60 switches the forward / reverse switching unit 13 to the forward position, thereby moving the vehicle body 3 forward. Also, when the shuttle lever 43a is operated to the reverse position, the control device 60 switches the forward / reverse switching unit 13 to the reverse position, thereby moving the vehicle body 3 backward.

[0038] When the ignition switch 43b is operated to ON, the control device 60 starts the prime mover 4 after a predetermined process, and when the ignition switch 43b is operated to OFF, it stops the operation of the prime mover 4.

[0039] When the prime mover 4 is in operation, the control device 60 switches the position of the PTO clutch 15 to either the neutral position, the ON position, or the OFF position, thereby switching the drive of the PTO shaft 16 on and off. When the PTO shift lever 43d is operated, the control device 60 changes the rotational speed of the PTO shaft 16 (referred to as the PTO rotational speed) by switching the PTO shift gear built into the transmission 5.

[0040] When the gear shift switch 43e is switched to automatic shifting, the control device 60 automatically switches between the main transmission unit 5b and the sub-transmission unit 5c according to the state of the tractor 101a, and automatically changes the gear position (gear level) of the transmission 5 to a predetermined gear position (gear level). When the gear shift switch 43e is switched to manual shifting, the control device 60 automatically switches between the main transmission unit 5b and the sub-transmission unit 5c according to the gear position (gear level) set by the gear lever 43f, and changes the gear position of the transmission 5.

[0041] When the accelerator lever 43g is operated, the control device 60 changes the rotational speed of the prime mover 4 (referred to as the prime mover rotational speed) according to the amount the accelerator lever 43g is operated, thereby changing the vehicle speed (vehicle speed) of the vehicle body 3.

[0042] When the hydraulic lever 43h is operated in the upward direction (upward side) while the prime mover 4 is running, the control device 60 controls the control valve 27 to extend the lift cylinder 8e and raise the rear end (end on the implement 101b side) of the lift arm 8a. When the hydraulic lever 43h is operated in the downward direction (downward side) while the prime mover 4 is running, the control device 60 controls the control valve 27 to retract the lift cylinder 8e and lower the rear end (end on the implement 101b side) of the lift arm 8a.

[0043] The control device 60 is set to automatic driving mode when the driving switch 43i is operated to ON, and to manual driving mode when the driving switch 43i is operated to OFF. When set to automatic driving mode, the control device 60 performs automatic driving of the tractor 101a. Under automatic driving conditions, the control device 60 automatically changes the rotation angle of the steering shaft (rotation shaft) 31 based on the deviation between the detected vehicle position and the set planned driving route. The control device 60 also automatically changes the gear of the transmission 5, the rotation speed of the prime mover 4, etc., so that the current vehicle speed matches the vehicle speed corresponding to the planned driving route. As a result, the vehicle body 3 is able to drive automatically along the planned driving route.

[0044] The control device 60 acquires the remaining charge of the installed package 6 based on the potential detected by the measurement sensor 43j of the package 6, the rotational speed of the prime mover 4, the vehicle speed of the vehicle body 3, etc. Based on the acquired remaining charge of the package 6, if the control device 60 determines that the installed package 6 needs to be replaced, it controls the communication device 45A to send the battery monitoring release signal to the management device 100. Also, if the control device 60 determines, based on the potential detected by the measurement sensor 43j of the package 6, that the installed package 6 has been replaced with a replacement package 6, it controls the communication device 45A to send the battery monitoring signal to the management device 100. The specific details of the transmission of the battery monitoring signal and the battery monitoring release signal based on the measurement sensor 43j will be described later.

[0045] As shown in Figure 2, the tractor 101a is equipped with a display device 50. The display device 50 consists of a CPU, electrical and electronic circuits, a panel (liquid crystal panel, touch panel, or other panel), etc.

[0046] The display device 50 registers the outline of a predetermined field, for example, a position corresponding to the outline of a predetermined field. As shown in Figure 5, when a predetermined operation is performed on the display device 50, screen M10 is displayed on the panel of the display device 50.

[0047] Screen M10 displays map MP1 including the field, the vehicle position VP1 of tractor 1, and field identification information such as the field name and field management number. Map MP1 is associated with location information such as latitude and longitude in addition to image data showing the field. When tractor 1 enters the field and circles around it, screen M10 displays the current vehicle position VP1 detected by the positioning device 40A when tractor 1 circled the field. When tractor 1 finishes circling the field and the registration button 55 displayed on screen M10 is selected, as shown in Figure 6A, the display device 50 uses the travel trajectory K1 obtained from multiple vehicle positions when tractor 1 circled as the field outline (outline) H10, and registers the field map MP2 represented by the outline H10 along with the field identification information.

[0048] As shown in Figure 6B, the display device 50 may calculate inflection points from the driving trajectory indicated by the vehicle position VP1 and register the contour K2 connecting the inflection points as the field contour H10 (field map MP2). Alternatively, as shown in Figure 6C, when the tractor 1 is making a circuit, the driver or the like may specify the ends of the field using a switch or the like provided on the tractor 1 and register the contour K3 connecting the specified ends as the contour H10 (field map MP2). The field registration method described above is just an example and is not limited to this. The field contour, i.e., the field map MP2, may be data indicated by position (latitude, longitude), data indicated by a coordinate system (X axis, Y axis), or data indicated by other representations.

[0049] The display device 50 stores a field map MP2 that shows the outline (outline). That is, the display device 50 stores the field map MP2 and data that shows the outline of the field (data to represent a predetermined field).

[0050] The display device 50 sets the work area A2. As shown in Figure 7A, when the operator (driver) performs a predetermined operation on the display device, the display device 50 displays screen M11. Screen M11 has a field input unit 80 and a field display unit 81. The field input unit 80 allows input of field identification information such as the field name and field management number. The field display unit 81 displays a field map MP2 that shows a predetermined field corresponding to the field identification information entered into the field input unit 80.

[0051] On screen M11, after inputting the turning width W1 into the turning width input unit 82 and selecting the turning setting button 83, the display device 50 displays the work area A2, excluding the turning area A1, on the field map MP2 displayed on the field display unit 81. For example, the display device 50 sets the area enclosed by the contour H11, which is formed by offsetting the contour H10 of the field map MP2 inward by the turning width W1, as the work area A2. Alternatively, on screen M11, the work area A2 may be set on the field map MP2 by specifying the position of the contour of the work area A2 on the field map MP2 displayed on the field display unit 81 using a pointer or the like.

[0052] The display device 50 stores data for the field map MP2 in which work area A2 is set, and data (field map) indicating the location of work area A2. The display device 50 also transmits the field map to the management device 100 via the communication device 45A. When the management device 100 receives the field map, it stores the received field map.

[0053] The display device 50 can create a travel route (planned travel route) L1 of the vehicle 3 on the field map MP2. As shown in Figure 7B, when the operator (driver) performs a predetermined operation on the display device, the display device 50 displays screen M12. On screen M12, it is possible to set the planned travel route L1 in at least the work area A2 in the field. Screen M12 includes a route display unit 85 that displays the planned travel route L1 and a width input unit 86. The working width W2 of the work device 2 is the width (work execution width) in which the work device 2 performs work on the ground such as a field, and in the case of a work device 2 that spreads materials on the field, it is the spreading width for supplying materials. For example, if the work device 2 is a fertilizer application device, the fertilization width is the work width W2; if it is a pesticide application device, the pesticide application width is the work width W2; if it is a seedling transplanting device, the planting width that allows seedlings to be planted in the field in one operation is the work width W2; and if it is a seeding device, the seeding width is the work width W2. Note that "ground work" refers to agricultural work performed on the field and the crops planted in the field, such as planting seedlings, watering, pesticide application, fertilizer application, seed sowing, compaction, covering with soil, ridge formation, tilling, furrowing, etc.

[0054] When the display device 50 acquires the working width W2, as shown in Figure 8A, it divides the work area A2 vertically or horizontally by the working width W2 to create multiple unit work sections A3 within the work area A2 where work is performed by the work device 2. That is, the display device 50 creates multiple unit work sections A3 within the work area A2 with the same width as the working width W2. Alternatively, as shown in Figure 8B, the display device 50 may create multiple unit work sections A3 within the work area A2 with a width W4 obtained by subtracting the overlap width W3 from the working width W2. The overlap width W3 can be entered on screen M12. In other words, when the vehicle body 3 to which the work device 2 is attached is driven, the display device 50 sets the smallest unit area in which work is performed on the field by the work device 2 as the unit work section A3.

[0055] As shown in Figure 8C, the display device 50 creates a straight section (straight route) L1a for each unit work section A3 of the field map MP2, on which the vehicle 3 travels in a straight line. That is, for example, the display device 50 creates a straight route L1a in the center of the width direction of the unit work section A3, connecting the two ends in the longitudinal direction of the unit work section A3. The display device 50 also creates a turning section (turning route) L1b in the turning area A1 on which the vehicle 3 turns.

[0056] Furthermore, the display device 50 can associate the planned route L1 with the vehicle speed (movement speed) of the tractor 1 (vehicle body 3). For example, suppose a vehicle speed input unit is provided on screen M12 for inputting the vehicle speed, and the vehicle speed is input to the vehicle speed input unit. The display device 50 associates the straight route L1a with the vehicle speed input unit. The display device 50 stores the planned route L1 (straight route L1a and turning route L1b).

[0057] <Contents of farm work (work plan)> As shown in Figure 1, the energy support system for agricultural machinery includes a management device 100. The management device 100 can be connected to a communication device 45A or an external terminal 120. The external terminal 120 is a device such as a portable computer (notebook computer), a fixed computer (personal computer), a PDA, a smartphone, or a tablet. When the management device 100 receives a predetermined command from the external terminal 120, it performs a predetermined operation. For the sake of explanation, an external terminal 120 owned or operated by an administrator who manages agriculture will be referred to as administrator terminal 120A, and an external terminal 120 owned or operated by a worker performing agricultural work will be referred to as worker terminal 120B.

[0058] The management device 100 comprises a work creation unit 110 and a work storage unit 111. The work creation unit 110 consists of electronic and electrical circuits provided in the management device 100, programs stored in the CPU or other processing unit of the management device 100, and the like. The work storage unit 111 consists of non-volatile memory and the like.

[0059] The work creation unit 110 creates the details of the agricultural work (work plan), including at least the work, the scheduled date of implementation, and the field. When the administrator terminal 120A connects to the management device 100 and issues a predetermined command to the management device 100, the work creation unit 110 displays screen M1 on the administrator terminal 120A, as shown in Figure 9. Screen M1 includes a work setting unit 131, a date setting unit 132, a field setting unit 133, and a time setting unit 134. The work setting unit 131 is the part that sets the work, and a predetermined work can be set by selecting a predetermined work from among the pre-registered work. Work refers to work performed in order to cultivate crops, such as preparing the soil, building levees, tilling, sowing seeds, transplanting rice, plowing, making furrows, weeding, top dressing, and harvesting.

[0060] The date setting unit 132 is the part that sets the scheduled date for carrying out the work set in the work setting unit 131. The scheduled date can be set by inputting the year, month, day, etc. The field setting unit 133 is the part that sets the field where the work will be carried out. For example, multiple fields are displayed on a pre-registered field map, and a predetermined field selected from among the multiple fields is set as the field where the work will be carried out. The time setting unit 134 is the part that sets the time period during which the work will be carried out. The time period can be set by inputting the time.

[0061] Screen M1 may include a worker setting unit 135 for setting the worker to perform the work, a machine setting unit 136 for setting the machine to perform the work, a spraying material setting unit 137 for setting the name of the spraying material if the work involves spraying a spraying material, and a spraying amount setting unit 138 for setting the amount of spraying material to be sprayed. Machine information such as the type and model number of the agricultural machine can be entered into the machine setting unit 136.

[0062] When the registration button 139 shown on screen M1 is selected, the work creation unit 110 creates the content of the agricultural work (work plan) using the information (content) set in the work setting unit 131, date setting unit 132, field setting unit 133, time setting unit 134, worker setting unit 135, machine setting unit 136, spray material setting unit 137, and spray amount setting unit 138. The work storage unit 111 stores the work plan (work, scheduled date, field, time slot, worker, machine, name of spray material, spray amount) created by the work creation unit 110. The work plan in the above embodiment is just an example and is not limited to this. For example, the work is not limited to rice cultivation work, but may also include field cultivation work, or other types of work. In this way, the content of the agricultural work (work plan) created by the work creation unit 110 of the management device 100 can be displayed on the administrator terminal 120A and the worker terminal 120B for confirmation by the administrator, worker, etc.

[0063] <About farm work> When performing agricultural work, workers refer to the work plan displayed on the worker terminal 120B. As shown in Figure 10, workers manually move the tractor 101a from a storage location H2, such as a barn, to the field H1 (for example, field A) indicated in the work plan. When the tractor 101a arrives at field H1 (field A), agricultural work is performed by driving the tractor 101a within field H1 (field A). When agricultural work is completed at field H1 (field A), the worker moves the tractor 101a to a different field H1 (for example, field B) from the field H1 (field A) where the work was completed, and after arriving at field H1 (field B), agricultural work is performed by driving the tractor 101a within field H1 (field B). In this way, when performing agricultural work, the tractor 101a can be moved sequentially through the fields H1 (field A, field B...field F) according to the work plan, thereby enabling the tractor 101a to perform agricultural work in each field H1. When the agricultural work in field H1, which is indicated in the work plan for a predetermined period (for example, one day), is completed, the worker moves the tractor 101a to the storage area H2 and parks it there. In the embodiment described above, the tractor 101a is shown being moved from the storage area H2 to field H1, between fields H1, and back to the storage area H2 by manual operation, but the movement of the tractor 101a is not limited to automatic operation. Furthermore, a combination of automatic and manual operation may be used, such as automatic operation within field H1 and manual operation in field H1. In addition, the automatic driving of the tractor 101a is performed by drawing the route (planned route) that the tractor 101a will travel during automatic driving on a field map that shows latitude, longitude, etc., similar to the planned driving route L1 within the field, and the tractor 101a will travel along the drawn route (planned route) under the control of the control device 60. In the above-described automatic driving, the example of moving along the planned route was used, but the direction of automatic driving is not limited to this.

[0064] <Calculation of energy consumption / Calculation of the number of battery packs> For example, the management device 100 calculates the energy consumption of tractor 101a if tractor 101a were to perform agricultural work in field H1 before tractor 101a performs agricultural work. The management device 100 refers to the work plan and calculates the energy consumption of tractor 101a based on the content of the agricultural work shown in the work plan.

[0065] Figure 12 shows an example of a work plan. As shown in Figure 12, the control device 100 refers to, for example, the work plan for April 8th. The work plan shows multiple fields H1 (field A, field B, field C, and field F). The control device 100 calculates the energy consumption of the tractor 101a for each of the multiple fields H1 (field A, field B, field C, and field F) based on the content of the agricultural work for each field. The management device 100 extracts the agricultural work (work content) for each of the multiple fields H1 (field A, field B, field C, and field F), and as shown in Figure 13, calculates the energy consumed by the agricultural work in field H1 (first energy consumption) from the extracted agricultural work, the energy consumption per unit area for the agricultural work, and the field area pre-registered in the management device 100. As shown in Figure 12, for example, in the work plan for April 8, the work content is tilling, and the area of ​​field A is 60a. As shown in Figure 13, the energy consumption per unit area is 1kWh, so the energy consumption in field A is 60kWh.

[0066] Furthermore, the management device 100 calculates the distance (inter-field travel distance) from the storage location H2 where the tractor 101a is stored, through each field H1 (field A, field B, field C, field F), to its return to the storage location H2, and calculates the energy consumed by the tractor 101a during its movement (second energy consumption). The total energy consumption, obtained by adding the first energy consumption and the second energy consumption, is considered the energy consumption required for agricultural work.

[0067] In the above-described embodiment, energy consumption is calculated based on agricultural work and energy consumption per unit area. However, in addition to this, the management device 100 may also refer to the machine information (model and type number of tractor 101a) shown in the work plan and calculate energy consumption by multiplying it by a coefficient determined according to the model and type number.

[0068] Next, after determining the energy consumption required for the farm work, the management device 100 calculates the number of packages 6 needed to meet the energy consumption. As shown in Figure 14, the management device 100 refers to the machine information shown in the work plan, identifies the packages 6 attached to the tractor 101a based on the referenced machine information, and extracts the maximum energy amount (maximum energy quantity) of the identified packages 6.

[0069] As shown in Figure 14, the control device 100 refers to a database of machine information and identification information such as model numbers that identify the package body 6, and identifies the package body 6 attached to the tractor 101a. As shown in Figure 12, for example, in the work plan for April 8, since the machine used for farm work in each of the multiple fields H1 (field A, field B, field C, field F) is "machine A", the control device 100 identifies that the package body 6 attached to "machine A" is "model number A", as shown in Figure 14. The control device 100 calculates the number of package bodies 6 by dividing the maximum energy amount of "model number A", which is the package body 6 attached to "machine A", by the total energy consumption (energy consumption obtained by adding the first energy consumption and the second energy consumption) of each of the multiple fields H1 (field A, field B, field C, field F), and rounding up the divided value. For example, the energy consumption in field A is 70 kWh, and since the work in field A is performed using a tractor 101a equipped with model A, the management device 100 calculates that the number of packages 6 required for farm work in field A is 2 by dividing 70 kWh by the energy capacity of model A, which is 50 kWh.

[0070] The management device 100 stores the date, field H1, farm work, working hours, machine information, number of packages, and package model number (identification information) as energy information. The energy information includes the work plan, such as the date, field H1, farm work, working hours, and machine information.

[0071] In the embodiment described above, the number of packages 6 was determined by dividing the total energy consumption in field H1 by the maximum energy amount of each package 6. However, instead of the maximum energy amount of each package 6, a predetermined energy amount (80% of the maximum energy amount, if expressed as 100%) may be used. In this case, the number of packages 6 (rounded up) = energy consumption in field H1 / predetermined energy amount of each package. For example, applying this to field A on April 8th as described above, the number of packages 6 in field A would be 2, calculated as "energy consumption in field A (70kWh) / predetermined energy amount of each package (40kWh: 80% of the maximum energy of 50kWh)".

[0072] <Operation of the energy support system> The operation of the energy support system for agricultural machinery will now be described. As shown in Figure 15A, when the administrator terminal 120A connects to the management device 100 and sends a command to the management device 100 to create a work plan (step S1), the management device 100 displays screen M1 on the administrator terminal 120A (step S2). When the administrator terminal 120A is operated and the work plan is sent to the management device 100 (step S3), the work plan is stored in the management device 100 (step S4). At least the day before the date indicated in the work plan, or before the date and time indicated in the work plan, the management device 100 performs a process (first process) to determine the total energy consumption for each field H1 consumed by the tractor 101a and to determine the number of packages 6 from the total energy consumption (step S5). In the first process, the control device 100 refers to the work plan and calculates the total energy consumption when the tractor 101a performs work for each field indicated in the work plan. From the calculated total energy consumption, it calculates the number of packages 6 mounted on the tractor 101a based on the maximum energy amount of the packages 6 or a predetermined energy amount of the packages 6. That is, in the first process, the control device 100 determines the number of packages 6 by the method described above. After the first process, the control device 100 stores the energy information (date, field H1, farm work, machine information, number of packages, package identification information) (step S6).

[0073] When the management device 100 receives a request for a work plan from the worker terminal 120B, or when the current date and time reach a predetermined date and time, it transmits the work plan to the worker terminal 120B (step S7). When the management device 100 receives a request for energy information from the worker terminal 120B, it transmits the energy information to the worker terminal 120B (step S8). Also, when the management device 100 receives a request for energy information from the administrator terminal 120A, it transmits the energy information to the administrator terminal 120A (step S9).

[0074] As described above, before performing agricultural work with the tractor 101a, the worker or manager can determine the number of packages 6 required for agricultural work in field H1 where the tractor 101a will be used.

[0075] <Delivery / Collection of Packaged Items> As mentioned above, when farm work is performed while the tractor 101a is in motion, the energy of the package 6 will be consumed. The agricultural machinery energy support system assists with the delivery of the package 6 to field H1 and the retrieval of the package 6 placed in field H1.

[0076] As shown in Figures 11A and 11B, the distribution center H3 stores replacement packages 6A (referred to as the first package 6A) and used packages 6B (referred to as the second package 6B). The second package 6B is filled with energy by a filling facility installed at the distribution center H3, and once the energy filling is complete, it is stored in the storage area as the first package 6A. The delivery of the first package 6A and the collection of the second package 6B are carried out by transport vehicles T such as trucks. The first package 6A is sufficiently filled with energy; for example, if the maximum energy filling capacity of the package 6 is considered to be 100%, the filling amount is 80% or more. Note that the filling amount is just an example and is not limited to 80% or more.

[0077] Figure 11A shows the delivery of the first package 6A to field H1, the destination of the package 6A, by the transport vehicle T. Figure 11B shows the collection of package 6B by the transport vehicle T.

[0078] The transport vehicle T delivers package 6A to the destination field H1 in response to either energy information, a delivery plan, or a request for delivery of the first package 6A from tractor 101a. The transport vehicle T also retrieves package 6B in response to either energy information, a recovery plan, or a request for recovery of package 6B from tractor 101a. The transport vehicle T can move to the destination field H1 by manual or automated driving.

[0079] The following describes the delivery of package 6A and the collection of package 6B. As shown in Figure 1, the transport vehicle T is equipped with a communication device 45B. The communication device 45B, like the communication device 45A, can be connected to the management device 100 and can acquire various information transmitted from the management device 100. In addition, the driver's external terminal (driver's terminal) 120C of the driver operating the transport vehicle T can be connected to the management device 100 and can acquire various information transmitted from the management device 100. Distribution center H3 is equipped with an external terminal (center terminal) 120D. The center terminal 120D can be connected to the management device 100 and can acquire various information transmitted from the management device 100.

[0080] <Energy Information> When the current time reaches a predetermined time, the management device 100 transmits energy information, including the number of first packages 6A and field information regarding the field to which the packages 6A are delivered, to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. As shown in Figure 14, the management device 100 transmits the energy information for April 8 to one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. That is, the management device 100 transmits the energy information to one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D before agricultural work begins. When the transport vehicle T receives the energy information, the driver can confirm the energy information received by the transport vehicle T using the display device mounted on the transport vehicle T. When the driver terminal 120C receives energy information, the driver can check the energy information received by the driver terminal 120C on the screen of the driver terminal 120C. When the center terminal 120D receives energy information, the workers at the distribution center can check the energy information received by the center terminal 120D on the screen of the center terminal 120D.

[0081] As shown in Figure 14, referring to the energy information for April 8, it can be seen that two "Model A" packages 6 are needed for farming work in fields A and B. In other words, in fields A and B, it is necessary to replace the "Model A" packages 6 loaded on the tractor 101a during farming work. Therefore, as shown in Figure 11A, at least two "Model A" first packages 6A are loaded onto the transport vehicle T, and the driver drives the transport vehicle T from the distribution center H3 to field A. When the transport vehicle T arrives at field A, the driver places at least one first package 6A in field A, then drives the transport vehicle T toward field B, and when the transport vehicle T arrives at field B, the driver places at least one first package 6A in field B, then returns the transport vehicle T to the distribution center H3. In other words, the driver calculates which of the multiple fields H1 (fields A, B, C, and F) are short on package 6 and how many package 6 are needed for that field H1, and then drives the transport vehicle T to deliver the package 6 to the field H1 that is short on package 6. Meanwhile, the operator driving the tractor 101a exchanges the first package 6A with the package 6 (second package 6B) loaded on the tractor 101a at each of fields A and B. The operator places the second package 6B around fields A and B.

[0082] Furthermore, as shown in Figure 11B, the driver can determine from the energy information that after delivering the first package 6A to fields A and B, the second package 6B will be placed around fields A and B. From April 8 onwards, the driver moves the transport vehicle T to fields A and B respectively and retrieves the second package 6B that has been placed around fields A and B.

[0083] <Delivery plan, collection plan> In the embodiment described above, the delivery and collection of the package 6 was performed by transmitting energy information to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. However, the delivery and collection of the package 6 may also be performed based on a delivery plan and a collection plan.

[0084] Figure 15B shows the delivery operation of the first package 6A in the delivery plan. The control device 100 refers to the farm work plan when the current time reaches a predetermined time (step S20). For example, as shown in Figure 14, the control device 100 refers to the energy information for April 8 which includes the work plan. The control device 100 sets the delivery plan based on the work plan (step S21). As shown in Figure 16, the control device 100 sets the delivery destination, delivery date and time, number of packages 6 to be delivered and model number as the delivery plan. In the delivery plan for April 8, the control device 100 sets the delivery destination to the field shown in the work plan for April 8. In the delivery plan for April 8, the control device 100 sets the delivery date and time to the date and time (start time) when farm work begins at field H1, or a time earlier than the start date and time. Furthermore, in the delivery plan for April 8, the management device 100 sets the number of deliveries as the number of packages 6 required for each field H1 divided by 1. The management device 100 refers to the energy information to identify that the package 6 mounted on the tractor 101a is "Model A," and reflects the identified "Model A" in the identification information of the delivery plan. Note that in Figure 16, if the number of deliveries is zero, it indicates that no deliveries will be made.

[0085] As shown in Figure 15B, once the management device 100 sets a delivery plan, it sends a delivery command (delivery instruction), i.e., a delivery instruction, to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, a predetermined time before the delivery date and time, to deliver the first package 6A to field H1 (step S22). The delivery command includes delivery location information including the location of the delivery destination, delivery date and time, number of items to be delivered, and identification information. As a delivery command, the management device 100 sends a message to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, instructing the delivery of one first package 6A of "model number A" to field A and one to field B, respectively.

[0086] As described above, the management device 100 calculates a delivery plan from the work plan and transmits a delivery command (delivery instruction) based on the delivery plan to the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, thereby enabling easy delivery of the first package 6A.

[0087] Figure 17 shows the operation of retrieving the second package 6B in the retrieval plan. The control device 100 refers to the farm work plan when the current time reaches a predetermined time (step S30). For example, as shown in Figure 14, the control device 100 refers to the energy information for April 8 which includes the work plan. The control device 100 sets the retrieval plan based on the work plan (step S31). As shown in Figure 18, the control device 100 sets the retrieval destination, retrieval date and time, number of items to be retrieved, and model number as the retrieval plan. In the retrieval plan for April 8, the control device 100 sets the retrieval destination to the field shown in the work plan for April 8. In the retrieval plan for April 8, the control device 100 sets the retrieval date and time to the date and time (end time) when farm work is completed at field H1, or to the time before or after the end time. Furthermore, in the recovery plan for April 8, the management device 100 sets the number of packages 6 required for each field H1 to be recovered by dividing the total number by one. The management device 100 refers to the energy information to identify that the package 6 mounted on the tractor 101a is "Model A," and reflects the identified "Model A" in the identification information of the recovery plan. Note that in Figure 18, if the number of packages to be recovered is zero, it indicates that no recovery will be performed.

[0088] As shown in Figure 17, once the management device 100 sets a retrieval plan, it transmits a command (retrieval command), i.e., a retrieval instruction, to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D a predetermined time before the retrieval date and time to retrieve the second package 6B toward field H1 (step S32). The retrieval command includes retrieval location information including the location of the retrieval destination, retrieval date and time, number of items to be retrieved, and identification information. As a retrieval command, the management device 100 transmits to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D that one second package 6B be retrieved from field A and one from field B, respectively.

[0089] As described above, the management device 100 calculates a recovery plan from the work plan and transmits a recovery command (recovery instruction) based on the recovery plan to the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, thereby enabling easy recovery of the second package 6B.

[0090] <Delivery request, collection request> In the embodiment described above, the management device 100 delivered and collected the packaged bodies 6 by transmitting delivery and collection commands to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. However, the delivery and collection of the packaged bodies 6 may also be performed in response to a request from the tractor 101a.

[0091] As shown in Figure 2, the tractor 101a is equipped with an operation switch 130. The operation switch 130 is located around the driver's seat 10 and can be operated by the driver. When a predetermined operation is performed, the operation switch 130 makes at least one of the following requests: a request for delivery of the first package 6A (delivery request) or a request for the retrieval of the delivered second package 6B (retrieval request). When a delivery request is made, the communication device 45A of the tractor 101a transmits the vehicle position detected by the positioning device 40A and information indicating a request for delivery of the first package 6A to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. Upon receiving the delivery request, the transport vehicle T, the driver terminal 120C, and the center terminal 120D each display the identification information of the package 6 mounted on the tractor 101a, the vehicle position, and a message indicating a delivery request.

[0092] Furthermore, when a retrieval request is made, the communication device 45A of the tractor 101a transmits the vehicle position detected by the positioning device 40A and information indicating a request for retrieval of the second package 6B to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. Upon receiving the retrieval request, the transport vehicle T, the driver terminal 120C, and the center terminal 120D each display the identification information of the package 6 mounted on the tractor 101a, the vehicle position, and a statement indicating a request for retrieval of the second package 6B.

[0093] As described above, the package 6 can be easily delivered and collected based on delivery and collection requests from the tractor 101a.

[0094] In the embodiment described above, a delivery request or a collection request was made by operating an operation switch 130 provided on the tractor 101a. However, when the remaining energy of the package body 6 mounted on the tractor 101a falls below a threshold, at least one of the delivery request or collection request may be made automatically. The control device 60 or communication device 45A of the tractor 101a monitors the remaining energy of the mounted package body 6 based on the potential detected by the measurement sensor 43j. When the control device 60 is monitoring the remaining energy, if the remaining energy falls below a threshold, the control device 60 commands the communication device 45A to send a delivery request or a collection request. The communication device 45A, upon receiving the command, transmits the delivery request or collection request to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. If the communication device 45A is monitoring the remaining energy level, when the remaining energy level falls below a threshold, the communication device 45A transmits a delivery request and a retrieval request to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, regardless of the command from the control device 60.

[0095] Furthermore, if the transport vehicle T is an autonomous vehicle, it may move autonomously toward field H1 when it receives a command (delivery instruction, delivery request) to deliver the package. Also, if the transport vehicle T is an autonomous vehicle, it may move autonomously toward field H1 when it receives a command (collection instruction, collection request) to collect the package 6.

[0096] <Package deterioration / price calculation> Now, at the distribution center H3, the first package 6A specified in the delivery instruction or delivery request is selected from among the multiple first package 6A stored at the distribution center H3, and the selected first package 6A is loaded onto the transport vehicle T. The management device 100 calculates the deterioration of the first package 6A from the delivery history of the multiple first package 6A stored at the distribution center H3 (distribution source), and based on the calculated deterioration of the first package 6A, it selects the first package 6A to be delivered from among the multiple first package 6A.

[0097] At distribution center H3, the energy of the first package 6A is measured before delivery, and as shown in Figure 19, the delivery history is recorded in the database on external terminal 120D along with the identification information of the package 6 and the delivery date and time. When the second package 6B, which has been collected, arrives at distribution center H3, the remaining energy of the second package 6B at the time of collection is measured, and as shown in Figure 19, the remaining energy at the time of collection, along with the delivery date and time and collection date and time, is recorded in the database as part of the delivery history. The collected second package 6B is filled with energy by an energy filling device and stored in the storage location as the first package 6A.

[0098] The external terminal 120D calculates the degree of degradation of each package 6 based on the energy charge amount, remaining amount, and number of charges. As shown in Figure 20, the external terminal 120D sets coefficients according to the remaining amount, energy charge amount, and number of charges of the package 6, calculates the degradation per charge by multiplying these coefficients, and calculates the overall degradation by accumulating the degradation per charge. Note that the calculation of the degradation is an example and is not limited to this.

[0099] Figure 21 shows the degree of deterioration for each package 6 stored in the center terminal 120D. As shown in Figure 21, when four package 6 of "Model Number A" are stored as first package 6A, and it is necessary to deliver two first package 6A, "Model Number A-169908" and "Model Number A-169909", which have the least degree of deterioration, are selected as the first package 6A to be delivered. When the center terminal 120D selects the first package 6A, the identification number, storage location, etc. of the selected first package 6A are notified to either the transport vehicle T, the driver terminal 120C, or the center terminal 120D.

[0100] In the embodiment described above, the management device 100 may determine the shipping fee based on the size (maximum energy capacity) of the first package 6A to be delivered. As shown in Figure 22, the management device 100 stores fee data showing the relationship between the model number (identification information) of the first package 6A and the shipping fee per unit. In the fee data, the shipping fee per unit is set higher as the maximum energy capacity increases. The management device 100 calculates the shipping fee for each field by multiplying the number of first package 6A by the shipping fee per unit, and transmits the calculated shipping fee data to the administrator terminal 120A. This makes it possible to easily calculate the shipping fee according to the size of the first package 6A and bill the administrator, etc.

[0101] In the embodiment described above, the number of packages 6 for each field H1 is determined by automatically referring to the work plan. However, as shown in Figure 23, a predetermined period may be entered on screen M15, the field H1 where agricultural work will be performed during the entered predetermined period may be searched for, and the number of packages 6 required to perform agricultural work in the field H1 extracted by the search may be determined. When the administrator terminal 120A performs a predetermined operation to request the management device 100 to calculate the number of packages 6, the management device 100 displays screen M15 on the administrator terminal 120A. Screen M15 includes a period input unit 140 for entering a period. When a predetermined period is entered in the period input unit 140, the management device 100 refers to the work plan for the predetermined period, calculates the number of packages 6 based on the referenced work plan, and creates energy information for the predetermined period. Screen M15 is provided with an information display unit 141 for displaying energy information, and the energy information for the predetermined period is displayed on the information display unit 141. The energy information displayed on screen M15 of the administrator terminal 120A is transmitted to at least one of the transport vehicle T, the driver terminal 120C, and the center terminal 120D. This allows the distribution center H3 to easily grasp energy information for a predetermined period. In the embodiment described above, screen M15 was displayed on the administrator terminal 120A, but it may also be displayed on one of the transport vehicle T, the driver terminal 120C, or the center terminal 120D, and the energy information may be displayed on the screen by operating one of the transport vehicle T, the driver terminal 120C, or the center terminal.

[0102] <Relay location> In the embodiment described above, when delivering the first package 6A, the first package 6A to be delivered was to be placed around the field H1. However, if an intermediate stop A5 is set up to be passed through during agricultural work, the first package 6A may be instructed to be placed at intermediate stop A5.

[0103] The relay location A5 can be set using the display device 50, the administrator terminal 120A, and the worker terminal 120B. After setting the work area A2 on the display device 50, the relay location A5 can be set by performing a predetermined operation. As shown in Figure 7B, the display device 50 can set the relay location A5 after setting the planned travel route L1 on screen M12, or as shown in Figure 7A, after setting the work area A2 on screen M11. For example, as shown in Figure 24, when a predetermined operation is performed while screen M12 is displayed, the display device 50 enters the relay location A5 setting mode, and the pointer section 95 is displayed on screen M12. If the area outside the work area A2 (external area), i.e., the turning area A1, is selected by the pointer section 95, the selected turning area A1 is set as the relay location A5. For details, as shown in Figure 25, suppose the work area A2 is composed of multiple edges Gi (i=1,2,3,4...i), and the rotation area A1 is divided into multiple areas Ji (i=1,2,3,4...i) adjacent to the multiple edges Gi. In this case, the area Ji selected by the pointer unit 95 from among the multiple areas Ji is set as the relay location A5. For example, if the work area A2 is composed of four edges G1, G2, G3, and G4, the rotation area A1 will consist of four areas J1, J2, J3, and J4. Here, if area J3 is selected from the four areas J1, J2, J3, and J4, as shown in Figure 24, the display device 50 sets area J3 as the relay location A5, and displays the relay location A5 which is set outside the work area A2. Thus, relay point A5 can be set in an area Ji that is outside work area A2, corresponding to the shape of the field, i.e., the shape of work area A2, for example, an area adjacent to a farm road.

[0104] As described above, when relay location A5 is set on the display device 50, the display device 50 stores data for the field map MP2 including work area A2 and relay location A5, and a field map including data indicating the locations of work area A2 and relay location A5. The field map including relay location A5 is also transmitted to the management device 100 via the communication device 45A, and the field map including relay location A5 is stored in the management device 100. When setting relay location A5 on the administrator terminal 120A or worker terminal 120B, the field map in a state where relay location A5 is not set is read from the management device 100, and the read field map is displayed on the screen of the administrator terminal 120A or worker terminal 120B. The administrator terminal 120A or worker terminal 120B has a function to set relay location A5 in the same way as the display device 50, and in the same way as the display device 50, relay location A5 can be set by setting area Ji with the pointer unit 95. Even if relay location A5 is set on the administrator terminal 120A or worker terminal 120B, the field map MP2 data including work area A2 and relay location A5, and the field map including data showing the locations of work area A2 and relay location A5 are stored on the administrator terminal 120A or worker terminal 120B and transmitted to the management device 100, and the field map including relay location A5 is stored in the management device 100.

[0105] As described above, when relay location A5 is set, the management device 100 transmits a field map including relay location A5 to either the transport vehicle T, the driver terminal 120C, or the center terminal 120D when delivering the first package 6A or collecting the second package 6B, and displays the field map including relay location A5 on the screen (referred to as the terminal screen) M30 of either the transport vehicle T, the driver terminal 120C, or the center terminal 120D, as shown in Figures 26A and 26B.

[0106] As shown in Figure 26A, when the first package 6A is to be delivered, the management device 100 displays a message on the terminal screen M30 indicating that the first package 6A should be placed at relay location A5. As shown in Figure 26B, when the second package 6B is to be retrieved, the management device 100 displays a message on the terminal screen M30 indicating that the second package 6B placed at relay location A5 should be retrieved. In other words, the management device 100 guides the delivery of at least one different first package 6A to relay location A5 in order to continue farming operations of the tractor 101a in field H1.

[0107] Furthermore, when the administrator terminal 120A or the worker terminal 120B is connected to the management device 100 and a request is made to display relay location A5, the field map including relay location A5 can also be displayed on the administrator terminal 120A or the worker terminal 120B, similar to Figures 26A and 26B. In addition, when relay location A5 is displayed on the administrator terminal 120A or the worker terminal 120B, if it has been decided to deliver the first package 6A or to collect the second package 6B, the management device 100 will display a message indicating that the first package 6A will be placed at relay location A5, or a message indicating that the second package 6B placed at relay location A5 will be collected.

[0108] The management device 100 can set relay location A5 as a place to store materials such as fertilizers, pesticides, seedlings, and seeds. Relay location A5 can be set using the administrator terminal 120A, the worker terminal 120B, or the display device 50. For the sake of explanation, the administrator terminal 120A, the worker terminal 120B, and the display device 50 will be referred to as "agricultural terminals" below.

[0109] Specifically, when the agricultural terminal is switched to material setting mode by operating it, the agricultural terminal and the management device 100 are connected. In material setting mode, as shown in Figure 27A, the agricultural terminal's screen M31 displays an input section for entering the field. When field identification information such as the field name is entered into the input section of screen M31, the management device 100 extracts field H1 associated with the field identification information and displays a field map including the extracted field H1 on screen M31. If relay location A5 is already set in the field map displayed on the agricultural terminal's screen M31, the management device 100 displays a message on the agricultural terminal's screen M31 indicating that the location for placing materials should be set. When the pointer section 95 shown on the agricultural terminal's screen M31 is moved to a predetermined position and a predetermined operation is performed while the pointer section 95 is within the range of relay location A5, the management device 100 sets the position of the pointer section 95 as the supply location PH, as shown in Figure 27B. In other words, the management device 100 sets the supply location PH on the field map displayed on screen M31. The field map on which the supply location PH is set is stored in the management device 100 and the agricultural terminal. If relay location A5 is not set, relay location A5 can be set using the agricultural terminal (manager terminal 120A, worker terminal 120B, display device 50) as described above.

[0110] As described above, when the supply location PH is set on the agricultural terminal, the field map MP2 data including the work area A2, relay location A5, and supply location PH, and the field map including data showing the locations of the work area A2, relay location A5, and supply location PH are stored on the agricultural terminal and transmitted to the management device 100, and the field map including relay location A5 and supply location PH is stored on the management device 100.

[0111] Thus, when a supply location PH is set in addition to relay location A5, and the first package 6A is to be delivered, the management device 100 displays a field map including supply location PH and relay location A5 on the terminal screen M30, as shown in Figure 28A, and displays a message indicating that materials will be supplied at supply location PH and that the first package 6A will be placed at relay location A5. In the case of the retrieval of the second package 6B, the management device 100 displays a field map including supply location PH and relay location A5 on the terminal screen M30, as shown in Figure 28B, and displays a message indicating that materials will be supplied at supply location PH and that the second package 6B will be retrieved at relay location A5. Furthermore, when the management device 100 delivers the first package 6A or retrieves the second package 6B, it is also possible to display a screen similar to the terminal screen M30 shown in Figures 28A and 28B on agricultural terminals (manager terminal 120A, worker terminal 120B, display device 50). Therefore, when materials are transported to field H1, the worker can place the transported materials at supply location PH by checking the field map, which includes the supply location PH, displayed on the agricultural terminal.

[0112] <For agricultural work (materials)> When tractor 101a performs agricultural work that consumes materials such as fertilizer, pesticides, seedlings, and seeds, if the display device 50 has stored a field map including the replenishment location PH and relay location A5, the field map is displayed on the display device 50, and the current vehicle position is also displayed on the field map. If the display device 50 does not have a field map including the replenishment location PH and relay location A5 stored, the communication device 45A transmits the current vehicle position to the management device 100. The management device 100 searches for field H1 from the vehicle position, and if it has stored a field map with the replenishment location PH and relay location A5 set for the searched field H1, the management device 100 transmits the field map to the communication device 45A of tractor 101a, and the display device 50 displays the field map including the replenishment location PH and relay location A5 transmitted from the management device 100.

[0113] The tractor 101a has a measuring sensor 43k that detects the amount of material mounted on the work device 2. The measuring sensor 43k monitors the amount of material while the work device 2 is in operation. When the amount of material falls below a threshold during automatic operation, the control device 60 automatically moves to the replenishment position PH at relay point A5. As shown in Figure 29, if the amount of material falls below a threshold at point P10, the tractor 101a temporarily stops the work performed by the work device 2 at point P10, automatically moves to the nearest replenishment position PH from its current position, and stops at replenishment position PH. When the tractor 101a reaches replenishment position PH to replenish the material, the notification device 44 mounted on the tractor 101a provides a notification prompting the replacement of the first package 6A. In other words, when the communication device 45A of the tractor 101a is connected to the management device 100 and receives notification from the management device 100 that the first package 6A will be delivered, or when the field map displayed on the display device 50 indicates that the first package 6A will be placed at relay location A5, the notification device 44 determines that the first package 6A will be delivered to relay location A5 and issues a notification prompting the replacement of the first package 6A. The notification device 44 may be a device that generates voice or sound, or a device that displays text or the like. In the embodiment described above, the tractor 101a moves to relay location A5 when the amount of material falls below a threshold, but it may also drive towards the delivered package 6 in the field (relay location A5) or around the field when the remaining amount of the attached package 6 falls below a threshold.

[0114] In the embodiment described above, when the first package 6A is delivered to field H1, the transport vehicle T is used to transport the first package 6A. In addition, the transport vehicle T may also transport materials to field H1, not just the first package 6A. Figure 30 shows the delivery of the first package and materials to field H1. As shown in Figure 30, the transport vehicle T, carrying the first package 6A, stops at a storage location H2 such as a barn, loads materials at storage location H2, and then moves from storage location H2 to field H1. When the transport vehicle T reaches field H1, as shown in Figure 32, the transport vehicle T moves to a relay location A5 and waits. The movement of the transport vehicle T may be automated or manually operated.

[0115] Figure 31 shows the operation of the transport vehicle T loaded with the first package 6A and materials. As shown in Figure 31, after arriving at relay point A5, the transport vehicle T stops at relay point A5 (S40). The transport vehicle T connects to the management device 100 or tractor 101a via the communication device 45B and inquires whether a supply point PH is set in the field H1 where the transport vehicle T is located (S41). If a supply point PH is set in field H1 (S41, Yes), the screen of the transport vehicle T displays instructions to place the materials at supply point PH and deliver the first package 6A to the relay point (S42). If a supply point PH is not set in field H1 (S41, No), the transport vehicle T is set to delivery mode (S43). The transport vehicle T also notifies the tractor 101a via the communication device 45B that it has entered delivery mode (S44). When the tractor 101a starts farming, the measuring sensor 43k monitors the amount of material (S45). If the amount of material falls below a threshold (S46, Yes), the tractor 101a stops (S47), and the tractor 101a notifies that the material is running low or that it needs to be moved to the tractor 101a (S48). When the transport vehicle T is notified that the material is running low or that it needs to be moved to the tractor 101a, the transport vehicle T automatically moves toward the tractor 101a, as shown in Figure 32 (S49). If the transport vehicle T is manually operated, the terminal owned by the driver of the transport vehicle (agricultural terminal, driver terminal 120C) is notified that the material is running out or that it needs to be moved toward the tractor 101a, and the driver may drive the transport vehicle T toward the tractor 101a. When the transport vehicle T reaches the tractor 101a, the transport vehicle T or the tractor 101a is notified to replenish the materials and replace the package body 6 (S50). For example, the screen of the transport vehicle T or the display device 50 displays a message prompting the replenishment of materials and replacement of the package body 6.

[0116] <During farm work (harvesting)> In the embodiment described above, the relay location was a place for supplying materials such as fertilizer, pesticides, seedlings, and seeds, and also a place to store the packaged bodies 6 when they are delivered and collected. Alternatively, the relay location may be a place where the transport vehicle that receives the harvested produce temporarily waits, and also a place to store the packaged bodies 6 when they are delivered and collected. In this case, the supply location PH becomes the waiting location for the transport vehicle that receives the harvested produce, so by reinterpreting the supply location described above as a waiting location, the waiting location can be set by the management device 100, agricultural terminal, etc.

[0117] The following explanation will assume that the relay point is a place where the transport vehicle waits. Note that the setting of the relay point, the display of messages when delivering and collecting package 6, and the setting of the waiting position will be omitted as they are based on the explanations described above.

[0118] The management device 100 can create a relay station where a transport vehicle waiting to receive the harvested produce from the working device 2 of the tractor 101a waits, and guide the installation of the first package 6A at the relay station.

[0119] Now, when the tractor 101a is performing harvesting work, if the display device 50 has stored a field map including the standby position PH and relay location A5, the field map will be displayed on the display device 50, and the current vehicle position will also be displayed on the field map. If the display device 50 does not have a field map including the standby position PH and relay location A5 stored, the communication device 45A will transmit the current vehicle position to the management device 100. The management device 100 will search for field H1 from the vehicle position, and if it has stored a field map with the standby position PH and relay location A5 set for the searched field H1, the management device 100 will transmit the field map to the communication device 45A of the tractor 101a, and the display device 50 will display the field map including the standby position PH and relay location A5 transmitted from the management device 100.

[0120] The tractor 101a has a measuring sensor 43l that detects the amount of harvested produce. The measuring sensor 43l monitors the amount of harvested produce while the work device 2 is in operation. When the amount of harvested produce exceeds a threshold during automatic operation, the control device 60 automatically moves to the standby position PH at relay location A5. When the amount of harvested produce exceeds the threshold, the tractor 101a temporarily stops the work performed by the work device 2, automatically moves to the nearest standby position PH from its current position, and stops at the standby position PH. At this point, when the tractor 101a reaches the temporary standby position PH of the transport vehicle, the notification device 44 mounted on the tractor 101a makes a notification prompting the replacement of the first package 6A. In other words, if the communication device 45A of the tractor 101a is connected to the management device 100 and receives notification from the management device 100 that the first package 6A will be delivered, or if the field map displayed on the display device 50 indicates that the first package 6A will be placed at relay location A5, the notification device 44 determines that the first package 6A will be delivered to relay location A5 and issues a notification prompting the replacement of the first package 6A.

[0121] In the embodiment described above, when the first package 6A is delivered to field H1, the transport vehicle T carries the first package 6A. In addition, the transport vehicle T may also load harvested produce at field H1. Figure 33 shows the transport of the first package 6A and a container without harvested produce to field H1. As shown in Figure 33, the transport vehicle T, loaded with the first package 6A, stops at a storage location H2 such as a barn, loads the container, and then moves from storage location H2 to field H1. When the transport vehicle T reaches field H1, it moves to a relay location A5 and waits. The movement of the transport vehicle T may be automated or manually operated.

[0122] Figure 34 shows the operation of the transport vehicle T when placing the harvested produce into the first package 6A and the container. As shown in Figure 34, after arriving at relay point A5, the transport vehicle T stops at relay point A5 (S60). The transport vehicle T connects to the management device 100 or tractor 101a via the communication device 45B and inquires whether a standby position PH is set in the field H1 where the transport vehicle T is located (S61). If a standby position PH is set in field H1 (S61, Yes), the screen of the transport vehicle T displays instructions to wait around the supply position PH and to deliver the first package 6A to the relay point (S62). If a standby position PH is not set in field H1 (S61, No), the transport vehicle T is set to delivery mode (S63). The transport vehicle T also notifies the tractor 101a via the communication device 45B that it has entered delivery mode (S64). When the tractor 101a starts farming, the measurement sensor 43l monitors the amount of harvested crops harvested by the tractor 101a (S65). If the amount of harvested crops exceeds a threshold (S66, Yes), the tractor 101a stops (S67), and the tractor 101a notifies the transport vehicle T that the container for storing the harvested crops is full (S68). When the transport vehicle T is notified that the container for storing the harvested crops is full, it automatically moves toward the tractor 101a, as in Figure 32 (S69). If the transport vehicle T is manually operated, the operator may notify a terminal owned by the operator (agricultural terminal, operator terminal 120C) that the container for storing the harvested crops is full, and the operator may drive the transport vehicle T toward the tractor 101a. When the transport vehicle T reaches the tractor 101a, the transport vehicle T or the tractor 101a is notified to discharge the harvested produce into the transport vehicle T (transferring the harvested produce from the tractor 101a to the transport vehicle T) and to replace the package 6 (S70). For example, the screen of the transport vehicle T or the display device 50 displays a message prompting the user to discharge the harvested produce into the transport vehicle T and to replace the package 6.

[0123] <Summary> This is an energy support system for an agricultural machine (tractor 101a) that is powered by the energy stored in an energy-filled package 6 that can be attached and detached. The system includes a management device 100 that calculates the energy consumed by the agricultural machine (tractor 101a) when it performs agricultural work, and calculates the number of package 6 required to cover the energy consumed based on the energy consumed. This allows the system to understand the number of package 6 used when the agricultural machine (tractor 101a) performs agricultural work. In other words, the energy required for agricultural work in field H1 can be secured by the package 6, allowing agricultural work in field H1 to continue smoothly.

[0124] The management device 100 transmits the number of packages 6 and field information regarding field H1, the destination of the packages 6, to either the transport vehicle T that carries the packages 6, the terminal 120C of the driver operating the transport vehicle T, or the terminal 120D of the distribution center H3 that delivers the packages 6. This allows for easy delivery of the packages 6 necessary for agricultural work to field H1.

[0125] The management device 100 calculates the energy consumed by the agricultural machinery (tractor 101a) when it performs agricultural work, based on the content of the agricultural work performed in field H1. This makes it easy to determine the number of packages 6 corresponding to the workload of the agricultural work.

[0126] The management device 100 calculates the energy consumption of the agricultural machinery (tractor 101a) when it performs agricultural work in each of the multiple fields H1 based on the content of the agricultural work in each field H1, and calculates the number of packages 6 for each of the multiple fields H1 based on the calculated energy consumption for each field H1. This prevents the agricultural work from becoming impossible midway through due to the depletion of energy in the packages 6, even when agricultural work is performed sequentially in multiple fields H1 with the agricultural machinery (tractor 101a).

[0127] The management device 100 searches for a field H1 from among several fields H1 in which agricultural work will be performed during a predetermined period, and extracts the field H1 extracted by the search and the number of package bodies 6 to be used in the extracted field H1. This makes it easy to prepare the package bodies 6 necessary for agricultural work during a predetermined period (for example, one day), and enables agricultural work to be carried out smoothly during that period.

[0128] The management device 100 transmits the retrieved package 6 for each field H1, along with information about each field H1, to either the transport vehicle T that carries the package 6, the terminal 120C of the driver operating the transport vehicle T, or the terminal 120D of the distribution center H3 that delivers the package 6. This makes it possible to easily deliver the package 6 necessary for agricultural work over a predetermined period (for example, one day) to each field H1.

[0129] The management device 100 issues delivery instructions for the package 6 to either the transport vehicle T that carries the package 6, the terminal 120C of the driver operating the transport vehicle T, or the terminal 120D of the distribution center H3 that delivers the package 6. This allows the worker delivering the package 6 to easily obtain the information necessary to deliver the package 6 to the field H1 by looking at the transport vehicle T, terminal 120C, or 120D.

[0130] When the energy of the mounted package 6 falls below a threshold, the agricultural machine (tractor 101a) moves towards the package 6 delivered to or within field H1. This makes it easier to reach the area within or within field H1 where the new package 6 is located before the energy of the package 6 mounted on the agricultural machine (tractor 101a) is depleted, and makes it easy to replace the package 6 within or within field H1.

[0131] The control device 100 issues an instruction to retrieve the package 6 to either the transport vehicle T that carries the package 6, the terminal 120C of the driver operating the transport vehicle T, or the terminal 120D of the distribution center H3 that delivers the package 6. This makes it easy to retrieve the package 6 that has been removed from the agricultural machinery (tractor 101a) and placed in a designated location for replacement.

[0132] This is an energy support method for an agricultural machine (tractor 101a) to which an energy-filled package 6 is detachably attached. Before the agricultural machine (tractor 101a) performs agricultural work in field H1, the energy consumption of the agricultural machine (tractor 101a) when it performs agricultural work is calculated, and based on the energy consumption, the number of package 6 required to cover the energy consumption is calculated. This makes it possible to determine the number of package 6 when the agricultural machine (tractor 101a) performs agricultural work. In other words, the energy necessary for performing agricultural work in field H1 can be secured by the package 6, and agricultural work in field H1 can be continued smoothly.

[0133] This is an energy support system for an agricultural machine (tractor 101a) that is powered by the energy stored in an energy-filled package 6 that can be attached and detached. The system includes a management device 100 that acquires either a work plan for agricultural work to be performed by the agricultural machine (tractor 101a) in field H1 or a request from the agricultural machine (tractor 101a), and issues a command to deliver the package 6 to field H1 to either a transport vehicle T, the terminal 120C of the driver operating the transport vehicle T, or the terminal 120D of the distribution center H3 where the package 6 is delivered. This allows those involved in the delivery of the package 6, namely the driver operating the transport vehicle, the manager and workers who manage the package 6 at the distribution center H3, etc., to understand that the package 6 will be delivered to field H1 in accordance with the work plan for agricultural work, and that the package 6 will be delivered to field H1 in accordance with a request from the agricultural machine (tractor 101a). In other words, the necessary package 6 for agricultural work can be smoothly delivered to the field H1 according to the work plan or agricultural machinery (tractor 101a). That is, the package 6 can be delivered to the place (field) where the agricultural work is performed, and when the agricultural work is to be performed.

[0134] The management device 100 acquires either the work plan for agricultural work performed by the agricultural machinery (tractor 101a) in field H1 or a request from the agricultural machinery (tractor 101a), and issues a command to retrieve the package 6 to either the transport vehicle T, the terminal 120C of the driver operating the transport vehicle T, or the terminal 120D of the distribution center H3 where the package 6 is delivered, in accordance with the retrieval plan set based on the work plan or the request. This allows those involved in retrieving the package 6, namely the driver operating the transport vehicle, the manager and workers who manage the package 6 at the distribution center H3, etc., to understand whether to retrieve the package 6 in accordance with the work plan for agricultural work or in response to a request from the agricultural machinery (tractor 101a). In other words, the package 6 can be retrieved smoothly in accordance with the work plan or the agricultural machinery (tractor 101a).

[0135] The agricultural machine (tractor 101a) is equipped with an operating switch 130 that can either request delivery of the package 6 or request collection of the package 6. This allows the operator of the agricultural machine (tractor 101a) or the farm worker performing agricultural work to easily request delivery or collection of the package 6 simply by operating the operating switch 130 as needed.

[0136] The agricultural machine (tractor 101a) is equipped with a communication device 45A that, when the energy of the package body 6 attached to the agricultural machine (tractor 101a) falls below a threshold, requests either delivery of the package body 6 or retrieval of the package body 6. This makes it easy to automatically request delivery or retrieval of the package body 6 when the energy of the package body 6 attached to the agricultural machine (tractor 101a) falls below a threshold.

[0137] When the transport vehicle T receives a command to deliver the package 6, it automatically moves toward field H1. This allows the package 6 to be delivered to field H1 without the transport vehicle T having to be manually driven.

[0138] When the transport vehicle T receives a command to retrieve the package 6, it automatically moves toward field H1. This allows the transport vehicle T to reach field H1 for retrieving the package 6 without manual operation.

[0139] The management device 100 calculates the deterioration of the packages 6 stored at the distribution source from the delivery history of the packages 6, and selects the packages 6 to be delivered from among the packages 6 based on the calculated deterioration of the packages 6. This prevents the packages 6 stored at the distribution source from deteriorating drastically in a short period of time.

[0140] The management device 100 determines the shipping fee based on the size of the package 6 to be delivered. This allows for the determination of a shipping fee that is commensurate with the amount of energy required, even if there are many package 6 of different sizes.

[0141] This is an energy support system for an agricultural machine (tractor 101a) that is powered by the energy stored in an energy-filled package 6 which can be attached and detached. The system includes a management device 100 that guides the delivery of a different package 6 to a relay point that the agricultural machine (tractor 101a) passes through during agricultural work, in order to continue agricultural work in field H1. This allows the package 6 to be delivered to a location that the agricultural machine (tractor 101a) passes through during agricultural work. This makes it possible to smoothly perform the work of changing the package 6 from agricultural work. In other words, because the package 6 is delivered to a relay point that the agricultural machine (tractor 101a) passes through during agricultural work, energy can be quickly replenished to the agricultural machine (tractor 101a), and the efficiency of agricultural work can be improved.

[0142] The management device 100 creates a relay point for storing materials to be supplied to the agricultural machinery (tractor 101a) and guides the user to install another package 6 at this relay point. This allows for the simultaneous replenishment of materials and replacement of the package 6.

[0143] The agricultural machinery (tractor 101a) moves towards a relay point when the amount of materials loaded onto the agricultural machinery (tractor 101a) falls below a threshold during farm work. This allows the replacement of the package 6 to be performed in conjunction with the timing of replenishing materials at the relay point.

[0144] In agricultural operations, when the amount of materials loaded onto the agricultural machinery (tractor 101a) falls below a threshold, a transport vehicle T carrying the materials and another package 6 at a relay point is moved from the relay point towards the agricultural machinery (tractor 101a). This allows not only the materials but also the package 6 to be quickly brought close to the agricultural machinery (tractor 101a) at the time of supplying materials to the agricultural machinery (tractor 101a), enabling simultaneous supply of materials at the location where the agricultural machinery (tractor 101a) is situated.

[0145] When the transport vehicle T reaches the agricultural machine (tractor 101a), the transport vehicle T or the agricultural machine (tractor 101a) is notified to prompt the replacement of the package 6. This makes it easy to inform the driver of the transport vehicle T or the agricultural machine (tractor 101a) that the package 6 can be replaced.

[0146] The management device 100 creates a relay station where a transport vehicle T waits to receive the harvested produce from the agricultural machinery (tractor 101a), and guides the user to install another package 6 at this relay station. This allows the replacement of the package 6 to be performed in conjunction with the timing of transferring the harvested produce to the transport vehicle T at the relay station.

[0147] The agricultural machinery (tractor 101a) moves towards the relay point when the amount of harvested produce harvested by the agricultural machinery (tractor 101a) during farm work exceeds a threshold. This allows the replacement of the package 6 to be performed in conjunction with the timing of transferring the harvested produce to other transport vehicles at the relay point.

[0148] In agricultural work, if the amount of harvested produce harvested by the agricultural machinery (tractor 101a) exceeds a threshold and another battery is installed in the transport vehicle T, the transport vehicle T is moved from the relay point towards the agricultural machinery (tractor 101a). This allows not only the harvested produce but also the package 6 to be quickly brought close to the agricultural machinery (tractor 101a) at the time the agricultural machinery (tractor 101a) discharges the harvested produce, and the discharge of the harvested produce can be performed simultaneously at the location where the agricultural machinery (tractor 101a) is positioned.

[0149] The agricultural machine (tractor 101a) comprises a vehicle body 2 to which an energy-filled package body 6 can be attached and detached, a prime mover 4 driven by the energy filled in the package body 6, and a working device 3. When it is necessary to replenish materials to the working device 3, or when it is necessary to discharge the harvested produce harvested by the working device 3, the vehicle body 2 moves to a relay location where a different package body 6 from the one attached to the agricultural machine (tractor 101a) is located. This allows the package body 6 to be exchanged at the relay location A5 at the time when it is necessary to replenish materials to the working device 3, or when it is necessary to discharge the harvested produce harvested by the working device 3.

[0150] In the first embodiment, the number of packages 6 mounted on the tractor 101a is not limited. For example, the tractor 101a may be equipped with multiple packages 6, of which at least one package 6 may be replaceable while the other packages 6 are fixed and not replaceable. Alternatively, the tractor 101a may be equipped with multiple packages 6, and all of the multiple packages 6 may be replaceable.

[0151] [Second Embodiment] Figure 35 is an overall diagram showing the energy support system for agricultural machinery in the second embodiment. The agricultural machinery 101 in the second embodiment also includes tractors, combine harvesters, rice transplanters, implements, etc. In the second embodiment, the same configuration as in the first embodiment will not be explained. Furthermore, in the second embodiment, a tractor will be used as an example for explanation. The explanation will proceed assuming that the package is a battery.

[0152] As shown in Figure 35, the tractor 101a is equipped with multiple packages 6. Of the multiple packages 6, at least one package 6 is replaceable. As shown in Figure 36, the multiple packages 6 are connected to a regulator 160. The regulator 160 switches between discharge mode and regenerative mode based on a control signal from the control device 60. In discharge mode, the regulator 160 accepts power from the multiple packages 6. Based on the control signal from the control device 60, the regulator 160 adjusts the ratio of power received by each of the multiple packages 6. The power accepted by the regulator 160 is sent to the prime mover 4 (electric motor).

[0153] Now, the energy support system for agricultural machinery in the second embodiment is a system that, when the amount of energy in a package 6 mounted on a tractor 101a exceeds a threshold, transfers the package 6 whose energy exceeds the threshold to another tractor 101a. For the sake of explanation, let's assume there are two tractors 101a, and we will refer to the first tractor as the first tractor 101a1 and the second tractor as the second tractor 101a2 as we proceed with the explanation.

[0154] Figure 37 shows the first tractor 101a1 and the second tractor 101a2 working in field H1. As shown in Figure 37, the first tractor 101a1 is continuing farm work in field A, for example, while the second tractor 101a2 has finished farm work in field B. If the second tractor 101a2 has finished farm work for the day, it is scheduled to return to storage area H2. If the second tractor 101a2 has not finished farm work for the day, it will move to another field H1 (for example, field C).

[0155] When the second tractor 101a2 is scheduled to return to storage location H2, if the energy of the multiple packages 6 mounted on the second tractor 101a2 is sufficient to return to storage location H2, the second tractor 101a2 will, for example, distribute to the first tractor 101a1, which is another tractor 101a, at least one of the multiple packages 6 whose energy is above a threshold (referred to as a filled package 6). On its way back from field B to storage location H2, the second tractor 101a2 will head towards relay location A5 in field A where the first tractor 101a1 is performing farm work, or towards the area around field A, and will stop at relay location A5 in field A or around field A. Workers performing tasks in field A, or workers riding in the second tractor 101a2, place the filled package 6 of the second tractor 101a2 at the relay point A5 within field A or around field A. Once the task of placing the package at the relay point A5 within field A or around field A is completed, the second tractor 101a2 moves towards the storage area H2.

[0156] Figure 38 shows the operation in which the second tractor 101a2 passes the filled package 6 to the first tractor 101a1. As shown in Figure 38, the control device 60 or display device 50 of the second tractor 101a2 determines whether the work for a predetermined period (e.g., 1 day) has been completed after the work in field B is finished (S80). Specifically, the control device 60 or display device 50 extracts the work plan by connecting to the management device 100 via the communication device 45A or by referring to a storage device such as the non-volatile memory of the display device 50. After extracting the work plan, the control device 60 or display device 50 refers to the agricultural work record from the start of agricultural work to the present (e.g., vehicle position), and determines that the work is finished if the agricultural work record indicates that agricultural work has been performed in all fields indicated in the work plan (S80, Yes). For example, if the work plan indicates that agricultural work will be carried out in fields B and C, and the agricultural work record (vehicle position) of the second tractor 101a2 indicates that it is working while moving within fields B and C, the control device 60 or display device 50 of the second tractor 101a2 will determine that the work for the predetermined period (1 day) has been completed.

[0157] On the other hand, the control device 60 or display device 50 determines that the work for the predetermined period has not been completed if the agricultural work record does not indicate that agricultural work has been performed in all of the fields indicated in the work plan for the predetermined period (S80, No). In the embodiment described above, the vehicle position was used as an example of agricultural work record, but the agricultural work record is not limited to the vehicle position, and any record that allows for the determination of whether or not agricultural work has been performed on a field H1 basis is acceptable.

[0158] If the control device 60 of the second tractor 101a2 determines that the work for a predetermined period has not been completed (S80, No), it controls the movement to move from the current field to the next field H1 where the next farm work will be performed, using automatic driving (S81). For example, as shown in Figure 37, after the work in field B is completed, the control device 60 of the second tractor 101a2 automatically drives out of field B onto the farm road (road), towards field C, and into field C.

[0159] When the work for a predetermined period is completed (S80, Yes), the control device 60 of the second tractor 101a2 determines whether or not there are any packages (referred to as filled packages) whose energy is above a threshold (S82). As shown in Figure 39, the control device 60 of the second tractor 101a2 measures the energy of multiple packages 6 with the measuring sensor 43j and extracts from the multiple packages 6 packages whose energy is above a threshold (for example, 80% or more) as filled packages.

[0160] If a filled package 6 exists (S82, Yes), the control device 50 of the second tractor 101a2 transmits a signal (yield signal) via the communication device 45A to another agricultural machine 101 (vehicle body 3) indicating that it can hand over the package 6 (S83). For example, the second tractor 101a2 transmits a signal to the first tractor 101a1 indicating that it can hand over the package 6. When the first tractor 101a1 (control device 60) receives the yield signal for the package 6 (S84), the control device 60 of the first tractor 101a1 measures the energy of multiple packages 6 with the measurement sensor 43j and determines whether or not there are any packages 6 whose energy is below a threshold (for example, 20% or less) (referred to as depleted packages) (S85).

[0161] If there is a depleted package 6 (S85, Yes), the first tractor 101a1 (control device 60) sends a request (request signal) to the second tractor 101a2, which has sent a yield signal, asking it to bring the package 6, including the current position of the first tractor 101a1 (S86).

[0162] When the second tractor 101a2 receives a request (request signal) to bring package 6, the control device 60 of the second tractor 101a2 creates a planned route from its current position to field A where the first tractor 101a1 is located (S87), and moves towards field A by automatic driving (S88). The control device 60 of the first tractor 101a2 stops at relay point A5 within field A or around field A (S89). As shown in Figure 40, the display device 50 of the second tractor 101a2 displays information indicating which of the multiple package 6 is the filled package 6 (the package 6 that may be given to the first tractor 101a1) (S90). Alternatively, information indicating which of the multiple package 6 is the filled package 6 (the package 6 that may be given to the first tractor 101a1) may be displayed on the agricultural terminal.

[0163] When the filled package 6 is placed at the relay point A5 within field A or around field A, that is, when information indicating that the filled package 6 has been placed is input to the display device 50 of the second tractor 101a2 (the "Complete" button in Figure 40 is selected) (S91, Yes), the control device 60 of the second tractor 101a2 controls it to move from its current position to the storage location H2 (S92).

[0164] As shown in Figure 39, if there are multiple filled packages 6 in the second tractor 101a2, the control device 60 selects a filled package 6 from among the multiple filled packages that can be passed to the first tractor 101a1.

[0165] The total energy of the other packages 6, excluding the filled package 6, is calculated from among the multiple packages 6. Using this total energy, it is calculated whether the second tractor 101a2 can return from field A to storage location H2. If it can return, all of the filled packages 6 of the second tractor 101a2 are selected as the filled packages 6 that can be transferred to the first tractor 101a1.

[0166] On the other hand, if the total energy of the other packages 6, excluding the filled package 6, is insufficient for the second tractor 101a2 to return from field A to storage location H2, the control device 60 designates at least one of the multiple filled packages 6 as the return package. The control device 60 then calculates the total energy of the return package and the other packages 6, and if the total energy is sufficient for the tractor 101a2 to return from field A to storage location H2, it selects the packages 6, excluding the return package 6, as the filled packages 6 that can be passed to the first tractor 101a1. The information of the selected filled packages 6 is displayed on the display device 50 as described above.

[0167] Figure 41 shows the first tractor 101a1 and the second tractor 101a2 traveling on a road (farm road). As shown in Figure 41, the first tractor 101a1 and the second tractor 101a2 are each controlled by a control device 60 and are moving automatically. For example, during automatic driving, the control device 60 of the first tractor 101a1 determines whether or not a depleted package 6 is present. If a depleted package 6 is present, the communication device 45A of the first tractor 101a1 sends a request signal to the second tractor 101a2. On the other hand, during automatic driving, when the communication device 45A of the second tractor 101a2 receives a request signal, the control device 60 of the second tractor 101a2 determines whether or not a filled package 6 is present. If a filled package 6 is present, the communication device 45A of the second tractor 101a2 sends a yield signal to the first tractor 101a1. When the first tractor 101a1 receives a yield signal, the first tractor 101a1 and the second tractor 101a2 communicate via the communication device 45A and transmit their respective vehicle positions to each other. The control devices 60 of the first tractor 101a1 and the second tractor 101a2 calculate the distance between them based on their respective vehicle positions, and if the distance between the first tractor 101a1 and the second tractor 101a2 falls below a threshold (several meters or less), they stop, for example, in area A30. In other words, the control device 60 of the first tractor 101a1 stops automatic operation in area A30, and the control device 60 of the second tractor 101a2 also stops automatic operation. In area A30, the filled package body 6 of the second tractor 101a2 is exchanged with the depleted battery body 6 of the first tractor 101a1.

[0168] Furthermore, communication between the communication device 45A of the first tractor 101a1 and the communication device 45A of the second tractor 101a2 is not limited to direct or indirect communication. In other words, the transmission and reception of yield signals and request signals may be performed directly by the communication device 45A, or by a mobile phone communication network such as a base station, satellite communication, etc.

[0169] <Summary> The agricultural machine (tractor 101a) comprises a prime mover 4, a plurality of packages 6 filled with energy to drive at least one of the working device 3 and the prime mover 4, a vehicle body 3 on which at least the plurality of packages 6 are mounted, and a control device 60 that controls the movement of the vehicle body 3. The control device 60 controls the movement of the vehicle body 3 towards the other vehicle bodies 3 if at least one of the plurality of packages 6 has an energy level equal to or greater than a threshold.

[0170] The agricultural machine (tractor 101a) comprises a prime mover 4, a plurality of packages 6 filled with energy to drive at least one of the working device 3 and the prime mover 4, a vehicle body 3 on which at least the plurality of packages 6 are mounted, and a communication device 45A. The communication device 45A transmits a signal indicating that if there is at least one package 6 whose energy is above a threshold, the package 6 can be passed to another vehicle body 3.

[0171] According to this, a package 6 with energy above a threshold can be transferred (given away) to another vehicle 3. In other words, the other vehicle 3 can replenish its energy without having to move to a predetermined exchange or charging location for the package 3.

[0172] The agricultural machine (tractor 101a) is equipped with a communication device 45A that transmits a signal indicating that if there is at least one package 6 whose energy is above a threshold, it can pass the package 6 to another vehicle 3. This allows the other vehicle 3 to easily understand that the package 6 whose energy is above a threshold will be given to the other vehicle 3.

[0173] When the communication device 45 of the agricultural machinery (tractor 101a) receives a request from another vehicle 3 to bring the package 6, the control device 60 controls the vehicle to move toward the other vehicle 3. As a result, the other vehicle 3 can receive the agricultural machinery (tractor 101a) package 6 simply by making a request.

[0174] The control device 60 extracts from among multiple package bodies 6 that have an energy level equal to or greater than a threshold, and if there are multiple extracted package bodies 6, it selects from among the multiple package bodies 6 that can be delivered to another vehicle body 3. This ensures that only the selected package body 6 from among the multiple package bodies 6 can be delivered to the other vehicle 3.

[0175] The control device 60 stops vehicle 3 when the distance between vehicle 3 and another vehicle 3 falls below a threshold. This allows an agricultural machine (tractor 101a) equipped with a package 6 whose energy is above a threshold and can be transferred to another vehicle 3 to be stopped at a position close to the other vehicle 3, and makes it easy to replace the package 6 around the stopping position.

[0176] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0177] 1: Tractor 2: Working equipment 3: Vehicle body (vehicle body) 4: Prime Engine 5: Transmission 5a: Propulsion shaft 5b: Main transmission unit 5c: Sub-transmission unit 5d: Shuttle section 5e: PTO power transmission unit 5f: Front gear shift section 6: Package 6A: First package 6B: Second package 6a1: Holder 6b1: Grip part 7: Running gear 7F: Front wheel 7R: Rear wheel 8: Lifting device 8a: Lift arm 8b: Lower Link 8c: Top Link 8d: Lift rod 8e: Lift cylinder 9: Cabin 10: Driver's seat 12: Shuttle axis 13: Forward / forward switching section 14:PTO propulsion shaft 15: PTO clutch 16: PTO shaft 17: First clutch 18: Second clutch 19: Mounting part 19a: Containment section 19b:Aperture 19c: Lid part 20F: Front differential unit 20R: Rear differential 21F: Front axle 21R: Rear axle 22: Front transmission shaft 25: First operating valve 26: Second operating valve 27: Control valve 29: Steering gear 30: Handle 31: Steering axis 32: Auxiliary mechanism 33: Hydraulic pump 34: Control valve 35: Steering Cylinder 40A: Positioning device 41: Receiving device 42: Inertial measuring device 43a: Shuttle lever 43b: Ignition switch 43c: PTO switch 43d: PTO shift lever 43e: Gear selector switch 43f: Gear shift lever 43g: Accelerator lever 43h: Hydraulic lever 43i: Operation selector switch 43j: Measurement sensor 43k: Measurement sensor 43l: Measurement sensor 44: Notification device 45A: Communication equipment 45B: Communication equipment 50:Display device 55: Register button 60: Control device 80: Field input section 81: Field Indication Section 82: Swivel width input section 83: Turn setting button 85: Route display section 86: Width input section 95: Pointer part 100: Management device 101: Agricultural machinery 101a: Tractor 101b: Implement 110: Task Creation Department 111: Working memory unit 120: External terminal 120A: Administrator terminal 120B: Worker terminal 120C: Driver terminal 120D: Center terminal 130: Operation switch 131: Work Settings Section 132: Date setting section 133: Field Setting Section 134: Time setting section 135: Operator setting section 136: Machine setting section 137:Spray material setting section 138: Spreading amount setting section 139: Register button 140: Period input section 141: Information display section A1: Turning area A2: Work area A3: Unit work area A5: Relay location G1: Edge G2: Edge G3: Edge G4: Edge Gi: edge H1: Field H10: Outline H11: Outline H2: Storage location H3: Distribution Center (Distribution Hub) J1: Area J2: Area J3: Area J4: Area Ji: Area K1: Driving trajectory K2: Contour K3: Contour L1: Planned route L1a: Straight route L1b: Turning route M1: Screen M10: Screen M11: Screen M12: Screen M15: Screen M30: Screen (device screen) M31: Screen MP1: Map MP2: Field Map N1: In-vehicle communication network P10: Point PH: Supply position (standby position) VP1: Vehicle position W1: Swivel width W2: Working width W3: Overlap width

Claims

1. The prime mover and Multiple packages filled with energy to drive at least one of the working device and the prime mover, A vehicle body equipped with at least the aforementioned multiple packages, A control device for controlling the movement of the vehicle body, Communication equipment and Equipped with, The control device is From the aforementioned plurality of packages, a filled package is extracted which has energy above a threshold and can be transferred to another vehicle body. If at least one of the filled packages is extracted, the vehicle body is controlled to move toward the other vehicle body. The communication device is an agricultural machine that transmits a signal indicating that if at least one of the filled packages has been extracted, the filled package can be passed to another vehicle.

2. The agricultural machine according to Claim 1, wherein when the communication device receives a request to bring the package from the other vehicle, the control device controls the movement toward the other vehicle.

3. The prime mover and Multiple packages filled with energy to drive at least one of the working device and the prime mover, A vehicle body equipped with at least the aforementioned multiple packages, Control device and Communication equipment and Equipped with, The control device extracts a filled package from among the plurality of packages, which is a package whose energy is above a threshold and can be transferred to another vehicle body. The communication device is an agricultural machine that transmits a signal indicating that if at least one of the filled packages has been extracted, the filled package can be passed to another vehicle.

Images