Patent Application
20240188475
The present disclosure relates to agricultural assistance systems and agricultural assistance methods.
Research and development has been directed to the automation of work vehicles such as tractors to be used in fields. For example, work vehicles which travel via automatic steering by utilizing a positioning system, e.g., a GNSS (Global Navigation Satellite System) that is capable of precise positioning, have come into practical use. Work vehicles which automatically perform not only automatic steering but also speed control have also come into practical use.
Japanese Laid-Open Patent Publication No. 2020-108407 and Japanese Laid-Open Patent Publication No. 2017-12134 each disclose a technique for achieving efficiency in agricultural work through cooperation of a plurality of work vehicles.
According to the techniques disclosed in Japanese Laid-Open Patent Publication No. 2020-108407 and Japanese Laid-Open Patent Publication No. 2017-12134, as a plurality of work vehicles cooperate to perform work in a field, the work can be efficiently carried out. However, even in this case, the work progress may lag behind the task schedule, assistance in agricultural work may be necessary.
Example embodiments of the present invention provide techniques for facilitating assistance with the agricultural work of an agricultural machine for a field.
The present specification discloses solutions as recited in the following Items.
An agricultural assistance system to assist with agricultural work with one or more agricultural machines, the agricultural assistance system including a controller configured or programmed to control an operation of the one or more agricultural machines, wherein in response to receiving from a terminal apparatus a signal requesting assistance in agricultural work for a field, the controller is configured or programmed to cause the one or more agricultural machines to move to the field to assist in the agricultural work for the field.
The agricultural assistance system of Item 1, wherein the controller is configured or programmed to control an operation of a first agricultural machine among the one or more agricultural machines; and while a second agricultural machine is performing agricultural work in the field, in response to receiving the signal from the terminal apparatus, cause the first agricultural machine to move to the field to assist in the agricultural work performed by the second agricultural machine.
The agricultural assistance system of Item 1, wherein the controller is configured or programmed to control an operation of each of a first agricultural machine and a second agricultural machine among the one or more agricultural machines; and in response to receiving the signal from the terminal apparatus, cause the first agricultural machine and the second agricultural machine to move to the field to assist in the agricultural work for the field.
The agricultural assistance system of Item 2, wherein, in response to receiving the signal from the terminal apparatus, the controller is configured or programmed to cause the first agricultural machine being stopped in a storage location to move to the field, and after the agricultural work for the field is finished, cause the first agricultural machine to move to the storage location.
The agricultural assistance system of Item 2, wherein, in response to receiving the signal from the terminal apparatus, the controller is configured or programmed to cause the first agricultural machine being stopped in a first storage location to move to the field, and after the agricultural work for the field is finished, cause the first agricultural machine to move to a second storage location that is distinct from the first storage location.
The agricultural assistance system of Item 5, wherein, in response to receiving the signal from the terminal apparatus, the controller is configured or programmed to cause the first agricultural machine being stopped in the first storage location to move to the field, and after the agricultural work for the field is finished, cause the first agricultural machine to move to the second storage location being at a shorter distance from the field than a distance from the field to the first storage location.
The agricultural assistance system of Item 2, wherein the controller is configured or programmed to control an operation of a third agricultural machine among the one or more agricultural machines; and cause the first or third agricultural machine to move to the field based on a relative positioning, at a time when the signal is received from the terminal apparatus, between: a place where the first agricultural machine is located; a place where the third agricultural machine is located; and the field.
The agricultural assistance system of Item 7, wherein, when the first agricultural machine is stopped in a first storage location and the third agricultural machine is stopped in a second storage location that is located at a distance from the field that is greater than a distance from the field to the first storage location, in response to receiving the signal from the terminal apparatus, the controller is configured or programmed to cause the first agricultural machine to move from the first storage location to the field.
The agricultural assistance system of Item 7, wherein when the third agricultural machine is stopped in a first storage location and the first agricultural machine is performing agricultural work in another field that is located at a distance from the field that is less than a distance from the field to the first storage location, in response to receiving the signal from the terminal apparatus, the controller is configured or programmed to cause the first agricultural machine to move from the other field to the field.
The agricultural assistance system of Item 7, wherein, when the first agricultural machine is performing agricultural work in another field that is distinct from the field and the third agricultural machine is performing agricultural work in still another field that is located at a distance from the field that is greater than a distance from the field to the other field, in response to receiving the signal from the terminal apparatus, the controller is configured or programmed to cause the first agricultural machine to move from the other field to the field.
The agricultural assistance system of Item 1, further including a storage; wherein the controller is configured or programmed to generate a work log including at least one piece of information among contents of work, a task time, and a type of agricultural machine for the agricultural work performed by the one or more agricultural machines in the field, and to record the work log in the storage.
The agricultural assistance system of Item 11, wherein the controller is configured or programmed to transmit data of the work log to the terminal apparatus.
The agricultural assistance system of Item 11, wherein the controller is configured or programmed to calculate a rent for the one or more agricultural machines based on the work log, and transmit billing information to the terminal apparatus.
The agricultural assistance system of Item 1, wherein the controller is configured or programmed to manage a schedule of agricultural work to be performed by the one or more agricultural machines.
The agricultural assistance system of Item 14, wherein, when the controller determines that the one or more agricultural machines are to move to the field in response to receiving the signal from the terminal apparatus, the controller is configured or programmed to update a schedule of agricultural work to be performed by the one or more agricultural machines.
An agricultural assistance system to assist with agricultural work with an agricultural machine, the agricultural assistance system including a controller configured or programmed to control an operation of each of a first agricultural machine and a second agricultural machine; wherein the controller is configured or programmed to manage a schedule of agricultural work to be performed by the second agricultural machine; and while the second agricultural machine is performing agricultural work for the field, if it is determined that the agricultural work by the second agricultural machine is behind the schedule, cause the first agricultural machine to move to the field to assist in the agricultural work performed by the second agricultural machine.
A computer-implemented agricultural assistance method to assist with agricultural work with one or more agricultural machines, the agricultural assistance method causing a computer to control an operation of the one or more agricultural machines; receive a signal requesting assistance in agricultural work for a field that is transmitted from a terminal apparatus; and when receiving the signal, cause the one or more agricultural machines to move to the field to assist in the agricultural work for the field.
A computer-implemented agricultural assistance method to assist with agricultural work with an agricultural machine, the agricultural assistance method causing a computer to control an operation of each of a first agricultural machine and a second agricultural machine; manage a schedule of agricultural work to be performed by the second agricultural machine; and while the second agricultural machine is performing agricultural work for the field, if it is determined that the agricultural work by the second agricultural machine is behind the schedule, cause the first agricultural machine to move to the field to assist in the agricultural work performed by the second agricultural machine.
General or specific aspects of various example embodiments of the present disclosure may be implemented using a device, a system, a method, an integrated circuit, a computer program, a non-transitory computer-readable storage medium, or any combination thereof. The non-transitory computer-readable storage medium may be inclusive of a volatile storage medium, or a non-volatile storage medium. The device may include a plurality of devices. In the case where the device includes two or more devices, the two or more devices may be provided within a single apparatus, or divided over two or more separate apparatuses.
According to example embodiments of the present disclosure, it is possible to facilitate assistance with the agricultural work of an agricultural machine for a field.
The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the example embodiments with reference to the attached drawings.
Hereinafter, example embodiments of the present disclosure will be described more specifically. Note however that unnecessarily detailed descriptions may be omitted. For example, detailed descriptions on what is well known in the art or redundant descriptions on what is substantially the same configuration may be omitted. This is to avoid lengthy description, and facilitate the understanding of those skilled in the art. The accompanying drawings and the following description, which are provided by the present inventors so that those skilled in the art can sufficiently understand the present disclosure, are not intended to limit the scope of claims. In the following description, component elements having identical or similar functions are denoted by identical reference numerals.
The following example embodiments are only exemplary, and the techniques according to the present disclosure are not limited to the following example embodiments. For example, numerical values, shapes, materials, steps, and orders of steps, layout of a display screen, etc., that are indicated in the following example embodiments are only exemplary, and admit of various modifications so long as it makes technological sense. Any one implementation may be combined with another so long as it makes technological sense to do so.
In the present disclosure, an “agricultural machine” means a machine for agricultural applications. Examples of agricultural machines include tractors, harvesters, rice transplanters, vehicles for crop management, vegetable transplanters, mowers, seeders, spreaders, and mobile robots for use in fields. Not only may a work vehicle (such as a tractor) function as an “agricultural machine” alone by itself, but also an implement that is attached to or towed by a work vehicle may together in combination with the work vehicle function as an “agricultural machine”. For the ground surface within a field, an agricultural machine performs agricultural work such as tilling, seeding, preventive pest control, manure spreading, planting of crops, or harvesting. Such agricultural work or tasks may be referred to simply as “work” or “tasks”.
In the present disclosure, “self-driving” means controlling the movement of an agricultural machine by the action of a controller, rather than through manual operations of a driver.
An agricultural machine that performs self-driving may be referred to as a “self-driving agricultural machine” or a “robotic agricultural machine”. During self-driving, not only the movement of the agricultural machine, but also the operation of agricultural work may also be controlled automatically. In the case where the agricultural machine is a vehicle-type machine, traveling of the agricultural machine via self-driving will be referred to as “self-traveling”. The controller may control at least one of: steering that is required in the movement of the agricultural machine; adjustment of the moving speed; and beginning and ending a move. In the case of controlling a work vehicle having an implement attached thereto, the controller may control operations such as raising or lowering of the implement, beginning and ending of an operation of the implement, and so on. A move based on self-driving may include not only moving of an agricultural machine that goes along a predetermined path toward a destination, but also moving of an agricultural machine that follows a target of tracking. An agricultural machine that performs self-driving may also have the function of moving partly based on the user's instructions. Moreover, an agricultural machine that performs self-driving may operate not only in a self-driving mode but also in a manual driving mode, where the agricultural machine moves through manual operations of the driver. When performed not manually but through the action of a controller, the steering of an agricultural machine will be referred to as “automatic steering”. A portion or an entirety of the controller may reside outside the agricultural machine. Control signals, commands, data, etc., may be communicated between the agricultural machine and a controller residing outside the agricultural machine. An agricultural machine that performs self-driving may move autonomously while sensing the surrounding environment, without any person being involved in the controlling of the movement of the agricultural machine. An agricultural machine that is capable of autonomous movement is able to travel within the field or outside the fields (e.g., on roads) in an unmanned manner. During an autonomous move, operations of detecting and avoiding obstacles may be performed.
An agricultural assistance system according to an example embodiment of the present disclosure is, in effect, realized as a computer system. The agricultural assistance system includes a controller configured or programmed to control an operation of one or more agricultural machines. By using the agricultural assistance system, the user is able to enjoy an agricultural work assistance service. Examples of agricultural work assistance services include agricultural machine sharing services. In response to receiving from a terminal apparatus a signal requesting assistance in agricultural work for a field, the controller is configured or programmed to cause the one or more agricultural machines to move to the field to assist in the agricultural work for the field. In the following description, a signal requesting assistance in agricultural work may be referred to as a “request signal”.
The controller may be a computer that includes one or more processors and one or more memories, for example. In that case, the processor may consecutively execute a computer program that is stored in the memory(s) to achieve a desired process. The controller may be mounted on the agricultural machine, or disposed at a place that is remote from the agricultural machine, e.g., at the home or the office of a user who monitors the agricultural machine or a management center that manages the agricultural machine. One of multiple electronic control units (ECU) that is mounted on the agricultural machine may function as the controller, or an ECU that is mounted on one of a plurality of agricultural machines may be designated as a master computer to function as the controller. Alternatively, an external server computer or an edge computer that communicates with the agricultural machine via a network may function as the controller. Furthermore, a terminal apparatus may function as the controller. Examples of terminal apparatuses include stationary type computers, smartphones, tablet computers, laptop computers, or the like.
A controller according to an aspect of an example embodiment of the present disclosure is configured or programmed to control an operation of a first agricultural machine among the one or more agricultural machines, and, while a second agricultural machine is performing agricultural work in a field, in response to receiving a request signal from a terminal apparatus that is used by the user, cause the first agricultural machine to move to the field to assist in the agricultural work performed by the second agricultural machine. Alternatively, the controller may be configured or programmed to control an operation of each of a first agricultural machine and a second agricultural machine among the one or more agricultural machines, and, in response to receiving a request signal from a terminal apparatus that is used by the user, cause the first agricultural machine and the second agricultural machine to move to the field to assist in the agricultural work for the field.
When an agricultural worker performs manual work in a field, or manually manipulates an agricultural machine to perform agricultural work, the progress of work may lag behind the initially-conceived task schedule. Even in the case where an agricultural machine performs agricultural work through unmanned self-driving in accordance with a task schedule that was made by an agricultural worker, the progress of work may lag behind the initially-conceived task schedule because of various factors, e.g., the field state, changing weather, deteriorations in the parts of the agricultural machine, or deteriorations of an implement. For example, tasks such as rice planting or harvesting need to be performed in an intensive manner over a short period of time, and delays in the task schedule are more likely to occur as the area of the field increases. Conventionally, when a delay in the task schedule occurs, for example, an administrator who manages the entirety of agricultural work (e.g., a farm owner) can communicate with one or more workers to request the worker(s) for assistance in the agricultural work. The requested worker(s) can assist in the agricultural work via manual work, or with an agricultural machine that the administrator possesses. However, assistance in the agricultural work may be requested to no more than the workers who are hired by the administrator, etc. Furthermore, because an agricultural machine is in the possession of an individual such as the administrator, when others wish to use that agricultural machine, permission needs to be obtained through negotiations, etc.
According to an example embodiment of the present disclosure, even if a delay in a task schedule occurs, assistance in the agricultural work can be received from an agricultural machine(s) to facilitate recovery from the lag. For example, a plurality of agricultural machines each belonging to a different owner may be connected to the agricultural assistance system, whereby sharing of an agricultural machine between different groups can be realized, etc. This allows an agricultural worker belonging to one group to request an agricultural machine belonging to another group to provide assistance in the agricultural work.
However, requests for assistance from the user are not limited to the case where a delay in the task schedule has occurred. The user may arbitrarily make a request for assistance in agricultural work, e.g., in order to accelerate the agricultural work to expedite the task schedule.
According to another aspect of an example embodiment of the present disclosure, while an agricultural worker is performing manual work in the field, in response to receiving a request signal from a terminal apparatus that is used by the agricultural worker, the controller may be configured or programmed to cause an agricultural machine to move to the field to assist in the manual work by the agricultural worker. In this example, too, recovery from the lag is facilitated by assistance in agricultural work by the agricultural machine.
According to still another aspect of an example embodiment of the present disclosure, the controller is configured or programmed to control the operation of each of the first agricultural machine and the second agricultural machine. The controller is configured or programmed to manage a schedule of agricultural work to be performed by the second agricultural machine, and, while the second agricultural machine is performing agricultural work for the field, if it is determined that the agricultural work by the second agricultural machine is behind the schedule, cause the first agricultural machine to move to the field to assist in the agricultural work performed by the second agricultural machine. According to this example, a technique for fully automating assistance in agricultural work for the field by a self-driving agricultural machine may be provided.
To the agricultural assistance system 1000, for example, a plurality of agricultural machines that are possessed by an administrator may be connected. Alternatively, a plurality of agricultural machines each belonging to a different administrator may be connected to the agricultural assistance system 1000.
The server 100 may be a computer that is disposed at a remote place from the agricultural machine 300. The server 100 includes a communicator 10, a controller 20, and a storage device 30. These component elements are connected to one another via a bus so as to be capable of communicating with another. The server 100 can be configured or programmed to function as a cloud server that processes request signals, manage a schedule of agricultural tasks to be performed by agricultural machines 300, and assist in agriculture by using data that is stored in a storage.
The communicator 10 is a communication module to communicate with the terminal apparatus 200 and the agricultural machines 300 via the network 60. For example, the communicator 10 is able to perform wired communications compliant with communication standards such as IEEE 1394 (registered trademark) or Ethernet (registered trademark). For example, the communicator 10 is able to perform wireless communications compliant with the Bluetooth (registered trademark) standards or the Wi-Fi standards, or 3G, 4G, 5G or other cellular mobile communications.
The controller 20 includes a processor 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, and the like, for example. Software (or firmware) for the processor 21 to perform at least one process may be implemented in the ROM 22. Such software may be recorded on a computer-readable storage medium, e.g., an optical disc, and marketed as packaged software, or provided to the user via the network 60.
The processor 21 is a semiconductor integrated circuit, and includes a central processing unit (CPU). The processor 21 may be realized as a microprocessor or microcontroller. The processor 21 consecutively executes a computer program stored in the ROM 22, in which instructions for executing at least one process are described, to realize desired processes.
In addition to or instead of the processor 21 the controller 20 may include an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an ASSP (Application Specific Standard Product) having a CPU mounted therein, or a combination of two or more circuits selected from among such circuits.
The ROM 22 is a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory, for example. The ROM 22 stores a program executable to control the operation of the processor 21. The ROM 22 may not be a single storage medium, but may be a set of storage media. A portion of the set of storage media may be removable memory.
The RAM 23 provides a work area into which the control program stored in the ROM 22 will be temporarily laid out during boot-up. The RAM 23 may not necessarily be a single storage medium, and may be a set of storage media.
The storage device 30 mainly functions as a storage for databases. An example of the storage device 30 is a cloud storage. The storage device 30 may be a magnetic storage device or a semiconductor storage device, for example. An example of a magnetic storage device is a hard disk drive (HDD). An example of a semiconductor storage device is a solid state drive (SSD). However, the storage device30 may be an external storage device that is connected to the server 100 via the network 60.
The terminal apparatus 200 includes an input device 210, a display device 220, a processor 230, a ROM 240, a RAM 250, a storage device 260, and a communicator 270. These component elements are connected to one another via a bus so as to be capable of communicating with another.
The input device 210 is a device that converts instructions from the user into data and inputs it to a computer. Examples of the input device 210 are a keyboard, a mouse, and a touchscreen panel. Examples of the display device 220 are a liquid crystal display and an organic EL display. The description of each of the processor 230, the ROM 240, the RAM 250, the storage device 260, and the communicator 270 has already been given in the hardware configuration example of the server 100, and is omitted.
As shown in
The agricultural machine 300 shown in
The agricultural machine 300 further includes the positioning device 130. The positioning device 130 includes a GNSS receiver. The GNSS receiver includes an antenna to receive a signal(s) from a GNSS satellite(s) and a processing circuit to determine the position of the agricultural machine 300 based on the signal(s) received by the antenna. The positioning device 130 receive a GNSS signal(s) transmitted from a GNSS satellite(s), and performs positioning on the basis of the GNSS signal(s). GNSS is a general term for satellite positioning systems, such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., MICHIBIKI), GLONASS, Galileo, BeiDou, and the like. Although the positioning device 130 in the present example embodiment is disposed above the cabin 105, it may be disposed at any other position.
The positioning device 130 may include an inertial measurement unit (IMU). It is possible to complement the position data by using a signal from the IMU. The IMU can measure tilts and minute motions of the agricultural machine 300. By complementing the position data based on satellite signals using the data acquired by the IMU, the positioning performance can be improved.
The agricultural machine 300 illustrated in
The positioning device 130 may utilize the data acquired by the cameras 155 or the LiDAR sensor 156 for positioning. When objects serving as characteristic points exist in the environment that is traveled by the agricultural machine 300, the position of the agricultural machine 300 can be estimated with a high accuracy based on data that is acquired with the cameras 155 or the LiDAR sensor 156 and an environment map that is previously recorded in the storage device. By correcting or complementing position data based on the satellite signal(s) using the data acquired by the cameras 155 or the LiDAR sensor 156, it becomes possible to identify the position of the agricultural machine 300 with a higher accuracy.
The agricultural machine 300 further includes a plurality of obstacle sensors 136. In the example shown in
The prime mover 102 may be a diesel engine, for example. Instead of a diesel engine, an electric motor may be used. The transmission 103 can change the propulsion and the moving speed of the agricultural machine 300 through a speed changing mechanism. The transmission 103 can also switch between forward travel and backward travel of the agricultural machine 300.
The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device to assist in the steering by the steering wheel. The front wheels 104F are the wheels responsible for steering, such that changing their angle of turn (also referred to as “steering angle”) can cause a change in the traveling direction of the agricultural machine 300. The steering angle of the front wheels 104F can be changed by manipulating the steering wheel. The power steering device includes a hydraulic device or an electric motor to supply an assisting force to change the steering angle of the front wheels 104F. When automatic steering is performed, under the control of a controller disposed in the agricultural machine 300, the steering angle may be automatically adjusted by the power of the hydraulic device or electric motor.
A linkage device 108 is provided at the rear of the vehicle body 101. The linkage device 108 may include, e.g., a three-point linkage (also referred to as a “three-point link” or a “three-point hitch”), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The linkage device 108 allows the implement 400 to be attached to or detached from the agricultural machine 300. While towing the implement 400, the agricultural machine 300 allows the implement 400 to perform a predetermined task. The linkage device 108 may be provided frontward of the vehicle body 101. In that case, the implement may be connected frontward of the agricultural machine 300.
Although the agricultural machine 300 illustrated in
The agricultural machine 300 illustrated in
In addition to the cameras 155, the positioning device 130, the obstacle sensors 136, and the operational terminal 153, the agricultural machine 300 in the example of
The positioning device 130 includes a GNSS receiver 131, and an inertial measurement unit 135. The control system 160 includes a storage device 170 and a controller 180. The controller 180 includes a plurality of electronic control units 181 to 185. Note that
The GNSS receiver 131 in the positioning device 130 receive satellite signals which are transmitted from multiple GNSS satellites, and generate GNSS data based on the satellite signals. The GNSS data may be generated in a predetermined format, such as the NMEA-0183 format, for example. The GNSS data may include values representing the identification number, angle of elevation, azimuth angle, and reception intensity of each satellite from which a satellite signal was received, for example.
The positioning device 130 shown in
Note that the positioning method is not limited to an RTK-GNSS. Any arbitrary positioning method (e.g., an interferometric positioning method or a relative positioning method) that provides positional information with the necessary accuracy can be used. For example, positioning may be performed by utilizing a VRS (Virtual Reference Station) or a DGPS (Differential Global Positioning System). In the case where positional information with the necessary accuracy can be obtained without the use of the correction signal transmitted from the reference station 80, positional information may be generated without using the correction signal. In that case, the positioning device 130 may lack the RTK receiver 137.
The positioning device 130 in the present example embodiment further includes an IMU 135. The IMU 135 includes a 3-axis accelerometer and a 3-axis gyroscope. The IMU 135 may include a direction sensor such as a 3-axis geomagnetic sensor. The IMU 135 functions as a motion sensor which can output signals representing parameters such as acceleration, velocity, displacement, and attitude of the agricultural machine 300. Based not only on the GNSS signals and the correction signal but also on a signal that is output from the IMU 135, the positioning device 130 can estimate the position and orientation of the agricultural machine 300 with a higher accuracy. The signal that is output from the IMU 135 may be used for the correction or complementation of the position that is calculated based on the satellite signals and the correction signal. The IMU 135 outputs a signal more frequently than does the GNSS receiver 131. Utilizing this highly frequent signal, the processing circuit 138 can measure the position and orientation of the agricultural machine 300 more frequently (e.g., about 10 Hz or above). Instead of the IMU 135, a 3-axis accelerometer and a 3-axis gyroscope may be separately provided. The IMU 135 may be provided as a separate device from the positioning device 130.
In the example of
The positional calculation may instead be performed by any device other than the positioning device 130. For example, the controller 180 or an external computer may acquire output data from the each receiver and each sensor as is required for positioning, and estimate the position of the agricultural machine 300 based on such data.
The cameras 155 are imagers that image the surrounding environment of the agricultural machine 300. Each camera 155 may include an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), for example. In addition, each camera 155 may include an optical system including one or more lenses and a signal processing circuit. During travel of the agricultural machine 300, the cameras 155 image the surrounding environment of the agricultural machine 300, and generate image (e.g., motion picture) data. The cameras 155 are able to capture motion pictures at a frame rate of 3 frames/second (fps: frames per second) or greater, for example. The images generated by the cameras 155 may be used when a remote supervisor checks the surrounding environment of the agricultural machine 300 with the terminal apparatus 200, for example. The images generated by the cameras 155 may also be used for the purpose of positioning or obstacle detection. As shown in
The obstacle sensors 136 detect objects around the agricultural machine 300. Each obstacle sensor 136 may include a laser scanner or an ultrasonic sonar, for example. When an object exists at a position closer to the obstacle sensor 136 than a predetermined distance, the obstacle sensor 136 outputs a signal indicating the presence of an obstacle. A plurality of obstacle sensors 136 may be provided at different positions of the agricultural machine 300. For example, a plurality of laser scanners and a plurality of ultrasonic sonars may be disposed at different positions of the agricultural machine 300. Providing a multitude of obstacle sensors 136 can reduce blind spots in monitoring obstacles around the agricultural machine 300.
The drive device 140 includes various devices that are needed for the traveling of the agricultural machine 300 and the driving of the implement 400, e.g., the aforementioned prime mover 102 and transmission 103, a differential including a locking differential mechanism, the steering device 106, and the linkage device 108, for example. The prime mover 102 may include an internal combustion engine such as a diesel engine. Instead of an internal combustion engine or in addition to an internal combustion engine, the drive device 140 may include an electric motor that is dedicated to traction purposes.
The steering wheel sensor 150 measures the angle of rotation of the steering wheel of the agricultural machine 300. The angle-of-turn sensor 151 measures the angle of turn of the front wheels 104F, which are the wheels responsible for steering. Measurement values by the steering wheel sensor 150 and the angle-of-turn sensor 151 are used for steering control by the controller 180.
The wheel axis sensor 152 measures the rotational speed, i.e., the number of revolutions per unit time, of a wheel axis that is connected to a tire 104. The wheel axis sensor 152 may be a sensor utilizing a magnetoresistive element (MR), a Hall generator, or an electromagnetic pickup, for example. The wheel axis sensor 152 may output a numerical value indicating the number of revolutions per minute (unit: rpm) of the wheel axis, for example. The wheel axis sensor 152 is used to measure the speed of the agricultural machine 300.
The storage device 170 includes one or more storage media such as a flash memory or a magnetic disc. The storage device 170 stores various data that is generated by the sensors and by the controller 180. In the storage device 170, an environment map including the inside of the field and any public roads outside the field and information of target paths are previously recorded. In the case where one or more of a plurality of ECUs included in the controller 180 function(s) as the controller 20 according to the present example embodiment, a schedule of agricultural tasks to be performed by the agricultural machine 300, data of a work log, billing information, and the like may be stored in the storage device 170, for example.
The controller 180 includes a plurality of ECUs. The plurality of ECUs may include, for example, an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for implement control, an ECU 184 for self-driving control, and an ECU 185 for path generation, for example. The ECU 181 controls the prime mover 102, the transmission 103, and the brakes included in the drive device 140, thus controlling the speed of the agricultural machine 300. The ECU 182 controls the hydraulic device or electric motor included in the steering device 106 based on a measurement value of the steering wheel sensor 150, thus controlling the steering of the agricultural machine 300. In order to cause the implement 400 to perform a desired operation, the ECU 183 controls the operation of the three-point link, the PTO shaft, etc., that are included in the linkage device 108. Also, the ECU 183 generates a signal to control the operation of the implement 400, and transmits this signal from the communication device 190 to the implement 400. Based on signals which are output from the positioning device 130, the steering wheel sensor 150, the angle-of-turn sensor 151, and the wheel axis sensor 152, the ECU 184 performs computation and control for achieving self-driving. During self-driving, the ECU 184 sends a speed command value to the ECU 181, and sends a steering angle command value to the ECU 182. In response to the speed command value, the ECU 181 controls the prime mover 102, the transmission 103, or the brakes to change the speed of the agricultural machine 300. In response to the steering angle command value, the ECU 182 controls the steering device 106 to change the steering angle. The ECU 185 controls communications of the communicator 190 with other devices. For example, the ECU 185 generates a target path for the agricultural machine 300, and records it to the storage device 170.
When the controller 20 of the server 100, upon receiving a request for assistance in agricultural work, determines that an agricultural machine 300 stopped in a storage location, for example, is to assist in the agricultural work for the field, the ECU 185 may receive the positional information of the field needing assistance that is transmitted from the controller 20, and generate a target path from the current point to the field needing assistance based on the received positional information, for example.
Through the action of these ECUs, the controller 180 achieves self-driving, determination of a target path, and communications with other devices. During self-driving, the controller 180 controls the drive device 140 based on the position of the agricultural machine 300 as measured or estimated by the positioning device 130 and the target path stored in the storage device 170. As a result, the controller 180 causes the agricultural machine 300 to travel along the target path.
The plurality of ECUs included in the controller 180 may communicate with one another according to a vehicle bus standard such as CAN (Controller Area Network). Although the ECUs 181 to 185 are illustrated as individual corresponding blocks in
The communication device 190 includes a circuit that performs communications with the communication IF of the implement 400. The communication device 190 includes circuitry to perform exchanges of signals complying with an ISOBUS standard such as ISOBUS-TIM, for example, between itself and the communication IF of the implement 400. This causes the implement 400 to perform a desired operation, or allows information to be acquired from the implement 400.
The operational terminal 153 is a terminal for the user to perform a manipulation related to the traveling of the agricultural machine 300 and the operation of the implement 400, and may also be referred to as a virtual terminal (VT). The operational terminal 153 may include a display device such as a touch screen panel, and/or one or more buttons. The display device may be a display such as a liquid crystal or an organic light-emitting diode (OLED), for example. By manipulating the operational terminal 153, the user can perform various manipulations, such as switching ON/OFF the self-driving mode, recording or editing an environment map, setting a target path, and switching ON/OFF the implement 400. At least some of these manipulations can also be realized by manipulating the operation switches 154. The operational terminal 153 may be configured so as to be detachable from the agricultural machine 300. A user who is remote from the agricultural machine 300 may manipulate the detached operational terminal 153 to control the operation of the agricultural machine 300. Instead of the operational terminal 153, the user may manipulate a computer on which necessary application software is installed, e.g., the terminal apparatus 200, to control the operation of the agricultural machine 300. The operational terminal 153 can also be used as a terminal apparatus to transmit a request signal to the server 100.
First, an example operation of self-traveling by the agricultural machine 300 will be described.
Next, an example control by the controller 180 during self-driving will be described.
In the example shown in
Hereinafter, with reference to
As shown in
As shown in
As shown in
As shown in
For the steering control and speed control of the agricultural machine 300, control techniques such as PID control or MPC (Model Predictive Control) may be applied. Applying these control techniques will achieve smoothness of the control of bringing the agricultural machine 300 closer to the target path P.
Note that, when an obstacle is detected by one or more obstacle sensors 136 during travel, the controller 180 halts the agricultural machine 300. Alternatively, when an obstacle is detected, the controller 180 may control the drive device 140 so as to avoid the obstacle. The controller 180 may also detect objects (e.g., other vehicles, pedestrians, etc.) that are located at relatively distant positions from the agricultural machine 300, based on the sensor data which is output from the LiDAR sensor 156. By performing speed control and steering control so as to avoid the detected objects, the controller 180 achieves self-traveling on public roads.
In the present example embodiment, the agricultural machine 300 is able to automatically travel inside the field and outside the field in an unmanned manner.
An agricultural machine 300 according to the present example embodiment automatically performs movement between fields and the agricultural task for each field, in accordance with a task schedule that is recorded in a storage device that is mounted on the agricultural machine 300. The task schedule includes information on a plurality of agricultural tasks to be performed over a number of work days. Specifically, the task schedule may be a database that includes information indicating which agricultural task is to be performed by which agricultural machine at which point of time and in which field for each work day. Based on information that is input by the user by using the terminal apparatus 200, the task schedule may be generated by the processor 21 of the server 100. Hereinafter, an example method of generating the task schedule will be described.
In the date setting section 762, a date that has been input with the input device 210 is displayed. The input date is set as a date for performing the agricultural task.
In the planting plan selecting section 763, a list of names of planting plans that was previously created is displayed. The user can select a desired planting plan from this list. The planting plan is previously generated for each kind or cultivar of crop, and recorded in the storage device 30 of the server 100. The planting plan is a plan as to which crop is to be planted in which field. The planting plan is made by an administrator who manages the plurality of fields, etc., prior to planting a crop in a field. The field is a partitioned agricultural field in which crops are to be planted (i.e., grown). In the example of
In the field selecting section 764, fields in the environment map are displayed. The user can select any field from among the displayed fields. In the example of
In the task selecting section 765, a plurality of agricultural tasks that are needed in order to cultivate the selected crop are displayed. The user can select one of the plurality of agricultural tasks. In the example of
In the worker selecting section 766, previously-registered workers are displayed. The user can select one or more workers from among the plurality of displayed workers. In the example of
In the time setting section 767, a task time that is input via the input device 210 is displayed. The task time is designated by a start time and an end time. The input task time is set as a scheduled time at which the agricultural task is to be performed.
The machine selecting section 768 sets the agricultural machine to be used for the given agricultural task. In the machine selecting section 768, for example, the IDs (identification information) and types or models of the agricultural machines which have been previously registered by the server 100, types or models of usable implements, etc., may be displayed. The user can select a specific machine from among the indicated machines. In the example of
In the fertilizer selecting section 769, names of a plurality of fertilizers which have been previously registered by the server 100 may be displayed. The user can select a specific fertilizer from among the indicated plurality of fertilizers. The selected fertilizer is set as the fertilizer to be used for the given agricultural task.
In the application amount setting section 770, a numerical value that is input via the input device 210 is displayed. The input numerical value is set as an application amount.
Once a planting plan, a field, an agricultural task, a worker, a task time, a fertilizer, and an application amount are input in the setting screen 760 and “SET” is selected, the communicator 270 of the terminal apparatus 200 transmits the input information to the server 100. The processor 21 of the server 100 stores the received information to the storage device 30. Based on the received information, the processor 21 generates a schedule of agricultural tasks to be performed by each agricultural machine, and stores it to the storage device 30.
Note that the information of agricultural tasks to be managed by the server 100 is not limited to what is described above. For example, an ability to set the kind and application amount of an agrochemical to be used for the field on the setting screen 760 may be provided. An ability to set information on agricultural tasks other than the agricultural task shown in
An agricultural assistance method according to the present example embodiment is implemented in the controller 20 of the server 100.
Next, with reference to
The first agricultural machine 300A and the second agricultural machine 300B according to the present example embodiment refer to a task schedule that is transmitted from the server 100, and move from a storage location to a field that is indicated in the task schedule, for example. The first agricultural machine 300A and the second agricultural machine 300B travel via self-driving on a road from the storage location to the field, and also automatically perform work within the field. Note that the first agricultural machine 300A and the second agricultural machine 300B may move via manual driving from the storage location to the field, and perform their work in the field via manual operation of the driver.
Each of
In the case where the first agricultural machine 300A and the second agricultural machine 300B each perform self-driving, a target path for moving to the field and/or a target path for performing agricultural work while moving within the field may be generated manually or automatically before self-driving is begun. Once the target path is determined, the first agricultural machine 300A and the second agricultural machine 300B each automatically travel along the target path. In a storage device that is included in the control system internal to the agricultural machine 300, an environment map including the inside of the field and any public roads outside the field and information of target paths are previously recorded. In the case where the agricultural machine 300 travels along a public road, the agricultural machine 300 may travel along the target path while sensing the surroundings by using sensing devices such as the cameras and the LiDAR sensor, with the implement raised.
In the example shown in
First, a first request signal is transmitted from the operational terminal 153 of the second agricultural machine 300B to the controller 20. The first request signal includes positional information of the second agricultural machine 300B, which has requested assistance in agricultural work.
By referring to positional information of the second agricultural machine 300B and an environment map that is stored in the storage device 30, the controller 20 identifies the field F1 in which the second agricultural machine 300B is located. Moreover, by referring to the task schedule, the controller 20 determines an agricultural machine to provide work assistance from among one or more agricultural machines 300 which are stopped in the storage location 510, for example.
For example, in response to receiving a first request signal from the operational terminal 153, by referring to the environment map, the controller 20 identifies the position of the field F1 from the positional information of the second agricultural machine 300B, on which the operational terminal 153 having transmitted the first request signal is mounted. Moreover, by referring to the task schedule, the controller 20 determines an agricultural machine that is not performing any agricultural work when receiving the first request signal, e.g., the first agricultural machine 300A stopped in the storage location 510, as an agricultural machine to provide work assistance. From among a plurality of agricultural machines 300 stopped in the storage location 510, for example, the controller 20 can determine an agricultural machine that is suited for the work for the field F1 or an agricultural machine having attached thereto an implement that is suited to the work for the field F1, based on information included in the task schedule that is needed for assistance concerning the type of the agricultural machine or the item of agricultural work.
In response to the first request signal, the controller 20 transmits to the controller 180A a second request signal including a command for the first agricultural machine 300A to move to the field F1, in which the second agricultural machine 300B is located. For example, the controller 20 transmits a second request signal including the positional information of the field F1to the controller 180A of the first agricultural machine 300A being stopped in the storage location 510.
Upon determining an agricultural machine to provide work assistance, the controller 20 notifies the second agricultural machine 300B that an agricultural machine to provide work assistance has been determined.
The second agricultural machine 300B is performing agricultural work while self-traveling within the field F1 along the target path R2a, until the target path R2a is changed. Upon receiving the notification from the controller 20, the controller 180B changes the target path needed for the self-driving of the second agricultural machine 300B in the field F1. Upon receiving the notification from the controller 20, the controller 180B changes the target path R2a in the field F1 to the target path R2b.
As shown in
Upon receiving the second request signal, the controller 180A begins a control to cause the first agricultural machine 300A to move to the field F1. Upon receiving the second request signal from the controller 20, the controller 180A generates a target path R1 for the first agricultural machine 300A to perform agricultural work in the field F1 needing assistance.
The controller 180A may acquire the target path R2a of the second agricultural machine 300B via the server 100, and generate the target path R1 by utilizing the target path R2a. The controller 180A may generate the target path R1 by setting the end point EN2 of the target path R2a as the start point ST1 of the target path R1 and setting an arbitrary point on the target path R2a as the end point EN1 of the target path R1. The controller 180A also generates a target path for moving between the storage location 510 and the field F1.
The controller 180A causes the first agricultural machine 300A to perform self-traveling along the target path R1. As the first agricultural machine 300A arrives at the start point ST1, the controller 180A activates the implement to cause the first agricultural machine 300A to begin work from the start point ST1. By controlling the operation of the steering device 106 and the like, the controller 180A causes the first agricultural machine 300A to work while automatically traveling in traveling directions along the target path R1.
The controller 180B causes the second agricultural machine 300B to perform self-traveling along the target path R2b. By controlling the operation of the steering device 106 and the like, the controller 180B causes the second agricultural machine 300B to work while automatically traveling in traveling directions along the target path R2b.
Thus, once generation of the target paths R2b and R1 in the field F1 is completed, the second agricultural machine 300B performs work while self-driving along the target path R2b, and the first agricultural machine 300A moves from the storage location 510 to the field F1 and thereafter performs work while self-driving along the target path R1.
In the above-described example operation, it is via the server 100 that the controller 180A receives the second request signal transmitted from the controller 20 in response to the first request signal transmitted from the operational terminal 153. However, the controller 180A may directly receive the first request signal from the operational terminal 153, rather than via the server 100. In this case, upon receiving the first request signal from the operational terminal 153, by referring to the environment map, the controller 180A may identify the position of the field F1 from positional information of the second agricultural machine 300B, on which the operational terminal 153 having transmitted the first request signal is mounted. Upon receiving the first request signal, the controller 180A begins the control to cause the first agricultural machine 300A to move to the field F1. Moreover, as mentioned above, the controller 180B changes the target path needed for the self-driving of the second agricultural machine 300B in the field F1.
In the above-described example operation, each of the controller 180A and the controller 180B generates a target path by itself after receiving the second request signal and the notification from the controller 20. However, the present disclosure is not limited thereto. For example, after receiving the first request signal from the controller 180, the controller 20 may generate target paths R1 and R2b for the first agricultural machine 300A and the second agricultural machine 300B, and transmit the generated target paths R1 and R2b to the controller 180A and the controller 180B, respectively. Moreover, the first request signal is illustrated as being transmitted from the operational terminal 153 mounted in the agricultural machine 300. Alternatively, the first request signal may be transmitted from the terminal apparatus 200 which is used by an administrator or the like.
With reference to
By using the terminal apparatus 200, the administrator 70 may monitor the second agricultural machine 300B from within the field F1 or from the neighborhood of the field F1. When managing the progress of work of the second agricultural machine 300B, the administrator 70 can easily confirm whether any delay in work has occurred or not from the progress of work indication displayed on the terminal apparatus 200, for example.
The progress of work indication 201 in the example shown in
After the agricultural work for the field F1 is finished, as positional information of a destination, the controller 20 transmits to the first agricultural machine 300A the positional information of the original storage location 510, and commands the first agricultural machine 300A to return to the storage location 510. In accordance with this command, the controller 180A may cause the first agricultural machine 300A to move to the storage location 510.
The controller 20 may calculate a rent for the agricultural machine 300 based on the work log, and transmit billing information that includes the rent to the terminal apparatus 200 of administrator M1. By displaying the billing information 202 illustrated in
As shown in
As shown in
As shown in
In response to receiving a first request signal from the terminal apparatus 200, the controller 20 in the present example embodiment transmits a second request signal requesting the first agricultural machine 300A and the third agricultural machine 300C, which are able to move to the field F1, to assist in the work for the field F1. By performing agricultural work of the same content, the agricultural machines 300A to 300C can accelerate the work in the field F1.
Each of
In response to receiving a first request signal from the terminal apparatus 200, the controller 20 transmits a second request signal requesting assistance in the field F1 to the first agricultural machine 300A being stopped in the first storage location 510A. As illustrated in
In response to receiving a first request signal from the terminal apparatus 200, the controller 20 may transmit to the controller 180A a second request signal to cause the first agricultural machine 300A being stopped in the first storage location 510A to move to the field F1. After the agricultural work in the field F1 is finished, the first agricultural machine 300A may move to the second storage location 510B. In this example, the distance from the field F1 to the second storage location 510B is shorter than the distance from the field F1 to the first storage location 510A. When the first agricultural machine 300 has finished work in the field F1, if there is any storing space left in the second storage location 510B, the controller 20 may cause the first agricultural machine 300 to move to the second storage location 510B. Under such control, the time needed for the agricultural machine 300 to return to the storage location can be reduced.
For each field, the storage device 30 of the server 100 may previously store data of plot polygons having spatial information representing its position on the globe (i.e., geographic coordinates) and its shape as well as attribute information. “Plot polygons” are plot information of a field that is generated from plot to plot based on aerial photographs or satellite images, etc., so as to follow the shape of the field. “Geographic coordinates” mean a position in a geographic coordinate system that expresses any position on the globe in terms of latitude and longitude, or in a projected coordinate system obtained by projecting three-dimensional coordinates on the globe onto a two-dimensional plane and expressing any position on the globe in terms of XY coordinates. For example, based on plot polygons, the controller 20 may determine the coordinates in the geographic coordinate system of each vertex defining the shape of a field region or a storage location, and calculate the barycentric coordinates of the shape of a field region or a storage location based on the determined coordinates. The controller 20 can calculate a distance from a field to another field, or a distance from a field to a storage location, as a Euclidean distance or a Manhattan distance between two barycentric coordinate points, for example.
The controller 20 according to the present example embodiment may transmit a second request signal, as an instruction of a movement to the field F1, to the first agricultural machine 300A or the third agricultural machine 300C as was determined based on the relative positioning, at the time when a first request signal is received, between: the place where the first agricultural machine 300A is located; the place where the third agricultural machine 300C is located; and the field F1.
In this example, one or more agricultural machines 300 are stopped in each of the first storage location 510A and the second storage location 510B. The distance from the field F1 to the second storage location 510B is longer than the distance from the field F1 to the first storage location 510A. In this case, when the first agricultural machine 300A is stopped in the first storage location 510A and the third agricultural machine 300C is stopped in the second storage location 510B, in response to receiving a first request signal from the terminal apparatus 200, the controller 20 may determine the first agricultural machine 300A as an agricultural machine to be moved to the field F1 needing assistance.
Each of
In this example, the distance from the field F1 to the field F2 is shorter than the distance from the field F1 to the storage location 510. In this case, when the third agricultural machine 300C is stopped in the storage location 510 and the first agricultural machine 300A is performing agricultural work in the field F2, in response to receiving a first request signal from the terminal apparatus 200, the controller 20 may determine the first agricultural machine 300A as an agricultural machine to be moved to the field F1 needing assistance.
After the first agricultural machine 300A has finished work in the field F1, the controller 20 commands the controller 180A to move the first agricultural machine 300A from the field F2 to the field F1. In accordance with this command, the controller 180A causes the first agricultural machine 300A to move to the field F1. The control in this example is effective in the case where, as compared to causing an agricultural machine that is stopped in a storage location to move to the field, it is a quicker way of beginning assistance in the agricultural work to cause an agricultural machine that is about to finish work in another field to move to the field after finishing work; or where it is a quicker way of beginning assistance in the agricultural work to cause an agricultural machine that has finished work earlier than is scheduled to move to the field, etc., for example.
As is illustrated in
In this example, there is no agricultural machine 300 that is stopped in the storage location 510. The distance from the field F3 to the field F1 is longer than the distance from the field F1 to the field F2. In this case, when the first agricultural machine 300A is performing agricultural work in the field F2 and the third agricultural machine 300C is performing agricultural work in the field F3, in response to receiving a first request signal from the terminal apparatus 200, the controller 20 commands the controller 180A to move the first agricultural machine 300A from the field F2 to the field F1. In accordance with this command, the controller 180 causes the first agricultural machine 300A to move to the field F1. Preferably, the controller 20 designates the field F1 to be the destination of the first agricultural machine 300A after the first agricultural machine 300A has finished work in the field F2. The control in this example is effective in the case where all agricultural machines that were stopped in a storage location have gone out in response to requests for assistance in agricultural work.
In the aforementioned examples, when a request for assistance is made from the terminal apparatus or the operational terminal, the controller in the agricultural machine performs self-driving control to cause one or more agricultural machines to move to a field. Alternatively, however, the controller of the server may perform self-driving control to cause one or more agricultural machines to move to a field when a request for assistance is made from the terminal apparatus or the operational terminal. In this case, through remote manipulations at the server, self-driving of the agricultural machine may be achieved.
A system that provides various functions according to example embodiments can be mounted on an agricultural machine lacking such functions as an add-on. Such a system may be manufactured and sold independently from the agricultural machine. A computer program for use in such a system may also be manufactured and sold independently from the agricultural machine. The computer program may be provided in a form stored in a non-transitory computer-readable, non-transitory storage medium, for example. The computer program may also be provided through downloading via telecommunication lines (e.g., the Internet).
A system that provides various functions according to example embodiments can be mounted on an agricultural machine lacking such functions as an add-on. Such a system may be manufactured and sold independently from the agricultural machine. A computer program for use in such a system may also be manufactured and sold independently from the agricultural machine. The computer program may be provided in a form stored in a computer-readable, non-transitory storage medium, for example. The computer program may also be provided through downloading via telecommunication lines (e.g., the Internet).
While example embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-125843 | Jul 2021 | JP | national |
This application claims the benefit of priority to Japanese Patent Application No. 2021-125843 filed on Jul. 30, 2021 and is a Continuation Application of PCT Application No. PCT/JP2022/013221 filed on Mar. 22, 2022. The entire contents of each application are hereby incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2022/013221 | Mar 2022 | WO |
| Child | 18426125 | US |
