| CPC G05D 1/0212 (2013.01) [G05D 1/0011 (2013.01); G05D 1/0088 (2013.01)] | 11 Claims |
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1. An agricultural support system comprising:
a controller configured or programmed to control an operation of an agricultural machine so that the agricultural machine moves along a travel route, the agricultural machine being self-driving;
a storage to store an already-worked area in which agricultural work has been performed by the agricultural machine;
a terminal to hail the agricultural machine to a hailing point; and
a processor to generate, based on a positional information of the hailing point and the already-worked area stored in the storage, in an area excluding the already-worked area of the agricultural machine, the travel route for the agricultural machine to head toward the hailing point; wherein
the terminal is configured to transmit a hailing signal including the positional information of the hailing point to the processor; and
the processor is configured or programmed to:
control the agricultural machine to move along a target path that includes a plurality of parallel main paths and one or more turning paths interconnecting the plurality of parallel main paths; and
if a hailing call is received from the terminal while the agricultural machine is moving along one of the plurality of parallel main paths and if the already-worked area exists between a position of the agricultural machine when receiving the hailing call and the hailing point, determine as the travel route a shorter one of: (1) a path that, after going straight along the one of the plurality of parallel main paths from the position of the agricultural machine, leads toward the hailing point along an outer periphery of the already-worked area, and (2) a path that turns from the position of the agricultural machine toward an opposite side of the already-worked area, goes straight in an opposite direction, and thereafter leads toward the hailing point along the outer periphery of the already-worked area.
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