# US 12,599,054 B2 · Agricultural work assistance system, agricultural machine, and agricultural work assistance device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,599,054 B2 - Document ID: US12599054B2 - Status: Granted - Kind: B2 - Application number: 18/743,192 - Filed: 2024-06-14 - Published: 2024-10-10 - Granted: 2026-04-14 - Earliest claimed: 2021-12-28 - Assignees: Kubota Corporation - Applicants: Kubota Corporation - Inventors: Ryo Kuboshima; Takanori Morimoto; Ken Sakuta; Kanta Nakaguchi; Binyi Wu - Web page: https://patentgrep.com/patent/US12599054B2 ## CPC - A01B 69/008: {automatic} - A01B 69/00: Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track - A01B 76/00: Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00 - B60K 35/22: Display screens - B60Q 9/00: Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} - G05D 1/2246: {displaying a map of the environment} - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G05D 1/648: Performing a task within a working area or space, e.g. cleaning - G05D 1/6484: {by taking into account parameters or characteristics of the working area or space, e.g. size or shape} - G05D 1/6987: {by centralised control off-board any of the vehicles} - B60K 2360/166: Navigation - G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry - G05D 2107/21: {Farming, e.g. fields, pastures or barns} - G05D 2109/10: Land vehicles - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An agricultural work assistance system includes an input to input dimension information of a working device coupled to an agricultural machine and a work condition for performing agricultural work on an agricultural field by the agricultural machine and the working device, a route creator to create a traveling route of the agricultural machine on a map indicative of the agricultural field on the basis of the dimension information of the working device and the work condition, an output to output the traveling route, and a dimension determiner to receive the dimension information of the working device input by the input, determine whether the dimension information satisfies a predetermined restriction condition according to a kind of agricultural work performed by the working device, and refuse to receive the dimension information in a case where it is determined that the dimension information does not satisfy the restriction condition. ## Claims ### Claim 1 An agricultural work assistance system comprising: a controller including a processor and a memory; a touch panel connected to the controller; and a positioning system connected to the controller to detect a position of an agricultural machine; wherein the controller is configured or programmed to: cause the memory to store dimension information input by an operator via the touch panel, indicating an entire width, a work width, an entire length, and a work end position at which a working device ends the ground work from a coupling position of the working device coupled to the agricultural machine and a work condition for performing agricultural work on an agricultural field by the agricultural machine and the working device; create a traveling route of the agricultural machine on a map indicative of the agricultural field on a basis of the dimension information of the working device and the work condition; determine whether or not the working device or the agricultural machine has crossed a boundary out of the agricultural field on a basis of the position of the agricultural machine, the map, the dimension information of the working device, and dimension information of the agricultural machine; stop traveling of the agricultural machine based on the traveling route when it is determined that the working device or the agricultural machine has crossed the boundary out of the agricultural field; determine that the dimension information of the working device input by the operator via the touch panel does not satisfy a predetermined restriction condition when the entire width is less than the work width or when the entire length is less than a length to the work end position, with the agricultural work performed by the working device including either one of a cultivation work, a puddling work, or a stubble cultivation work; and delete the dimension information of the working device from the memory to prevent creation of the traveling route of the agricultural machine and determination of whether or not the working device or the agricultural machine has crossed the boundary out of the agricultural field in a case where it is determined that the dimension information does not satisfy the restriction condition. ### Claim 2 (depends on 1) The agricultural work assistance system according to claim 1, wherein the controller is configured or programmed to prevent the creation of the traveling route based on the dimension information input by the operator via the touch panel and the determination of whether or not the working device or the agricultural machine has crossed the boundary out of the agricultural field by deleting the dimension information of the working device from the memory. ### Claim 3 (depends on 1) The agricultural work assistance system according to claim 1, wherein the controller is configured or programmed to, in a case where the controller determines that the dimension information of the working device satisfies the restriction condition, create the traveling route on a basis of the dimension information, and output the traveling route via the touch panel. ### Claim 4 (depends on 1) The agricultural work assistance system according to claim 1, wherein the controller is configured or programmed to, in a case where the controller determines that the dimension information of the working device does not satisfy the restriction condition, provide a notification about a result of the determination via the touch panel. ### Claim 5 (depends on 4) The agricultural work assistance system according to claim 4, wherein in a case where the controller determines that the dimension information of the working device does not satisfy the restriction condition, the controller is configured or programmed to provide the operator with a notification prompting change of the dimension information via the touch panel. ### Claim 6 An agricultural machine comprising: a traveling body that is capable of traveling; a coupler that is capable of coupling a working device to the traveling body; a controller including a processor and a memory; a touch panel connected to the controller; and a positioning system connected to the controller to detect a position of traveling body; wherein the controller is configured or programmed to: cause the memory to store dimension information input by an operator via the touch panel, indicating an entire width, a work width, an entire length, and a work end position at which the working device ends the ground work from a coupling position of the working device coupled to the traveling body and a work condition for performing agricultural work on an agricultural field by the agricultural machine and the working device; create a traveling route of the traveling body on a map indicative of the agricultural field on a basis of the dimension information of the working device and the work condition; determine whether or not the working device or the agricultural machine has crossed a boundary out of the agricultural field on a basis of the position of the agricultural machine, the map, the dimension information of the working device, and dimension information of the agricultural machine; stop traveling of the agricultural machine based on the traveling route when it is determined that the working device or the agricultural machine has crossed the boundary out of the agricultural field; determine that the dimension information of the working device input by the operator via the touch panel does not satisfy a predetermined restriction condition when the entire width is less than the work width or when the entire length is less than a length to the work end position, with the agricultural work performed by the working device including either one of a cultivation work, a puddling work, or a stubble cultivation work; and delete the dimension information of the working device from the memory to prevent creation of the traveling route of the agricultural machine and determination of whether or not the working device or the agricultural machine has crossed the boundary out of the agricultural field in a case where it is determined that the dimension information does not satisfy the restriction condition. ### Claim 7 An agricultural work assistance device comprising: a controller including a processor and a memory; a touch panel connected to the controller; and a positioning system connected to the controller to detect a position of an agricultural machine; wherein the controller is configured or programmed to: cause the memory to store dimension information input by an operator via the touch panel, indicating an entire width, a work width, an entire length, and a work end position at which a working device ends the ground work from a coupling position of the working device coupled to the agricultural machine and a work condition for performing agricultural work on an agricultural field by the agricultural machine and the working device; create a traveling route of the agricultural machine on a map indicative of the agricultural field on a basis of the dimension information of the working device and the work condition; determine whether or not the working device or the agricultural machine has crossed a boundary out of the agricultural field on a basis of the position of the agricultural machine, the map, the dimension information of the working device, and dimension information of the agricultural machine; stop traveling of the agricultural machine based on the traveling route when it is determined that the working device or the agricultural machine has crossed the boundary out of the agricultural field; determine that the dimension information of the working device input by the operator via the touch panel does not satisfy a predetermined restriction condition when the entire width is less than the work width or when the entire length is less than a length to the work end position, with the agricultural work performed by the working device including either one of a cultivation work, a puddling work, or a stubble cultivation work; and delete the dimension information of the working device from the memory to prevent creation of the traveling route of the agricultural machine and determination of whether or not the working device or the agricultural machine has crossed the boundary out of the agricultural field in a case where it is determined that the dimension information does not satisfy the restriction condition.