JP6860640B2 - Route generation system - Google Patents

Description

The present invention relates to a route generation system that generates a scheduled work route for autonomously working an autonomous traveling work vehicle.

The route generation system as described above generates a planned work route in a work target area such as a field, and autonomously works a traveling work vehicle along the generated planned work route to work in the work target area. (For example, refer to Patent Document 1).

Japanese Unexamined Patent Publication No. 9-128045

In the work target area, there is a case where it is desired to increase the number of work vehicles while working with a traveling work vehicle. For example, when there is a traveling work vehicle for which work has been completed in another work target area, it is desired to increase the number of traveling work vehicles by adding the traveling work vehicle.

However, in the system described in Patent Document 1, the planned work route is only generated in the work target area. Therefore, when changing the number of work vehicles, the planned work route must be generated from the beginning. However, the generation work becomes inefficient and complicated.

In view of this situation, the main problem of the present invention is a route generation system capable of efficiently and easily generating a route for operating a traveling work vehicle even when the number of work vehicles is changed during work or the like. Is in the point of providing.

The present invention includes a work mode setting unit that sets a work mode in a specific work area by a work vehicle including at least one autonomous traveling work vehicle.
A route generation unit that generates a planned work route for the autonomous traveling work vehicle to perform autonomous work according to the work mode set by the work mode setting unit.
It is provided with a work vehicle number change reception unit that receives a change in the number of work vehicles that perform work in the specific work area.
The work mode setting unit changes the work mode according to the number of work vehicles received by the work vehicle number change reception unit.
The route generation unit sets other work routes among the planned work routes, excluding the work route in which the work is performed according to the work mode before the change, according to the work mode after the change and the number of work vehicles after the change. Therefore, it is preferable to replace the autonomous traveling work vehicle with one or more correction work routes including the first correction work route for autonomous work.

According to this configuration, when the number of work vehicles is changed during work, the change in the number of work vehicles is accepted by the work vehicle number change reception unit, and the work mode setting unit is used by the work vehicle number change reception unit. The work mode is changed according to the number of work vehicles accepted. Then, the route generation unit does not generate a planned work route from the beginning according to the work mode after the change and the number of work vehicles after the change, but excludes the work route in which the work is performed according to the work mode before the change. Replace other work routes with modified work routes. As a result, the route generation unit only needs to replace other work routes with modified work routes, and can efficiently and easily generate a route for autonomously working the autonomous traveling work vehicle.

In the present invention, the route generation unit identifies a first end portion where the work start position of the scheduled work route is located and a second end portion where the work end position of the scheduled work route is located in the work area. However, it is preferable to set the work start position in the first correction work path to the first end and set the work end position in the first correction work path to the second end.

According to this configuration, when the route generation unit replaces another work route in the planned work route with the correction work route, the work start position of the planned work route and the work start position of the first correction work route are the same. It can be set at the first end, and the work end position of the planned work path and the work end position of the first correction work path can be set at the same second end. As a result, it is possible to easily replace the other work route with the modified work route, and it is possible to more efficiently generate a route for autonomously working the autonomous traveling work vehicle.

Moreover, since the planned work route usually sets the work start position and the work end position in consideration of the entrance and exit of the work vehicle to the work area, the work vehicle to the work area can be replaced with the modified work route. The work start position and work end position of the first correction work route can be set while considering the doorway. Therefore, even after the number of work vehicles is changed, the work vehicles can easily enter and exit the work area.

The present invention includes an area setting unit for setting the work area and an outer peripheral area set around the work area in the field.
When the increase in the number of work vehicles is received by the change reception unit for changing the number of work vehicles, the area setting unit determines the ratio of the outer peripheral area in the field according to the work width of other work vehicles related to the increase. While it is possible to increase the number, it is preferable to maintain the ratio occupied by the outer peripheral region in the field when the decrease in the number of work vehicles is received by the work vehicle number change reception unit.

When increasing the number of work vehicles, if the work width of the other work vehicle related to the increase is larger than the work width of the work vehicle before the increase, for example, when turning the work vehicle in the outer peripheral region, the work vehicle It is necessary to secure a larger turning radius than before the increase in the number of vehicles. Therefore, when the increase in the number of work vehicles is received by the work vehicle number change reception unit, the area setting unit increases the ratio of the outer peripheral area in the field according to the work width of other work vehicles related to the increase. It is possible. Therefore, the other work vehicle related to the increase can be appropriately turned in the outer peripheral region, and the work vehicle before the increase as well as the other work vehicle related to the increase can be appropriately autonomously worked.

On the contrary, when the number of work vehicles is reduced, if the work width of the other work vehicle (work vehicle that leaves) related to the reduction is larger than the work width of the work vehicle (work vehicle that does not leave) that is not related to the reduction, For example, when turning the work vehicle in the outer peripheral region, it is only necessary to secure a smaller turning radius than before the decrease in the number of work vehicles. However, the area setting unit maintains the ratio of the outer peripheral area in the field when the decrease in the number of work vehicles is received by the work vehicle number change reception unit. As a result, the width of the outer peripheral region does not change before and after the number of work vehicles is reduced. Therefore, when working in the outer peripheral region, the route on which the work vehicle travels becomes a simple route, and the outer circumference is formed. You can easily work on the area.

In the present invention, when an increase in the number of work vehicles is received by the work vehicle number change reception unit, the other work route is the first modified work route and the second work vehicle related to the increase performs work. Replaced by the correction work path,
It is preferable that the other work vehicle is controlled so that the autonomous traveling work vehicle performs autonomous work on the second correction work route after passing the work start position of the first correction work route.

According to this configuration, when an increase in the number of work vehicles is received by the work vehicle number change reception unit, it is only necessary to replace the other work route with the first correction work route and the second correction work route. It is possible to easily replace the work route with the correction work route. Then, the other work vehicles related to the increase perform autonomous work on the second correction work route, but in this case, after the autonomous traveling work vehicle passes the work start position of the first correction work route, the other work vehicles Start autonomous work by the second amendment work route. As a result, the autonomous work can be appropriately performed without the autonomous traveling work vehicle that autonomously works on the first modified work route and the autonomous traveling work vehicle that autonomously works on the second modified work route collide with each other.

In the present invention, when a decrease in the number of work vehicles is received by the work vehicle number change reception unit, the other work route is replaced with the first modified work route.
After the work in the work area is completed, the other work vehicle related to the reduction moves to a predetermined position in the outer peripheral area set around the work area in the field, and the autonomous traveling work vehicle is the other work vehicle. It is preferable that the operation is controlled so as to perform autonomous work in the first correction work path after reaching a predetermined position.

According to this configuration, when a decrease in the number of work vehicles is received by the work vehicle number change reception unit, it is only necessary to replace the other work route with the first correction work route, and the correction work route of the other work route. Can be easily replaced with. Then, the other work vehicle related to the decrease (work vehicle that leaves) moves to a predetermined position in the outer peripheral area after the work in the work area is completed, while the work vehicle that is not related to the decrease (work vehicle that does not leave) The first correction work route will be autonomously worked. In this case, since the autonomous traveling work vehicle starts the autonomous work on the first correction work route after the leaving work vehicle reaches a predetermined position, the leaving work vehicle and the non-leaving work vehicle do not collide with each other and leave. It is possible to properly perform autonomous work in a work vehicle that does not.

The first feature configuration of the present invention includes a work mode setting unit for setting a work mode in a specific work area by at least one work vehicle, and a work mode setting unit.
A route generation unit that generates a work route for the work vehicle to work according to the work mode set by the work mode setting unit.
It is provided with a work vehicle number change reception unit that receives a change in the number of work vehicles that perform work in the specific work area.
The work mode setting unit changes the work mode according to the number of work vehicles received by the work vehicle number change reception unit.
The work vehicle includes one work vehicle that performs work according to the work mode before the change and at least one other work vehicle newly added by the number change.
The route generation unit is characterized in that, during the work of the one work vehicle, the work route of the other work vehicle is generated based on the changed work mode.

The second characteristic configuration of the present invention is that one of the work vehicles is manned and the other work vehicle is unmanned.

The third feature configuration of the present invention is that the route generation unit generates a work route on which one of the work vehicles is scheduled to travel.

Side view of the tractor Tractor control block diagram Diagram showing the planned work route when one tractor is made to work autonomously Diagram showing the planned work route when two tractors are made to work autonomously Diagram showing the time when an increase in the number of tractors was accepted in the planned work route Diagram showing the correction work route when increasing the number of tractors from one to two The figure which shows the correction work route when the ratio which the outer peripheral area occupies in a field is increased when the number of tractors is increased from 1 to 2. The figure which shows the operation for avoiding a collision when the number of tractors is increased from 1 to 2. Diagram showing the time when the decrease in the number of tractors was accepted in the planned work route Diagram showing the correction work route when reducing the number of tractors from two to one The figure which shows the operation for avoiding a collision when the number of tractors is reduced from 2 to 1. The figure which shows the correction work route in another embodiment when the number of tractors is increased from 1 to 2. The figure which shows the correction work route in another embodiment when the number of tractors is increased from 1 to 2. The figure which shows the correction work route in another embodiment when the number of tractors is reduced from 2 to 1.

An embodiment in which the route generation system according to the present invention is applied to an autonomous traveling system will be described with reference to the drawings.
In this autonomous traveling system, a planned work route is generated by a route generation system, and the tractor 1 as a work vehicle can autonomously travel along the generated scheduled work route.

First, the tractor 1 will be described with reference to FIG.
The tractor 1 is provided with a vehicle body portion 2 to which a work machine 50 can be mounted on the rear side, the front portion of the vehicle body portion 2 is supported by a pair of left and right front wheels 3, and the rear portion of the vehicle body portion 2 is supported by a pair of left and right rear wheels 4. It is supported. A bonnet 5 is arranged in the front portion of the vehicle body portion 2, and an engine 6 as a drive source is housed in the bonnet 5. A cabin 7 for the driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for the driver to steer, a driver's seat 9 and the like are provided in the cabin 7. Has been done.

The engine 6 can be composed of, for example, a diesel engine, but is not limited to this, and may be composed of, for example, a gasoline engine. Further, an electric motor may be adopted as the drive source in addition to the engine 6 or in place of the engine 6.

In the present embodiment, the tractor 1 will be described as an example of the work vehicle, but the work vehicle includes a tractor, a rice transplanter, a combine harvester, a civil engineering / construction work device, a snow removal vehicle, and the like, as well as a walking type work vehicle. Vehicles are also included.

A three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided on the rear side of the vehicle body portion 2, and the working machine 50 can be mounted on the three-point link mechanism. Although not shown, an elevating device having a hydraulic device such as an elevating cylinder is provided on the rear side of the vehicle body portion 2, and the elevating device raises and lowers the work machine 50 by raising and lowering the three-point link mechanism. ing.

Regarding the working machine 50, the case where the tilling device is attached is illustrated in FIG. 1, but the working machine 50 is not limited to the tilling device, and various working machines such as a plow and a fertilizer application device can be applied.

As shown in FIG. 2, the tractor 1 includes a governor device 21 capable of adjusting the rotational speed of the engine 6, a transmission 22 that shifts the rotational driving force from the engine 6 and transmits the rotational driving force to the drive wheels, a governor device 21, and a shift. A control unit 23 and the like capable of controlling the device 22 are provided. The transmission 22 is configured by combining, for example, a main transmission made of a hydraulic continuously variable transmission and an auxiliary transmission made of a gear type multi-speed transmission.

The tractor 1 can be controlled by the control unit 23 based on an instruction from the wireless communication terminal 30 or the like, not only can the driver board the cabin 7 and travel, but also even if the driver does not board the cabin 7. The tractor 1 as an autonomous traveling work vehicle is configured to enable autonomous work.

As shown in FIG. 2, the tractor 1 includes a steering device 24, a positioning antenna 25, a wireless communication antenna 26, and the like, and autonomously obtains its own current position information (position information of the vehicle body 2). It is configured to work.

The steering device 24 is provided, for example, in the middle of the rotation axis of the steering handle 8, and is configured so that the rotation angle (steering angle) of the steering handle 8 can be adjusted. By controlling the steering device 24, the control unit 23 can adjust the rotation angle of the steering handle 8 to a desired rotation angle and perform not only straight-ahead traveling but also turning traveling with a desired turning radius. The steering device 24 does not adjust the rotation angle of the steering handle 8, but may adjust the steering angle of the front wheels 3 of the tractor 1. In this case, the steering handle 8 rotates even if the steering wheel 8 is turned. do not.

As shown in FIG. 1, the positioning antenna 25 is configured to receive, for example, a signal from a positioning satellite 63 constituting a satellite positioning system (GNSS). The positioning antenna 25 is arranged on the upper surface of the roof 12 of the cabin 7.

The wireless communication antenna 26 is configured to be able to transmit and receive various signals via a wireless communication network constructed with the wireless communication terminal 30 and the like. The wireless communication antenna 26 is arranged on the upper surface of the roof 12 of the cabin 7. As shown in FIG. 2, the signal received by the wireless communication antenna 26 can be input to the control unit 23, and the signal from the control unit 23 can be input to the wireless communication terminal 30 by the wireless communication antenna 26. It is configured so that it can be transmitted to the device 31 and the like.

Here, as a positioning method using a satellite positioning system, a reference station 60 installed at a predetermined reference point is provided, and the satellite positioning information of the tractor 1 (mobile station) is corrected by the correction information from the reference station 60. , The positioning method for obtaining the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (Differential GPS Positioning) and RTK Positioning (Real-time Kinematic Positioning) can be applied. Incidentally, as for the positioning method, it is also possible to use independent positioning without providing the reference station 60.

In this embodiment, for example, RTK positioning is applied, and as shown in FIGS. 1 and 2, in addition to providing the positioning antenna 25 on the tractor 1 on the mobile station side, the reference station positioning antenna 62 is provided. A equipped reference station 60 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the running of the tractor 1, such as around the field. The position information of the reference point, which is the installation position of the reference station 60, is set in advance. The reference station 60 is provided with a reference station wireless communication device 61 capable of wirelessly communicating various signals via a wireless communication network constructed by the wireless communication antenna 26 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30. , Various information can be transmitted and received between the reference station 60 and the tractor 1 and between the reference station 60 and the wireless communication terminal 30.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 25 of the tractor 1 on the mobile station side for which position information is to be obtained. doing. The reference station 60 generates correction information including the measured satellite positioning information and the position information of the reference point every time the satellite positioning information is measured from the positioning satellite 63 or every time the setting cycle elapses, and the reference station wireless communication device Correction information is transmitted from 61 to the wireless communication antenna 26 of the tractor 1. The control unit 23 of the tractor 1 corrects the satellite positioning information measured by the positioning antenna 25 by using the correction information transmitted from the reference station 60, and obtains the current position information of the tractor 1. The control unit 23 requests, for example, latitude information and longitude information as the current position information of the tractor 1.

In the autonomous traveling system, in addition to the tractor 1 and the reference station 60, the control unit 23 of the tractor 1 is provided with a wireless communication terminal 30 capable of instructing the autonomous work of the tractor 1. The wireless communication terminal 30 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel. By operating the touch panel, various information can also be input.

As shown in FIG. 2, the wireless communication terminal 30 has a wireless communication device 31 capable of wireless communication between the wireless communication antenna 26 of the tractor 1 and the reference station wireless communication device 61 of the reference station 60, and the tractor 1 autonomously works. A route generation unit 32 for generating scheduled work routes K1, K2, and K3 (see FIGS. 3 and 4) is provided. Further, in the wireless communication terminal 30, in order for the route generation unit 32 to generate the planned work routes K1, K2, and K3, the tractor 1 is in the work area R1 (for example, the central side of the field H in FIGS. 3 and 4). A work mode setting unit 33 for setting a work mode in the rectangular area of the above is provided.

Incidentally, FIG. 3 shows an example of the planned work path K1 generated by the route generation unit 32 in the case of an independent work in which one tractor 1 independently performs autonomous work. FIG. 4 shows an example of planned work routes K2 and K3 generated by the route generation unit 32 in the case of cooperative work in which two tractors 1 of the tractor 1a and the tractor 1b cooperate to perform autonomous work. FIG. 4 shows an accompanying work in which the tractor 1a and the tractor 1b work on different work paths Ka in a form in which the tractor 1a starts the work first and the tractor 1b starts the work later as the cooperative work. The planned work route corresponding to the tractor 1a (the route indicated by the solid line in the figure) is indicated by K2, and the planned work route corresponding to the tractor 1b (the route indicated by the dotted line in the figure) is indicated by K3. There is. 3 and 4 are merely examples, and it is possible to appropriately change what kind of route the route generation unit 32 generates as the planned work route.

The work mode setting unit 33 is configured to be able to set tractor information (work vehicle information), field information, and work information as work modes. The tractor information includes, for example, the model of the tractor 1, the size of the tractor 1 (total length and width), the type and size of the work machine 50 (width), the target vehicle speed and the target engine rotation speed for autonomous work, and the like. Is. The field information includes, for example, the shape of the field, the work start position (position shown by S1 in FIG. 3, the position shown by S2 and S3 in FIG. 4), and the work end position (position shown by G1 in FIG. 3, FIG. 4). (Positions indicated by G2 and G3), working directions (directions indicated by arrows in FIGS. 3 and 4), information indicating the presence or absence of obstacles and the positions of obstacles. The work information indicates the presence or absence of collaborative work indicating whether the work is performed by one tractor 1 or the collaborative work performed by a plurality of tractors 1, and the work area (FIG. 3 and FIG. Information and the like indicating the width of the outer peripheral region (for example, a headland, the region indicated by R2 in FIGS. 3 and 4) set around the region (region indicated by R1 in FIG. 4).

When setting the tractor information, for example, items that can be set as the tractor information, such as the model and size of the tractor 1, are displayed on the display unit of the wireless communication terminal 30. This item can be displayed one by one for each item, or a plurality of items can be displayed at the same time. By displaying the items in this way, the operator or the like can operate the touch panel and input various information about each of the plurality of items. Further, when setting the field information and the work information, similarly, the settable items are displayed on the display unit of the wireless communication terminal 30, and the operator or the like operates the touch panel to display various items for each of the plurality of items. Information can be entered.

The work mode setting unit 33 sets each of the tractor information, the field information, and the work information based on the input information. As shown in FIGS. 2 to 4, the work mode setting unit 33 is provided with an area setting unit 34 capable of setting the work area R1 and the outer peripheral area R2 set around the work area R1 in the field H. There is. When information such as the width of the outer peripheral area R2 is input as work information, the area setting unit 34 sets the work area R1 and the outer peripheral area R2.

As shown in FIG. 2, the wireless communication terminal 30 is provided with a storage unit 35 for storing various types of information, and the storage unit 35 is used for tractor information and field information set by the work mode setting unit 33. I remember. The storage unit 35 stores, for example, tractor individual information in which the tractor 1 and the tractor information set for the tractor 1 are associated with each other, and the field is individually associated with the field and the field information set for the field. I remember the information. As a result, when setting the tractor information and the field information, the tractor individual information and the field individual information stored in the storage unit 35 are read out and displayed on the display unit of the wireless communication terminal 30, and the operator or the like can individually display the tractor. Information and individual field information can be selected.

As shown in FIGS. 3 and 4, the route generation unit 32 is a tractor based on the work mode set by the work mode setting unit 33 and the work area R1 and the outer peripheral area R2 set by the area setting unit 34. 1 is configured to generate scheduled work paths K1, K2, and K3 for autonomous work. For example, in the examples shown in FIGS. 3 and 4, the route generation unit 32 reciprocates in the work area R1 in the field H from the work start positions S1, S2, and S3 set by the work mode setting unit 33. The routes leading to the work end positions G1, G2, and G3 are generated as scheduled work routes K1, K2, and K3.

The planned work routes K1, K2, and K3 are configured as a route including a work route Ka for performing work such as tillage while autonomously traveling and a connection route Kb for autonomously traveling from the work route Ka to the next work route Ka. The work path Ka is generated for the work area R1, and the connection path Kb is generated for the outer peripheral area R2 (headland). The work path Ka is a linear path for autonomous work from one end side to the other end side in the work area R1 in the field H, and this linear path is the width of the field H over the entire work area R1. It is generated so that multiple lines are lined up adjacent to each other in the direction. The connection path Kb is generated as a swirl-shaped path connecting the ends of the two work paths Ka arranged in the width direction of the field H.

The wireless communication terminal 30 provides various information for autonomous work of the tractor 1, such as scheduled work routes K1, K2, K3 generated by the route generation unit 32 and a command to start autonomous work, via the wireless communication network. It is configured so that it can be transmitted to the control unit 23 of the tractor 1. The control unit 23 of the tractor 1 is configured to start the autonomous work of the tractor 1 when receiving an autonomous work start command after acquiring information such as scheduled work paths K1, K2, and K3 from the wireless communication terminal 30. ing. Then, the control unit 23 of the tractor 1 acquires the tractor from the reception signal of the positioning antenna 25 so that the tractor 1 autonomously works along the scheduled work routes K1, K2, and K3 generated by the route generation unit 32. It is configured to control the governor device 21, the transmission device 22, the steering device 24, and the like based on the current position information of 1.

When performing autonomous work of the tractor 1 in the work area R1 in the field H, it may be desired to change the number of tractors 1 during the work or the like. For example, if there is a tractor 1 that can be added, such as the existence of a tractor 1 that has completed autonomous work in another field, the number of tractors 1 can be increased by adding the tractor 1. On the contrary, among the tractors 1 during autonomous work, there is a tractor 1 that wants to perform autonomous work in another field, or there is a tractor 1 that is low in fuel. It is also possible to reduce the number of 1.

Therefore, when the number of tractors 1 is changed, a configuration is provided for autonomous work with the changed number of tractors 1, and this point will be described below.

As shown in FIG. 2, the wireless communication terminal 30 is provided with a work vehicle number change reception unit 36 that receives a change in the number of tractors 1 that perform autonomous work in the work area R1. For example, the display unit of the wireless communication terminal 30 is displayed with an operation unit for accepting a change in the number of tractors 1, and an operator or the like operates the operation unit so that the work vehicle number change reception unit 36 is the tractor 1. Can accept changes in the number of units.

For example, as shown in FIGS. 3 and 4, the route generation unit 32 has already generated the planned work routes K1, K2, and K3, but the work vehicle number change reception unit 36 changes the number of tractors 1. Upon receipt, of the planned work paths K1, K2, and K3, the work path Ka that has not yet performed autonomous work is corrected by the modified work path P (FIG. 6) according to the changed work mode and the number of changed tractors 1. And Fig. 10).

Then, the wireless communication terminal 30 has information indicating that the change in the number of tractors 1 has been accepted by the work vehicle number change reception unit 36, the correction work route P replaced by the route generation unit 32, and the start command for autonomous work. Etc., various information for autonomously working the tractor 1 after the change in the number of units is transmitted to the control unit 23 of the tractor 1 which performs the autonomous work after the change in the number of units via the wireless communication network. The control unit 23 of the tractor 1 that performs autonomous work after changing the number of units is positioned so that the tractor 1 performs autonomous work along the correction work route P (see FIGS. 6 and 10) replaced by the route generation unit 32. The governor device 21, the transmission device 22, the steering device 24, and the like are controlled based on the current position information of the tractor 1 acquired from the reception signal of the antenna 25.

(Increase in the number of tractors 1)
A case where the number of tractors 1 is increased from one to two will be described with reference to FIGS. 3, 5 and 6. In FIGS. 5 and 6, the tractor 1a is the first tractor that is already performing autonomous work, and the tractor 1b is the second tractor to be added. Both the first tractor 1a and the second tractor 1b have the same configuration as the tractor 1 described above based on FIGS. 1 and 2.

FIG. 3 shows a scheduled work route K1 already generated by the route generation unit 32 when autonomous work is performed by one tractor 1 before the number of units is changed. FIG. 5 shows at what point in time the work vehicle number change reception unit 36 received the change in the number of tractors 1 in the planned work path K1 that has already been generated. In the one shown in FIG. 5, autonomous work is being performed in the middle of the second work path Ka from the left in the planned work path K1. FIG. 6 shows a correction work path P that is replaced by the route generation unit 32 when autonomous work is performed by the two tractors 1 after the number of tractors is changed.

When increasing the number of tractors 1 from one to two, first, an operator or the like operates an operation unit for changing the number of units displayed on the display unit of the wireless communication terminal 30, so that the tractor 1 can be increased. Order the addition. The work vehicle number change reception unit 36 accepts that the number of tractors 1 is increased from one to two by this additional command. By the way, instead of the additional command, for example, after the worker or the like confirms that the wireless communication by the wireless communication network has been established between the wireless communication terminal 30 and the tractor 1b to be added, the display of the wireless communication terminal 30 is displayed. The addition of the tractor 1 can be permitted by the operator or the like operating the operation unit for changing the number of units displayed on the unit. With this additional permission, the work vehicle number change reception unit 36 can also accept that the number of tractors 1 is increased from one to two.

When the work vehicle number change reception unit 36 receives the increase in the number of tractors 1, the wireless communication terminal 30 wirelessly communicates information indicating that the work vehicle number change reception unit 36 has received the increase in the number of tractors 1. It is transmitted to the control unit 23 of the tractor 1a via the network. The control unit 23 of the tractor 1a recognizes that it has accepted the increase in the number of tractors 1 while continuing the autonomous work along the planned work path K1. By the way, when the control unit 23 of the tractor 1a receives the information indicating that the work vehicle number change reception unit 36 has received the increase in the number of tractors 1, it not only continues the autonomous work along the planned work route K1. , The tractor 1 can also be stopped at the received position.

Regarding the tractor 1b to be added, the worker or the like inputs the tractor information and the work information to the wireless communication terminal 30, and the work mode setting unit 33 determines the tractor for the tractor 1b to be added based on the input information. Set information and work information. By the way, since the field information is the same field, it is possible to use the already set field information as it is.

When the tractor information and the work information of the tractor 1 to be added by the work mode setting unit 33 are set, the route generation unit 32 works according to the work mode before the change in the planned work route K1 as shown in FIG. As shown in FIG. 6, the first modified work path in which the tractor 1 autonomously works on the other work paths K5 other than the work path K4 in which the tractor 1 is performed, according to the changed work mode and the number of the changed tractors 1. Replace with one or more correction work paths P including P1.

As shown in FIG. 5, the time when the work vehicle number change reception unit 36 receives the increase in the number of tractors 1 is the time when the tractor 1a is autonomously working in the middle of the second work path Ka from the left in the figure. Is. Therefore, as shown in FIG. 3, the route generation unit 32 sets the first work path Ka and the second work path Ka to the work path K4 (dashed line in the figure) in which the work is performed according to the work mode before the change. Specify as the work path Ka) surrounded by, and specify the third work path Ka and the work path Ka after that as another work path K5 (work path Ka surrounded by the alternate long and short dash line in the figure). There is.

In replacing the other work path K5 with the modified work path P, the route generation unit 32 performs autonomous work on the other work path K5 (see FIG. 3) by the tractor 1a before the increase, as shown in FIG. 1 Modified work path P1 (work path Ka shown by solid line in the figure) and second modified work path P2 (work path Ka shown by dotted line in the figure) in which the tractor 1b related to the increase performs autonomous work. Has been done. In this case, the path on which the first tractor 1a performs autonomous work is replaced as the first correction work path P1, and the route on which the second tractor 1b performs autonomous work is replaced as the second correction work path P2. ..

When the route generation unit 32 replaces the other work path K5 with the first correction work path P1 and the second correction work path P2, the first correction work path P1 connects the first correction work path P1 to the next first correction work path P1. The connection path Q1 is generated, and the second modified connection path Q2 that connects the second modified work path P2 to the next second modified work path P2 is generated.

Then, when replacing the other work path K5 with the correction work path P, the route generation unit 32 maintains the work direction already set by the work mode setting unit 33 with respect to the work direction.

Further, when replacing the other work path K5 with the correction work path P, the route generation unit 32 has a first end portion (lower end in the figure) where the work start position S1 of the planned work path K1 is located, as shown in FIG. Part) and the second end (lower end in the figure) where the work end position G1 of the planned work path K1 is located are specified. Then, as shown in FIG. 6, the route generation unit 32 sets the work start position S4 in the first correction work path P1 at the first end (lower end in the figure), and the work in the first correction work path P1. The end position G4 is set at the second end (lower end in the figure).

In the one shown in FIG. 6, the route generation unit 32 sets not only the first correction work path P1 but also the work start position S5 in the second correction work path P2 at the first end (lower end in the figure). The work end position G5 in the second correction work path P2 is set at the second end (lower end in the figure).

In this way, the work start positions S1, S4, and S5 in each of the planned work path K1, the first correction work path P1, and the second correction work path P2 are set at the same end in the width direction of the field H. The work end positions G1, G4, and G5 in the planned work path K1, the first correction work path P1, and the second correction work path P2 are also the same ends in the width direction of the field H. It can be set in the department.

Here, in the tractor information of the tractor 1b to be added, if the size (width) of the work machine 50 is larger than that of the first tractor 1a that has already been set, the connection path in the outer peripheral region R2 (headland). The turning radius when autonomously traveling on Kb is larger than that of the first tractor 1a. Therefore, when the tractor 1b to be added autonomously travels on the connection path Kb, it is necessary to make the width of the outer peripheral region R2 larger than that of the first tractor 1a.

Therefore, when the increase in the number of tractors 1 is received by the work vehicle number change reception unit 36, the area setting unit 34 determines the ratio of the outer peripheral region R2 in the field H according to the work width of the tractors 1 related to the increase. It is configured to be able to increase. Then, when the area setting unit 34 increases the ratio occupied by the outer peripheral region R2 in the field H, the wireless communication terminal 30 notifies the operator or the like that the ratio occupied by the outer peripheral region R2 in the field H is increased. Is displayed and an alarm is given.

As shown in FIG. 7, when setting the tractor information of the first tractor 1a, the area setting unit 34 has an outer peripheral area according to the working width of the first tractor 1a (horizontal width of the working machine 50). The width W1 of R2 is set. At this time, in the tractor information of the second tractor 1b to be added, when the working width of the tractor 1 (horizontal width of the working machine 50) is larger than that of the first tractor 1a, the area setting unit 34 is the second unit. The width W2 (> width W1) of the outer peripheral region R2 is changed and set according to the working width of the tractor 1b (the width of the working machine 50).

In this way, when the area setting unit 34 increases the ratio occupied by the outer peripheral region R2 in the field H according to the working width of the tractor 1 related to the increase, the route generation unit 32 increases the outer peripheral region R2 as shown in FIG. In a state where the ratio of the above is increased (the width of the outer peripheral region R2 is changed to W2), the other work paths K5 are replaced with the first correction work path P1 and the second correction work path P2.

When the route generation unit 32 replaces the other work route K5 with the correction work route P, the wireless communication terminal 30 receives the correction work route P replaced by the route generation unit 32, the start command for autonomous work, and the like, and the tractor 1a and the tractor. Various information for autonomously working 1b is transmitted to the control unit 23 of each of the tractor 1a and the tractor 1b via the wireless communication network. The control unit 23 of the tractor 1a acquires the current position of the tractor 1a from the reception signal of the positioning antenna 25 so that the tractor 1a autonomously works along the first correction work path P1 replaced by the route generation unit 32. It is configured to control the governor device 21, the transmission 22 and the steering device 24 based on the information. Further, also in the tractor 1b, the control unit 23 acquires the tractor from the reception signal of the positioning antenna 25 so that the tractor 1b autonomously works along the second correction work path P2 replaced by the route generation unit 32. It is configured to control the governor device 21, the transmission device 22, the steering device 24, and the like based on the current position information of 1b.

When two tractors 1a and 1b perform autonomous work along the correction work path P, the tractor 1a performs autonomous work along the first correction work path P1 in advance, and the tractor 1b performs autonomous work along the first correction work path P1. After 1a has passed the work start position S4 of the first correction work path P1, autonomous work is performed along the second correction work path P2.

For example, as shown in FIG. 5, when the increase in the number of tractors 1 is accepted, it is in the middle of the work path Ka in the planned work path K1, but the tractor 1a remains as it is along the planned work path K1. By continuing the autonomous work to the end, the tractor 1a reaches the work start position S4 in the first correction work path P1 as shown in FIG. Then, the control unit 23 of the tractor 1a continues to perform the autonomous work along the first correction work path P1, so that the autonomous work is performed from the work start position S4 along the first correction work path P1. At this time, with respect to the tractor 1b, after the tractor 1a reaches the work start position S4 of the first correction work path P1, the worker or the like moves the tractor 1b to the work start position S5 of the second correction work path P2. By issuing a command to start autonomous work on the wireless communication terminal 30, the control unit 23 of the tractor 1b performs autonomous work along the second correction work path P2. In this way, autonomous work can be performed without the tractor 1a and the tractor 1b colliding with each other.

(Reduction in the number of tractors 1)
Next, a case where the number of tractors 1 is reduced from two to one will be described with reference to FIGS. 4, 9 and 10. In FIGS. 4, 9 and 10, the tractor 1 to be separated from the tractor 1a and the tractor 1b is referred to as the tractor 1b.

FIG. 4 shows planned work routes K2 and K3 already generated by the route generation unit 32 when autonomous work is performed by the two tractors 1 before the change in the number of units. The planned work path K2 corresponds to the tractor 1a, and the planned work path K3 corresponds to the tractor 1b. FIG. 9 shows at what point in time the work vehicle number change reception unit 36 received the change in the number of tractors 1 in the planned work paths K2 and K3 that have already been generated. In the one shown in FIG. 9, the tractor 1a is autonomously working in the middle of the first work path Ka from the left in the figure on the planned work path K2, and the tractor 1b is 2 from the left in the figure on the scheduled work path K3. Autonomous work is being carried out in the middle of the second work path Ka. FIG. 10 shows a correction work route P that is replaced by the route generation unit 32 when autonomous work is performed by one tractor 1 after the number of units is changed.

When reducing the number of tractors 1 from two to one, first, an operator or the like operates an operation unit for changing the number of units displayed on the display unit of the wireless communication terminal 30, so that the tractor 1 can be reduced to one unit. Order withdrawal. The work vehicle number change reception unit 36 accepts that the number of tractors 1 is reduced from two to one by this withdrawal command. By the way, instead of the above-mentioned withdrawal command, for example, after the worker or the like confirms that the wireless communication by the wireless communication network is cut off between the wireless communication terminal 30 and the tractor 1b to be withdrawn, the wireless communication is performed. By operating the operation unit for changing the number of units displayed on the display unit of the communication terminal 30, the operator or the like can permit the tractor 1 to be detached. With this permission to leave, the work vehicle number change reception unit 36 can also accept that the number of tractors 1 is reduced from two to one.

When the work vehicle number change reception unit 36 receives the decrease in the number of tractors 1, the wireless communication terminal 30 wirelessly communicates information indicating that the work vehicle number change reception unit 36 has received the decrease in the number of tractors 1. It is transmitted to the control unit 23 of the tractor 1a and the tractor 1b via the network. The control unit 23 of the tractor 1a recognizes that it has accepted the decrease in the number of tractors 1 while continuing the autonomous work along the scheduled work path K2, and the control unit 23 of the tractor 1b is on the planned work path K3. We are aware that we have accepted the decrease in the number of tractors 1 while continuing the autonomous work along the line.

As shown in FIG. 4, the route generation unit 32 uses the planned work paths K2 and K3 as the work mode after the change and the work path K5 other than the work path K4 in which the work is performed according to the work mode before the change. As shown in FIG. 10, it is replaced with one or more correction work paths P including the first correction work path P1 in which the autonomous traveling work vehicle performs autonomous work, depending on the number of tractors 1 after the change.

As shown in FIG. 9, when the work vehicle number change reception unit 36 receives the decrease in the number of tractors 1, the tractor 1a is autonomously working in the middle of the first work path Ka from the left in the figure. At the same time, the tractor 1b is autonomously working in the middle of the second work path Ka from the left in the figure. Therefore, as shown in FIG. 4, the route generation unit 32 surrounds the first to fourth work paths Ka with the work path K4 (the alternate long and short dash line in the figure) in which the work is performed according to the work mode before the change. It is specified as a work path Ka), and the fifth work path Ka and the subsequent work paths Ka are specified as other work paths K5 (work paths Ka surrounded by a two-dot chain line in the figure).

When replacing the other work path K5 with the correction work path P, the route generation unit 32 replaces the other work path K5 (see FIG. 4) with the first correction work in which the tractor 1a performs autonomous work as shown in FIG. It is configured to replace the path P1. When the other work path K5 is replaced with the first correction work path P1, the route generation unit 32 generates a first correction connection path Q1 that connects the first correction work path P1 to the next first correction work path P1. There is.

Then, when replacing the other work path K5 with the first modified work path P1, the route generation unit 32 maintains the work direction already set by the work mode setting unit 33 with respect to the work direction.

Further, when replacing the other work path K5 with the modified work path P, the route generation unit 32 is the first end in the work area R1 where the work start position S2 of the planned work path K2 is located, as shown in FIG. A second end (lower end in the figure) where the work end position G2 of the planned work path K2 and the portion (lower end in the figure) is located is specified. Then, as shown in FIG. 10, the route generation unit 32 sets the work start position S4 in the first correction work path P1 at the first end (lower end in the figure), and the work in the first correction work path P1. The end position G4 is set at the second end (lower end in the figure).

In this way, the work start positions S2 and S4 in the planned work path K2 and the first modified work path P1 can be set at the same end in the width direction of the field H, and the planned work path can be set. The work end positions G2 and G4 in K2 and the first correction work path P1 can also be set at the same end in the width direction of the field H.

Here, in the tractor information of the tractor 1a that does not disengage, when the size (width) of the work machine 50 is smaller than the tractor 1b that disengages, the connection path Kb in the outer peripheral region R2 (headland) is autonomously traveled. The tractor 1a whose turning radius does not separate is smaller than the tractor 1b which does not separate. Therefore, after the tractor 1b is detached, the width of the outer peripheral region R2 can be reduced.

However, the area setting unit 34 maintains the ratio of the outer peripheral region R2 in the field H when the decrease in the number of tractors 1 is received by the work vehicle number change reception unit 36. As a result, when the reduction in the number of tractors 1 is received by the work vehicle number change reception unit 36, the width W3 of the outer peripheral region R2 is not changed before and after the tractor 1b is detached, as shown in FIGS. 4 and 10. .. Then, the route generation unit 32 replaces the other work path K5 with the first modified work path P1 in a state where the ratio of the outer peripheral region R2 is maintained (a state in which the width of the outer peripheral region R2 is maintained at W3). ..

When the route generation unit 32 replaces the other work route K5 with the first correction work route P1, the wireless communication terminal 30 receives the first correction work route P1 replaced by the route generation unit 32, an autonomous work start command, and the like. Various information for autonomously working the tractor 1a after the decrease in the number of units is transmitted to the control unit 23 of the tractor 1a and the tractor 1b via the wireless communication network. Then, the detaching tractor 1b moves to a predetermined position V (see FIG. 11) of the outer peripheral region R2 after the autonomous work in the work area R1 is completed, and the tractor 1a is the first after the detaching tractor 1b reaches the predetermined position V. Autonomous work is performed on the correction work path P1.

For example, as shown in FIG. 9, the time when the decrease in the number of units is accepted is in the middle of the work path Ka in the planned work path K2, but the tractor 1b does not leave in the middle of the work path Ka, but the tractor 1b The control unit 23 continues the autonomous work up to the end of the work path Ka in the planned work path K3 (the end on the side where the work start position S3 is located). For example, as shown in FIG. 11, the control unit 23 of the detaching tractor 1b continues autonomous work up to the second work path Ka and the third work path Ka from the left in the figure, and in the outer peripheral region R2. It reaches the end on the side where the work start position S3 of the planned work path K3 is located. After that, the control unit 23 of the tractor 1b autonomously travels to a predetermined position V separated by a set distance on the side approaching the work start position S3 in the outer peripheral region R2 (the side opposite to the direction in which the tractor 1a that does not leave autonomously travels). , The tractor 1 is stopped at a predetermined position V. Then, the control unit 23 of the tractor 1b transmits information indicating that the tractor 1b has stopped at the predetermined position V to the wireless communication terminal 30 via the wireless communication network, and the wireless communication terminal 30 has the tractor 1b at the predetermined position V. Information indicating that the terminal has stopped is transmitted to the control unit 23 of the tractor 1a that does not leave via the wireless communication network.

On the other hand, the control unit 23 of the tractor 1a that does not leave continues the autonomous work along the scheduled work path K1 and moves to the work start position S4 of the first correction work path P1. When the control unit 23 of the tractor 1a determines that the tractor 1b is not stopped at the predetermined position V based on the transmission information from the wireless communication terminal 30, the control unit 23 stops the tractor 1a at the work start position S4 and performs the first correction operation. It is waiting for the start of autonomous work by route P1. Then, when the control unit 23 of the tractor 1a determines that the tractor 1b has stopped at the predetermined position V based on the transmission information from the wireless communication terminal 30, it starts autonomous work along the first correction work path P1. In this way, autonomous work can be performed without the tractor 1a and the tractor 1b colliding with each other.

By the way, when the tractor 1a reaches the work start position S4 of the first correction work path P1 before the tractor 1b finishes the autonomous work along the planned work path K2, the control unit 23 of the tractor 1a is set to the first. When the work start position S4 of the correction work path P1 is reached, the autonomous work by the first correction work path P1 can be continuously performed as it is.

[Another Embodiment]
(1) In the above embodiment, when the number of tractors 1 is increased from one to two, the route generation unit 32 replaces the other work path K5 (see FIG. 3) with the modified work path P shown in FIG. However, for example, it can be replaced with the correction work path P shown in FIG. 12, and what kind of correction work path P can be replaced as appropriate.

In FIG. 12A, the correction work path P is derived from the first correction work path P1 (work path Ka) in which the tractor 1a autonomously works and the second correction work path P2 (work path Ka) in which the tractor 1b autonomously works. Therefore, the first correction work path P1 and the second correction work path P2 are adjacent to each other so as to be alternately arranged.

In FIG. 12B, the correction work path P is derived from the first correction work path P1 (work path Ka) in which the tractor 1a autonomously works and the second correction work path P2 (work path Ka) in which the tractor 1b autonomously works. Become. Then, the work end position G4 of the first correction work path P1 is set in the central portion of the field H in the direction orthogonal to the work path Ka, and the work end position G5 of the second correction work path P2 is set in the direction orthogonal to the work path Ka. By setting the tractor 1a at the end of the field H in the direction in which the tractor 1a is orthogonal to the work path Ka, the autonomous work is completed in the central portion of the field H, and the tractor 1b is in the direction orthogonal to the work path Ka. I try to do autonomous work up to the edge.

For example, when the fuel of the tractor 1a is low, it is effective to replace it with the correction work path P shown in FIG. 12 (b). By the way, in FIG. 12B, the first modified work path P1 is divided into two working paths Ka, but the first modified work path P1 is divided into several work paths Ka according to the amount of remaining fuel. You can change whether to do it.

In FIG. 12 (c), the correction work path P is derived from the first correction work path P1 (work path Ka) in which the tractor 1a autonomously works and the second correction work path P2 (work path Ka) in which the tractor 1b autonomously works. Therefore, the other work path K5 (see FIG. 3) is divided into two areas, and the divided areas are divided into the first correction work path P1 and the second correction work path P2. In FIG. 12 (c), another work path K5 (see FIG. 3) is divided into a left side area and a right side area in the figure, and the work path Ka in the left side area is set as the first modified work path P1. The work path Ka in the area on the right side is replaced with the second modified work path P2.

(2) In the above embodiment, the case where the route generation unit 32 generates the scheduled work route K1 shown in FIG. 3 has been described. For example, the route generation unit 32 generates the scheduled work route K1 shown in FIG. 13 (a). It is also possible to change as appropriate what kind of planned work path K1 is generated.

In FIG. 13A, the planned work path K1 in which the number of skips = 1 is generated. The number of skips indicates how many other work paths Ka are arranged between the work path Ka and the next work path Ka where the work is performed next to the work path Ka. In this case, the tractor 1 sequentially performs autonomous work in a form of skipping one work path Ka (work path Ka shown by the solid line in the figure), and the work end position G1 is located on the side orthogonal to the work path Ka. When it reaches the end of the field H, it returns to the end of the field H on the side where the work start position S1 is located in the direction orthogonal to the work path Ka. Then, the tractor 1 sequentially performs autonomous work on the remaining work path Ka (work path Ka indicated by the dotted line in the figure) skipped by one.

At this time, for example, as shown by the dotted line in FIG. 13A, the tractor 1 reaches the end of the field H on the side where the work end position G1 is located in the direction orthogonal to the work path Ka, before the work vehicle. When the number change reception unit 36 receives an increase in the number of tractors 1 from one to two, the route generation unit 32 has a work route for which autonomous work has not yet been completed, as shown in FIG. 13 (b). Ka can be replaced with the first correction work path P1 and the second correction work path P2.

In FIG. 13B, the number of tractors 1 is changed from 1 to 2 at the work vehicle number change reception unit 36 during autonomous work on the work path Ka shown by the fourth solid line from the left in the figure. The route generation unit 32 performs work according to the work mode before the change of the first to fourth work paths Ka from the left among the work paths Ka shown by the solid lines in the figure. Of the work paths Ka shown by solid lines in the figure, the fifth and sixth work paths Ka from the left and the work path Ka shown by the dotted line in the figure are specified as other work paths. .. Then, the route generation unit 32 replaces the fifth and sixth work paths Ka from the left among the work paths Ka shown by the solid lines in the figure with the first correction work path P1, and the work shown by the dotted line in the figure. The route Ka is replaced with the second correction work route P2.

(3) In the above embodiment, when the number of tractors 1 is reduced from two to one, the route generation unit 32 replaces the other work path K5 (see FIG. 3) with the modified work path P shown in FIG. However, for example, it can be replaced with the correction work path P shown in FIG. 14, and what kind of correction work path P is replaced can be appropriately changed.

FIG. 10 shows a correction work path P (first correction work path P1) in which the number of skips is 0, and FIG. 14 shows a correction work path P (first correction work path P1) in which the number of skips is 1. Shown. As described above, the number of skips indicates how many other work paths Ka are arranged between the work path Ka and the next work path Ka where the work is performed next to the work path Ka. ..

In FIG. 14, the tractor 1a that does not separate performs autonomous work sequentially from the work start position S4 of the first correction work path P1 in the form of skipping one work path Ka, and the work end position G1 in the direction orthogonal to the work path Ka. When the end of the field H on the side where is located is reached, as shown by the arrow in the figure, the work of the planned work path K2 is started among the remaining work paths Ka skipped in the direction orthogonal to the work path Ka. Return to the work path Ka closest to position S2. Then, the tractor 1a sequentially performs autonomous work on the remaining work path Ka skipped by one.

(4) In the above embodiment, the case of increasing the number of tractors 1 from 1 to 2 has been described, but for example, the number of tractors 1 can be increased from 1 to 3 or from 2 to 3. It can be increased, and the number of tractors 1 to be increased can be changed as appropriate.

Further, the case of reducing the number of tractors 1 is not limited to the case of reducing from two to one, and for example, the number of tractors can be reduced from three to one or from three to two. The number of tractors 1 to be reduced can be changed as appropriate. When reducing the number of tractors 1, for example, the tractors 1 to be detached can be selected according to the amount of fuel by preferentially detaching the tractors 1 in ascending order of fuel.

(5) In the above embodiment, an example in which only the tractor 1 as the autonomous traveling work vehicle is provided as the work vehicle is shown, but as the work vehicle, in addition to the tractor 1 as the autonomous traveling work vehicle, the worker It is also possible to provide a manned tractor 1 driven by an unmanned work vehicle and a manned work vehicle.

(6) In the above embodiment, when the change in the number of tractors 1 is accepted, the information indicating that the increase or decrease in the number of tractors 1 is accepted is transmitted to the control unit 23 of the tractor 1a via the wireless communication network. However, the information may not be transmitted to the control unit 23 of the tractor 1a. That is, the tractor 1a controls the autonomous work of the tractor 1a along the work path owned by the tractor 1a, and the control unit 23 of the tractor 1a until the first correction work path P1 is acquired from the wireless communication terminal 30. , The autonomous work along the planned work path K1 may be continued, and after the first correction work path P1 is acquired from the wireless communication terminal 30, the autonomous work along the first correction work path P1 may be executed. In this case, it is possible to continue the autonomous work without recognizing the existence of the tractor 1 related to the increase or the existence of the tractor 1 related to the decrease.

1 Tractor (working vehicle)
32 Route generation unit 33 Work mode setting unit 36 Work vehicle number change reception unit

Claims (3)

A work mode setting unit that sets a work mode in a specific work area by at least one work vehicle, and a work mode setting unit.
A route generation unit that generates a work route for the work vehicle to work according to the work mode set by the work mode setting unit.
It is provided with a work vehicle number change reception unit that receives a change in the number of work vehicles that perform work in the specific work area.
The work mode setting unit changes the work mode according to the number of work vehicles received by the work vehicle number change reception unit.
The work vehicle includes one work vehicle that performs work according to the work mode before the change and at least one other work vehicle newly added by the number change.
When the work vehicle number change reception unit receives the change in the number of work vehicles due to the addition of the other work vehicle during the work of the one work vehicle in the specific work area, the route generation unit receives the change. A route generation system characterized in that a work route of the other work vehicle is generated based on the changed work mode during the work of the one work vehicle. The route generation system according to claim 1, wherein one of the work vehicles is manned and the other work vehicle is unmanned. The route generation system according to claim 1 or 2, wherein the route generation unit generates a work route to which one of the work vehicles is scheduled to travel.

Images