CN109714946B - Path generation system - Google Patents

Abstract

In a route generation system (99), a route generation unit (35) can generate an autonomous working route (P1S) for autonomous working by a tractor (1) within a preset working area. A material demand calculation unit (51) calculates a predetermined amount of fertilizer to be used by the tractor (1) in the autonomous working path (P1S). A replenishment position setting unit (58) sets a replenishment position (A1) of the fertilizer at a position outside the working area designated by the user. A fertilizer remaining amount acquisition unit (determination unit) (54) acquires the remaining amount of fertilizer that can be used by the tractor. A release position setting unit (59) sets a release position (C) at which autonomous operation is interrupted and a return position (D) at which autonomous operation is resumed, based on the predetermined amount and the remaining amount of fertilizer. The path generation unit can generate a replenishment path (Q) from the departure position (C) to the return position (D) via the replenishment position (A1).

Description

Path generation system

Technical Field

The invention relates to a path generation system. More specifically, the present invention relates to a route generation system that generates a route on which a work vehicle autonomously travels.

Background

Heretofore, a path generation system that generates a path for a work vehicle to autonomously travel has been known. Patent document 1 discloses a field work machine that autonomously travels by such a route generation system. The field working mechanism of patent document 1 includes: a route calculation unit that calculates a route on which the vehicle autonomously travels; and an operation support means for supporting the operation of the vehicle on the basis of the route calculated by the route calculation unit.

In the field working machine of patent document 1, if the remaining amount of the material mounted on the machine is lower than the threshold level, the operation support means notifies the situation and outputs an operation control signal for stopping the automatic travel to the control means of the machine. The route calculation unit calculates an unusual travel route for the vehicle to automatically travel to a nearby ridge so as to replenish the demand material.

Patent literature

Patent document 1: japanese patent laid-open publication No. 2015-112071

Disclosure of Invention

However, patent document 1 does not disclose how to specifically calculate the extraordinary travel path. In the configuration of patent document 1, even if the field working machine can be automatically moved to the adjacent ridge for replenishing the required material, if the position is remote from the replenishment position of the material, the user must manually turn the field working machine to move the field working machine to the replenishment position. Therefore, there is still room for improvement in that the burden on the user at the time of material replenishment is still large.

The present invention has been made in view of the above circumstances, and an object thereof is to reduce the burden on a user when replenishing a material.

The problems to be solved by the present invention are as described above, and means for solving the problems and effects thereof will be described below.

According to an aspect of the present invention, there is provided a route generation system configured as follows. That is, the route generation system includes: a route generation unit, a calculation unit, a replenishment position setting unit, a determination unit, and an interruption start position setting unit. The path generation unit can generate an autonomous working path for autonomous working by the working vehicle in a preset working area. The calculation unit calculates a predetermined amount of material used by the work vehicle in the autonomous working path. The replenishment position setting unit sets a material replenishment position at a position designated outside the working area. The determination unit determines a remaining amount of a material that can be used by the work vehicle. The interruption start position setting unit sets an interruption position and a resumption position of the autonomous operation based on the predetermined amount and the reserved amount. The path generation unit may generate a replenishment path that reaches the restart position from the interruption position via the replenishment position.

In this way, the work vehicle can automatically interrupt the autonomous operation and move to the material replenishment position, and after completion of replenishment, automatically move to the restart position of the autonomous operation and restart the autonomous operation. This reduces the burden on the user.

The route generation system preferably has the following configuration. That is, the autonomous working path is constituted by a plurality of autonomous working paths connected by a connecting path. The interruption start position setting unit sets the interruption position and the restart position on different autonomous working paths connected via the connection path.

This makes it possible to smoothly resume the autonomous operation after the interruption from the resume position, thereby improving the operation efficiency.

In the route generation system, it is preferable that the interruption start position setting unit sets the interruption position and the restart position as follows: the length of the replenishment path is shorter than the length of the path from the restart position to the end position of the autonomous operation in the autonomous operation path.

This can suppress the generation of a replenishment path having an excessively long path length, and can efficiently replenish the material. In addition, the psychological burden on the user can be reduced.

The route generation system preferably has the following configuration. That is, the replenishment position setting unit is configured to: the path generation unit may generate the replenishment path and then may receive a change of the replenishment position. When the change of the replenishment position is received by the replenishment position setting unit after the replenishment path is generated, the path generating unit can generate a new replenishment path that reaches the restart position from the interruption position via the changed replenishment position.

Thus, after the replenishment route is created, the user can change the replenishment position to a desired position, and the replenishment route that more closely matches the user's intention can be created.

In the route generation system, it is preferable that the calculation unit calculates the predetermined amount based on at least any one of a route length of the autonomous working route, a moving speed of the work vehicle in the autonomous working route, a usage amount of the material per unit time in the autonomous working route, a width of the work performed by the work vehicle, and a usage amount of the material per unit length in the autonomous working route.

In this way, the predetermined amount of material required for autonomous operation is calculated using the path length of the autonomous operation path set in advance and the like, and therefore, the predetermined amount can be accurately calculated as compared with a case where calculation is performed based on only the field area.

Drawings

Fig. 1 is a side view showing an overall configuration of an unmanned tractor that autonomously travels along a route generated by a route generation system according to an embodiment of the present invention.

Fig. 2 is a top view of the unmanned tractor.

Fig. 3 is a diagram showing a wireless communication terminal operated by a user and capable of wireless communication with an unmanned tractor.

Fig. 4 is a block diagram showing the main electrical components of the unmanned tractor and the wireless communication terminal.

Fig. 5 is a schematic diagram showing an example of the travel route generated by the route generation system.

Fig. 6 is a diagram showing an example of display of an input selection screen on the display screen of the wireless communication terminal.

Fig. 7 is a diagram showing an example of display of a work vehicle information input screen on the display screen of the wireless communication terminal.

Fig. 8 is a diagram showing an example of display of a field information input screen on the display screen of the wireless communication terminal.

Fig. 9 is a diagram showing an example of display of a job information input screen on a display screen of a wireless communication terminal.

Fig. 10 is a diagram showing an example of display of a material replenishment position setting window for setting a replenishment position of a material on a display screen of a wireless communication terminal.

Fig. 11 is a flowchart showing a process performed by the route generation unit or the like when generating the replenishment route for the material.

Fig. 12 is a flowchart showing the continuation of the processing of fig. 11.

Fig. 13 is a diagram showing an example of the material replenishment position set in a certain travel route and the calculated material depletion occurrence position.

Fig. 14 is a diagram showing an example in which the replacement target connection path is identified and the temporary replenishment path is generated in the example shown in fig. 13.

Fig. 15 is a diagram showing an example in which the replacement target connection path is changed from the situation in fig. 14 to generate the temporary replenishment path.

Fig. 16 is a diagram showing an example of a temporary replenishment path generated when the replenishment position of the material is changed after the temporary replenishment path of fig. 15 is determined as the replenishment path.

Fig. 17 is a diagram showing an example of a temporary replenishment path generated in the case where the replenishment position of the material is further changed from fig. 16.

Detailed Description

Next, embodiments of the present invention will be described with reference to the drawings. Hereinafter, in the drawings, the same reference numerals are given to the same portions, and overlapping description may be omitted. In addition, names of components and the like corresponding to the same reference numerals may be simply replaced or names of upper concepts or lower concepts may be replaced.

The present invention relates to a route generation system for causing 1 or more work vehicles to travel within a predetermined field and generating, when all or a part of agricultural work within the field is performed: a travel path for traveling the work vehicle. In the present embodiment, a tractor is used as an example of the work vehicle, but the work vehicle includes a rice transplanter, a combine harvester, a civil engineering and construction work device, a riding type work machine such as a snow plough, and a walking type work machine in addition to the tractor. In the present specification, autonomous driving means: a structure relating to travel of the tractor is controlled by a control unit (ECU) of the tractor so that the tractor travels along a predetermined route; the autonomous operation means: the structure related to the work provided in the tractor is controlled by a control unit provided in the tractor, and the tractor performs the work along a predetermined route. In contrast, manual travel and manual work mean: each component of the tractor is operated by a user to travel and work.

In the following description, a tractor that performs autonomous travel and autonomous work may be referred to as an "unmanned (or driverless) tractor", and a tractor that performs manual travel and manual work may be referred to as an "manned (or driverless) tractor". In the case where a part of agricultural work is performed by an unmanned tractor in a field, the remaining agricultural work is performed by an manned tractor. The process of performing agricultural work in a single field with unmanned tractors and manned tractors is sometimes referred to as cooperative work, follow-up work, accompanying work, and the like of agricultural work. In this specification, the unmanned tractor and the manned tractor are different in the presence or absence of an operation by a user, and the respective configurations are substantially common. That is, even if the tractor is an unmanned tractor, the tractor can be operated by the user riding (riding) the tractor (that is, can be used as a manned tractor), or even if the tractor is a manned tractor, the tractor can be driven off the vehicle to perform autonomous traveling and autonomous work (that is, can be used as an unmanned tractor). Further, the cooperative work of the agricultural work may include "agricultural work in different fields such as adjoining fields is performed simultaneously by unmanned vehicles and manned vehicles" in addition to "a process of performing agricultural work in a single field by unmanned vehicles and manned vehicles".

Next, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a side view showing an overall configuration of an unmanned tractor 1 that autonomously travels along a route generated by a route generation system 99 according to an embodiment of the present invention. Fig. 2 is a plan view of the unmanned tractor 1. Fig. 3 is a diagram showing a wireless communication terminal 46 operated by a user and capable of wireless communication with the unmanned tractor 1. Fig. 4 is a block diagram showing the main electrical components of the unmanned tractor 1 and the wireless communication terminal 46. Fig. 5 is a schematic diagram showing an example of the travel route P generated by the route generation system 99.

The route generation system 99 according to an embodiment of the present invention generates: an autonomous working path for the unmanned tractor 1 shown in fig. 1 to travel when performing autonomous working. Each configuration of the route generation system 99 of the present embodiment is mainly provided in the wireless communication terminal 46 that performs wireless communication with the unmanned tractor 1.

First, an unmanned tractor (hereinafter, may be simply referred to as "tractor") 1 will be described with reference mainly to fig. 1 and 2.

The tractor 1 includes: a traveling machine body 2 as a vehicle body portion that autonomously travels in a field area. Various working machines such as a cultivator (management machine), a plow, a fertilizer applicator, a mower, and a seeder can be selected and mounted on the travel machine body 2, and the fertilizer application device 3 is mounted as the working machine in the present embodiment. The traveling machine body 2 is configured to: the height and posture of the mounted working machine (fertilizer application device 3) can be changed.

The structure of the tractor 1 will be described in more detail with reference to fig. 1 and 2. As shown in fig. 1, a travel machine body 2 of a tractor 1 has a front portion supported by front wheels 7, 7 of a left-right pair 1 and a rear portion supported by rear wheels 8, 8 of the left-right pair 1.

An engine cover 9 is disposed at the front of the traveling machine body 2. The engine cover 9 houses therein: an engine 10 as a drive source of the tractor 1, a fuel tank (not shown), and the like. The engine 10 may be constituted by, for example, a diesel engine, but is not limited thereto, and may be constituted by, for example, a gasoline engine. Further, engine 10 and an electric motor may be used as the drive source, or an electric motor may be used instead of engine 10.

Disposed behind the engine cover 9 are: a cab 11 for a user to ride on. The cab 11 is mainly provided with: a steering wheel 12 for a user to perform a steering operation; a seat 13 on which a user can sit; and various operation devices for performing various operations. However, the work vehicle is not limited to the work vehicle with cab 11, and may be a work vehicle without cab 11.

Examples of the above-mentioned operation device include: the monitor device 14, the throttle lever 15, the main shift lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO shift lever 18, the sub shift lever 19, the work machine up-down switch 28, and the like shown in fig. 2 are examples. These operating devices are disposed near the seat 13 or near the steering wheel 12.

The monitor device 14 is configured to: various information of the tractor 1 can be displayed. The throttle lever 15 is an operation member for setting the output rotation speed of the engine 10. The main shift lever 27 is an operation member for changing the traveling speed of the tractor 1 in multiple stages. The hydraulic control lever 16 is an operation member for switching a hydraulic external extraction valve, not shown. The PTO switch 17 is an operation member for switching transmission/disconnection of power to/from a PTO shaft (power transmission shaft) not shown protruding from the rear end of the transmission case 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft, and the PTO shaft rotates, whereas when the PTO switch 17 is in the OFF state, power to the PTO shaft is cut OFF, and rotation of the PTO shaft stops. The PTO transmission lever 18 is an operation member for performing a transmission operation of the rotational speed of the PTO shaft. The sub-shift lever 19 is an operation member for switching the gear ratio of the traveling sub-transmission gear mechanism in the transmission case 22. The work implement elevation switch 28 is an operation member for performing an elevation operation of the work implement (the fertilizer application device 3) mounted on the travel machine body 2 within a predetermined range.

As shown in fig. 1, a chassis 20 of the tractor 1 is provided at a lower portion of the travel machine body 2. The chassis 20 is composed of a body frame 21, a transmission case 22, a front axle 23, a rear axle 24, and the like.

The body frame 21 is a support member at the front of the tractor 1, and supports the engine 10 directly or via a vibration isolation member or the like. The transmission 22 changes the power from the engine 10 to transmit to the front axle 23 and the rear axle 24. The front axle 23 is constituted by: the power input from the transmission case 22 is transmitted to the front wheels 7. The rear axle 24 is constituted by: the power input from the transmission case 22 is transmitted to the rear wheels 8.

The fertilizer application device 3 includes: a fertilizer box 29 capable of storing a fertilizer (material); a conveying part 25 for outputting the fertilizer supplied from the fertilizer box 29; and a rotatable flattening wheel 26, which flattens the soil. A plurality of (4 in the present embodiment) conveyor units 25 and leveling wheels 26 are arranged side by side in the width direction of the travel machine body 2, and the fertilizer stored in the fertilizer tank 29 is distributed and supplied to the plurality of conveyor units 25. In the present embodiment, each of the transport units 25 includes a rotatable roller-shaped member, not shown, in which a plurality of small recesses capable of storing granular fertilizer are formed in parallel on the outer peripheral surface. The roller-shaped member is connected to the platen roller 26 by a chain or the like. In this configuration, when the tractor 1 moves forward in a state where the fertilizer application device 3 is supported at a working height described later, the ground-engaging leveling wheel 26 rotates, and the power thereof is transmitted via a chain or the like to drive the roller-shaped member. Thereby, the fertilizer in the fertilizer box 29 is discharged by the conveyor 25 and spread on the field, and fertilizer application is performed.

As shown in fig. 4, the tractor 1 includes: a control unit 4 for controlling the operation (forward, backward, stop, turning, etc.) of the traveling machine body 2 and the operation (up-down, driving, stopping, etc.) of the working machine (the fertilizer application device 3 in the present embodiment). The control unit 4 is configured to: the CPU is provided with a CPU, ROM, RAM, I/O, and the like, which are not shown, and can read and execute various programs and the like from the ROM. The controller for controlling each component (for example, the engine 10) included in the tractor 1, the wireless communication unit 40 capable of wirelessly communicating with another wireless communication device, and the like are electrically connected to the control unit 4.

As the controller, the tractor 1 includes at least: an engine controller, a vehicle speed controller, a steering controller, and a lift controller, which are not shown. Each controller can control each component of the tractor 1 based on an electric signal from the control unit 4.

The engine controller controls the rotational speed and the like of the engine 10. Specifically, engine 10 is provided with: a governor device 41 including an actuator, not shown, for changing the rotation speed of the engine 10. The engine controller controls the governor device 41, thereby controlling the rotation speed of the engine 10. Further, engine 10 is provided with a fuel injection device 52 for adjusting injection timing and injection amount of fuel to be injected (supplied) into a combustion chamber of engine 10. The engine controller controls the fuel injection device 52, thereby stopping the supply of fuel to the engine 10, for example, and stopping the driving of the engine 10.

The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission case 22 includes: for example, a variable speed device 42, which is a hydraulic stepless variable speed device of a movable swash plate type. The vehicle speed controller changes the speed ratio of the transmission 22 by changing the angle of the swash plate of the transmission 42 by an actuator, not shown, to achieve a desired vehicle speed.

The steering controller controls the turning angle of the steering wheel 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering wheel 12. In this configuration, when the tractor 1 (unmanned tractor) travels on a predetermined route, the control unit 4 calculates an appropriate turning angle of the steering wheel 12 so that the tractor 1 travels along the route, and outputs a control signal to the steering controller so as to achieve the obtained turning angle. The steering controller drives the steering actuator 43 based on a control signal input from the control unit 4 to control the turning angle of the steering wheel 12.

The elevation controller controls the elevation of the working machine (fertilizer application device 3). Specifically, the tractor 1 is provided with a lift actuator 44, which is constituted by a hydraulic cylinder or the like, in the vicinity of a 3-point link mechanism connecting the fertilizer applicator 3 and the travel machine body 2. In this configuration, the elevation controller drives the elevation actuator 44 based on the control signal input from the control unit 4 to appropriately move the fertilizer applicator 3 up and down, thereby enabling agricultural work (fertilizer application work) to be performed at a desired height by the fertilizer applicator 3. By this control, the fertilizer applicator 3 can be supported at a desired height such as a retreat height (a height at which agricultural work is not performed) and an operation height (a height at which agricultural work is performed).

The plurality of controllers, not shown, control the components such as the engine 10 based on signals input from the control unit 4. Therefore, it can be understood that the control unit 4 substantially controls each member.

The tractor 1 including the control unit 4 as described above is configured such that: when a user gets into the cab 11 to perform various operations, the control unit 4 can control the respective members (the travel machine body 2, the fertilizer application device 3, and the like) of the tractor 1 to perform agricultural work while traveling in the field. In the tractor 1 of the present embodiment, even if the user does not ride on the tractor 1, the autonomous traveling and the autonomous operation can be performed based on the predetermined control signal output from the wireless communication terminal 46.

Specifically, as shown in fig. 4 and the like, the tractor 1 includes: and various configurations capable of autonomous driving and autonomous operation. For example, the tractor 1 includes: a positioning antenna 6 and the like required to acquire the positional information of the vehicle (the traveling machine body 2) based on the positioning system. With this configuration, the tractor 1 can autonomously travel on the field by acquiring its own position information based on the positioning system.

Next, a configuration of the tractor 1 provided to enable autonomous traveling will be described in detail with reference to fig. 4 and the like. Specifically, the tractor 1 of the present embodiment includes: a positioning antenna 6, a wireless communication antenna 48, a storage unit 55, and the like. In addition to these components, the tractor 1 may further include: an Inertial Measurement Unit (IMU), not shown, capable of determining the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

The positioning antenna 6 receives signals from positioning satellites constituting a positioning system such as a satellite positioning system (GNSS). As shown in fig. 1, the positioning antenna 6 is attached to the upper surface of the ceiling portion 5 provided in the cab 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit 49 shown in fig. 4. The position information calculation unit 49 calculates the position information of the travel machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude and longitude information, for example. The position information calculated by the position information calculating unit 49 is input to the control unit 4 and used for autonomous traveling.

In the present embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited thereto, and other positioning systems may be used as long as high-precision position coordinates can be obtained. For example, consider the use of a relative positioning system (DGPS), or a satellite navigation augmentation system (SBAS) of the geostationary satellite type.

The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user, or transmits a signal to the wireless communication terminal 46. As shown in fig. 1, the wireless communication antenna 48 is attached to the upper surface of the ceiling portion 5 provided in the cab 11 of the tractor 1. The signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in fig. 4, and is input to the control unit 4. The signal transmitted from the control unit 4 to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, and then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

The front camera 57 photographs the front of the tractor 1. The rear camera 56 photographs the rear of the tractor 1. The video data captured by the front camera 57 and the rear camera 56 is subjected to signal processing by the wireless communication unit 40, and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display a video obtained based on the received video data on the display screen 37.

The vehicle speed sensor 53 detects the vehicle speed of the tractor 1, and is provided on, for example, an axle between the front wheels 7, 7.

The fertilizer remaining amount sensor 30 can detect the remaining amount of the fertilizer stored in the fertilizer tank 29, in other words, the amount of the fertilizer that can be used by the tractor 1 when the fertilizer application device 3 is used for work. The fertilizer remaining amount sensor 30 may be configured as a weight sensor, for example.

The detection results obtained by the vehicle speed sensor 53 and the fertilizer remaining amount sensor 30 are subjected to signal processing by the wireless communication unit 40, and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection result on the display 37. In addition, the wireless communication terminal 46 can generate a route on which the tractor 1 travels, taking into account the received detection result.

The storage section 55 is: a memory for storing a route for the tractor to autonomously travel or storing a transition (travel track) of the position of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel. In addition, the storage unit 55 stores various information necessary for the tractor 1 to perform autonomous traveling and autonomous work.

As shown in fig. 3, the wireless communication terminal 46 is configured as a tablet-type personal computer. The user can confirm with reference to information (for example, information from various sensors mounted to the tractor 1) displayed in the display screen 37 of the wireless communication terminal 46, for example, outside the tractor 1. The user can also operate a hardware keyboard 38 disposed near the display screen 37, a touch panel 39 disposed so as to cover the display screen 37, and the like, and can transmit a control signal for controlling the tractor 1 to the control unit 4 of the tractor 1. Here, as the control signal output from the wireless communication terminal 46 to the control unit 4, a signal relating to a route of autonomous traveling and autonomous work, a start signal, a stop signal, an end signal, an emergency stop signal, a pause signal, a resume signal after pause, and the like are considered, but the present invention is not limited thereto.

The wireless communication terminal 46 is not limited to a tablet-type personal computer, but may be formed of a notebook-type personal computer, for example, instead. Alternatively, when the unmanned tractor 1 and the manned tractor perform cooperative work, the monitor device 14 mounted on the manned tractor may be a wireless communication terminal.

The tractor 1 configured as described above can perform a fertilizing operation (agricultural operation) by the fertilizing apparatus (working machine) 3 while autonomously traveling along a route on a field prepared in advance based on an instruction of a user using the wireless communication terminal 46.

Specifically, the user performs various settings using the wireless communication terminal 46, and thereby can generate: a travel path P, which is a series of paths obtained by alternately connecting a straight or folded-line-shaped autonomous working path (linear path for autonomous working) P1 and an arc-shaped connecting path (turning path for turning and folding operation) P2 that connects the ends of the autonomous working path P1 to each other.

Fig. 5 shows an example of the travel route P, which is generated so as to connect a work start position S and a work end position E that are specified in advance. As shown in fig. 5, when the travel path P is created, a non-working area where the fertilizer application device 3 does not work, that is, a front land and a non-cultivated land (side edge) are set in the field (travel area), and a portion other than the non-working area is a working area. The autonomous working paths P1, P1, · · · are generated such that a plurality of them are arranged side by side in the working area. The set of the plurality of autonomous working paths P1 corresponds to: an autonomous working path P1S for autonomous working by the tractor 1 in the working area.

By inputting (transmitting) the information on the travel route P to the control unit 4 and performing a predetermined operation, the control unit 4 can control the tractor 1 so that the tractor 1 autonomously travels along the travel route P and the fertilizer application device 3 performs agricultural work along the autonomous working route P1.

Hereinafter, the configuration of the wireless communication terminal 46 including the main components of the route generation system 99 according to one embodiment of the present invention will be described in more detail with reference mainly to fig. 4.

As shown in fig. 3 and 4, the wireless communication terminal 46 of the present embodiment includes, in addition to the display 37, the hardware keyboard 38, and the touch panel 39, as main components: the display control unit 31, the field shape acquisition unit 33, the route generation unit 35, the work vehicle information setting unit 36, the field information setting unit 45, the work information setting unit 47, the fertilizer demand amount calculation unit (calculation unit) 51, the fertilizer remaining amount acquisition unit (determination unit) 54, the replenishment position setting unit 58, the deviation return position setting unit (interruption start position setting unit) 59, and the storage unit 32.

The display control unit 31 performs: and control for creating display data to be displayed on the display screen 37 and appropriately switching the display screen. The display control unit 31 can generate an input selection screen 60 as an initial screen (menu screen) shown in fig. 6 and display the screen on the display 37. When a predetermined operation is performed on the input selection screen 60, the display control unit 31 can generate each of the input screens 70, 80, and 90 (see fig. 7 to 10) described later and switch the display screen of the display panel 37 to the input screens 70, 80, and 90.

The field shape acquiring unit 33 shown in fig. 4 acquires the shape of the field by making the tractor 1 turn 1 round along the outside of the field and recording the position change of the positioning antenna 6 at that time. The shape of the field acquired by the field shape acquiring unit 33 is stored in the storage unit 32. However, the method of acquiring the shape of the field is not limited to this, and for example, instead of this, position information of corners of the field may be recorded, a polygon may be determined from a so-called closed graph in which line segments connecting the recorded points do not intersect, and the polygon may be acquired as the shape of the field.

The route generation unit 35 generates: a path for inputting (transferring) to the tractor 1. The route generated by the route generation unit 35 of the present embodiment includes: a travel path P on which the tractor 1 autonomously travels, and a supply path Q on which the tractor 1 automatically travels (autonomously travels) when supplying materials (fertilizer in the case of the present embodiment) to the tractor 1. The route generation unit 35 receives work vehicle information, field information, and work information, which will be described later, and automatically generates (calculates) the travel route P and the replenishment route Q when a predetermined operation is performed. The generated travel route P and replenishment route Q are stored in the storage unit 32.

The work vehicle information setting unit 36 receives work vehicle information (information on the traveling machine body 2 and the fertilizer application device 3) input on a work vehicle information input screen 70, which will be described later. The work vehicle information set by the work vehicle information setting unit 36 is stored in the storage unit 32.

The field information setting unit 45 receives field information (information relating to a field) input on a field information input screen 80, which will be described later. The field information set by the field information setting unit 45 is stored in the storage unit 32.

The job information setting unit 47 receives job information (information relating to a job mode and the like) input on the job information input screen 90 and the like. The operation information set by the operation information setting unit 47 is stored in the storage unit 32.

The fertilizer demand amount calculation unit 51 calculates a predetermined amount of fertilizer (material) to be used by the tractor 1 on the autonomous working path P1S. The fertilizer demand amount calculation unit 51 calculates the predetermined amount (amount of fertilizer required) based on the path length of the autonomous working path P1S obtained as the travel path P is generated by the path generation unit 35 and the amount of fertilizer used per unit length in the autonomous working path P1.

The remaining fertilizer amount acquisition unit 54 acquires (specifies) the remaining amount of fertilizer in the fertilizer application device 3, in other words, the remaining amount of fertilizer that can be used by the tractor 1, based on the detection value received from the remaining fertilizer amount sensor 30.

When the user designates the fertilizer supply position by displaying a material supply position setting window 91, which will be described later, on the display screen 37 of the wireless communication terminal 46, the supply position setting unit 58 receives information on the designated fertilizer supply position.

When determining that fertilizer exhaustion occurs in the middle of the autonomous working route P1S, the deviation return position setting unit 59 sets, with reference to the position where fertilizer exhaustion occurs: the tractor 1 is located at a deviation position (interruption position) where the autonomous operation is interrupted and the tractor departs from the travel path P to replenish the fertilizer, and at a return position (restart position) where the tractor returns to the travel path P after the fertilizer is replenished and the autonomous operation is restarted. Hereinafter, the details of the escape position, the return position, and the like will be described.

The storage unit 32 is configured to include a nonvolatile memory (for example, a flash ROM), and can store: the work vehicle information set by the work vehicle information setting unit 36, the field information set by the field information setting unit 45, and the work information set by the work information setting unit 47. Further, the storage unit 32 can store: information on the generated travel route P and replenishment route Q, and the like.

Next, the operation performed by the user using the wireless communication terminal 46 when setting the work vehicle information, the field information, and the work information and generating the travel route P and the supply route Q will be described in detail mainly with reference to the screen displayed on the display 37 of the wireless communication terminal 46, that is, fig. 6 to 10. Fig. 6 is a diagram showing a display example of the input selection screen 60. Fig. 7 is a diagram showing an example of the display of the work vehicle information input screen 70. Fig. 8 is a diagram showing a display example of the field information input screen 80. Fig. 9 is a diagram showing a display example of the job information input screen 90. Fig. 10 is a diagram showing a display example of the material replenishment position setting window 91 for setting the replenishment position of the material.

At a stage before the user starts setting the work vehicle information, the field information, and the work information, as shown in fig. 6, an input selection screen 60 created by the display control unit 31 is displayed on the display 37 of the wireless communication terminal 46 as an initial screen (menu screen). The input selection screen 60 mainly displays: work vehicle information input operation unit 61, field information input operation unit 62, work information input operation unit 63, travel route generation and transmission operation unit 64, and agricultural work start operation unit 65.

These operation units are configured as virtual keys (so-called icons) displayed on the display 37. In the following description, the "keys" are all virtual keys displayed on the display 37, and refer to: a key that can be operated by a user touching a position of the touch panel 39 corresponding to a display area of the key with a finger or the like.

First, the user operates the work vehicle information input operation unit 61 of the input selection screen 60 to set the work vehicle information. Thereby, the display screen is switched to the work vehicle information input screen 70 shown in fig. 7.

On this work vehicle information input screen 70, it is possible to input: work vehicle information relating to the traveling machine body 2 and the work machine (fertilizer application device 3) attached to the traveling machine body 2. Specifically, work vehicle information input screen 70 includes: columns such as the model of the tractor 1, the mounting position of the positioning antenna 6 to the travel machine body 2, the lateral width of the tractor 1, the lateral width (working width) of the fertilizer applicator 3, the distance from the rear end of the 3-point link mechanism (the rear end of the lower link) to the rear end of the fertilizer applicator 3, the fertilizer feed amount (fertilizer usage amount) per unit length of the fertilizer applicator 3, the vehicle speed during work on the way, the vehicle speed at the head of the ground (during turning), the engine speed during work on the way, and the engine speed at the head of the ground (during turning) are specified as the working vehicle information. Although only a part of the above-described fields is displayed on work vehicle information input screen 70 shown in fig. 7, the remaining fields can be displayed by performing an operation of scrolling the screen downward from the state shown in fig. 7.

If the user designates all the items of work vehicle information input screen 70 and operates a "vehicle setting confirmation" button, not shown, the contents of the work vehicle information are stored in storage unit 32, and the setting of the work vehicle information is completed.

When the user has finished setting the work vehicle information, returns to the input selection screen 60 of fig. 6, and operates the field information input operation unit 62, the display screen of the display panel 37 is switched to the field information input screen 80 shown in fig. 8.

On the field information input screen 80, it is possible to input: information on a traveling area (field) on which the traveling machine body 2 travels. Specifically, on the field information input screen 80, there are disposed: and a plane display unit 81 for displaying the shape of the field as a graph (as a graph). In the field information input screen 80, the "start recording" and "reset" buttons are arranged in the "position and shape of the field outer periphery" column. In the field information input screen 80, the "set" and "reset" buttons are arranged in the columns of the "work start position", "work end position", and "work direction".

If the "start recording" button of the "position and shape of the field outer periphery" is operated, the wireless communication terminal 46 switches to the field shape recording mode. In the field shape recording mode, if the tractor 1 is made to make 1 turn around the outside of the field, for example, the field shape acquiring unit 33 records the position change of the positioning antenna 6 at that time, and the field shape acquiring unit 33 acquires (calculates) the shape of the field. This allows specifying the position and shape of the field. The position and shape of the field periphery calculated (specified) in this way are graphically displayed on the plane display unit 81. Further, by operating the "reset" button, the position of the outer periphery of the field can be recorded (specified) again.

When the "set" button of the "work start position" is operated, the shape of the field acquired as described above is displayed on the flat display section 81 of the field information input screen 80 so as to overlap with the map data. In this state, the user selects an arbitrary point near the field contour, and the position information near the selected point can be set as the work start position. The "work end position" is also set in the same manner as the "work start position".

When the "set" button of the "work direction" is operated, the shape of the field, the work start position, and the work end position acquired as described above are displayed on the flat display section 81 of the field information input screen 80 so as to overlap with the map data. In this state, for example, the user selects an arbitrary 2 points on the field contour, and the direction of a straight line connecting the 2 points can be set as the working direction.

When the settings for all the items on the field information input screen 80 are completed, a "registration" button is displayed. When the user confirms the designated content by the flat panel display unit 81 or the like and operates the "registration" button, the content of the set field information is stored in the storage unit 32, and the setting of the field information is completed.

When the user has finished setting the field information, returns to the input selection screen 60 shown in fig. 6, and operates the work information input operation unit 63, the display screen is switched to the work information input screen 90 shown in fig. 9.

The "work content" column of the work information input screen 90 is a column for selecting which work to perform among works such as tilling, leveling, fertilizing, sowing, chemical spreading, herbicide spreading, and fertilizing while tilling. By performing the pull-down operation in this column, it is possible to set the autonomous operation that the user wants the tractor 1 to perform.

The "presence or absence of multiple cooperative operations" column of the operation information input screen 90 is a column for selecting whether or not to perform operations (whether or not to perform cooperative operations) using multiple tractors (for example, 2 unmanned tractors 1 and manned tractors) in the same field. By performing the pull-down operation in this column, it is possible to set any one of "cooperative work is present" and "non-cooperative work is present".

Only when the "cooperative work is present" is set in the "presence or absence of a plurality of cooperative works" column described above, the "cooperative work mode" column of the work information input screen 90 can be operated. This column is a column for selecting a cooperative operation (follow-up) performed by driving a plurality of tractors on different autonomous working paths P1, a cooperative operation (follow-up) performed by driving a plurality of tractors on the same autonomous working path P1, or the like. By performing a pull-down operation in this field, any one of the cooperative operation modes can be set.

The "overlap width" field of the work information input screen 90 is a field set to a width (overlap amount) in which widths of the adjacent autonomous working paths P1 and P1, through which the working machine (fertilizer applicator 3) passes, overlap each other. By directly inputting a numerical value in this field, the overlap amount can be set. In the present embodiment, the overlapping amount may be set to a negative value, and in this case, a gap is formed between the widths of the adjacent autonomous working paths P1 and P1 across which the working machine (fertilizer application device 3) passes.

The "number of jumps" field of the work information input screen 90 is a field for selecting the number of autonomous working paths (performing work by skipping several rows) arranged between an arbitrary autonomous working path P1 on the travel path P on which the tractor 1 travels and an autonomous working path P1 on which the tractor 1 travels next to the arbitrary autonomous working path P1. In the present embodiment, by performing the pull-down operation in this column, the skip number can be set to any one of "0", "1", and "2".

The "ground width" column of the work information input screen 90 is a column for setting the width of the area (i.e., the ground) where the tractor 1 turns and turns back. In this column, a recommended width calculated by the user based on the previously set work width, overlap width, and the like is displayed, but by performing the pull-down operation, for example, a value of an integral multiple of the work width can be selected and set as the headland width. However, the present invention is not limited to this, and the user may directly input a desired width value as the head width.

The "width of non-cultivated land" column of the work information input screen 90 is a column set at the width of a non-working area (i.e., non-cultivated land) disposed at both ends of the travel area in the direction in which the autonomous working paths P1 of the tractor 1 are lined up. Although the recommended width calculated by the user based on the previously set working width, overlap width, and the like is displayed in this column, for example, a value that is an integral multiple of the working width can be set as the non-tillage width by performing the pull-down operation. However, the present invention is not limited to this, and the user may directly input a numerical value of a desired width.

When the user inputs all the fields of the operation information input screen 90 and operates the "ok" button (not shown) in the case where the operation of the consumable material is included in the operation contents set as described above (the contents input in the uppermost field of the operation information input screen 90 in the present embodiment) (specifically, in the case where the operation contents are "fertilizer application", "seed application", "chemical application", "herbicide application", or "fertilizer application while tilling", for example), the material replenishment position setting window 91 is displayed so as to be superimposed on the operation information input screen 90 as shown in fig. 10.

On the material replenishment position setting window 91 are displayed: for example, "please specify a material replenishment location. The "message" and the plane display unit 92 graphically represent the shape of the travel area (field) and the shape of the working area (area where the autonomous working paths P1 are arranged side by side). In the flat panel display section 92, the user operates a "registration" button on the lower portion of the material replenishment position setting window 91 in a state where a finger is touched on a position designated as the material replenishment position and an appropriate mark (replenishment position mark 93) is displayed at the position. Thus, the setting of the material replenishment position is received by the replenishment position setting unit 58. In the present embodiment, the material replenishment position may be set only in a region inside the travel region and outside the working region.

When the user finishes setting the operation information, returns to the input selection screen 60 of fig. 6, and selects the travel route generation and conveyance operation unit 64, the travel route P of the tractor 1 is automatically generated and stored in the storage unit 32. In addition, if the travel route P is generated, a "route simulation" key is displayed in a selectable manner in the display screen of the display screen 37. By selecting (operating) the "route simulation" key, an image showing the generated travel route P as an arrow, a line, or the like is displayed. Further, a video in which the tractor icon moves along the travel route P may be displayed.

Further, a "transfer data" key and a "return input selection screen" key are displayed in a selectable manner in the display screen of the display screen 37. If the "transmit data" key is selected, an instruction for transmitting the information of the travel route P to the control unit 4 of the tractor 1 can be given. If the "return input selection screen" key is selected, the display screen is switched to the input selection screen 60.

In this way, in the route creation system 99 of the present embodiment, the information of the travel route P created on the wireless communication terminal 46 side can be transmitted to the control unit 4 of the tractor 1. The control unit 4 stores the information on the travel route P received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4.

Next, a specific process performed by the route generation unit 35 when generating the replenishment route Q will be described with reference to fig. 11 and 12. After the route generation unit 35 generates the travel route P, the replenishment route Q is automatically generated in consideration of the travel route P. Fig. 11 is a flowchart showing the processing performed by the route generation unit 35 and the like when the fertilizer replenishment route Q is generated. Fig. 12 is a flowchart showing the continuation of the processing of fig. 11.

First, the fertilizer demand calculation section 51 obtains: information on the path length of the autonomous working path P1S (the sum of the path lengths of all the autonomous working paths P1) and information on the amount of fertilizer used per unit length (the amount of fertilizer transported) on the autonomous working path P1, which are set or calculated at the time of creating the travel path P. Then, the predetermined amount of fertilizer required in the autonomous working path P1S is calculated by multiplying the path length of the autonomous working path P1S and the amount of fertilizer used per unit length (step S101).

Next, the remaining fertilizer amount obtaining part 54 obtains the remaining amount of fertilizer in the fertilizer tank 29 based on the detection result of the remaining fertilizer amount sensor 30 (step S102).

Next, if it is assumed that fertilizer is not supplied, the route generation unit 35 determines that: whether fertilizer exhaustion occurs during autonomous operation by driving the tractor 1 along the travel path P (step S103). This determination may be made by comparing the predetermined amount of the fertilizer obtained in step S101 and the remaining amount of the fertilizer obtained in step S102.

If the determination result in step S103 is that fertilizer depletion is not occurring during the autonomous operation (step S103, No), the fertilizer does not need to be replenished during the autonomous operation, and therefore the replenishment route Q does not need to be created. This completes the process.

On the other hand, if the determination result in step S103 is that fertilizer exhaustion occurs in the middle of the autonomous operation (steps S103, Yes), it means that fertilizer replenishment is required in the middle. Therefore, in order to generate the fertilizer replenishment path Q, the path generation unit 35 first calculates a fertilizer exhaustion occurrence position B where fertilizer exhaustion occurs on the autonomous working path P1S by calculation (step S104). Specifically, the route generation unit 35 divides the remaining amount of the fertilizer obtained in step S102 by the amount of fertilizer used per unit length described in step S101 to obtain a sustainable distance of fertilizer (fertilizer continuation distance). Then, while counting the distance, the operator moves on the autonomous working path P1S from the upstream end, and a point where the counted value of the distance is equal to the fertilizer continuation distance is determined as the fertilizer-exhaustion occurrence position B. Shown in fig. 13 are: an example of the fertilizer exhaustion occurrence position B determined by the above-described method in a certain travel path P.

Next, the route generation unit 35 identifies the upstream-side connecting routes P2 of a predetermined number (3 in the present embodiment) of the positions B where the fertilizer depletion occurs as the connecting routes to be replaced in the replenishment route (hereinafter, sometimes referred to as "replacement-target connecting routes") (step S105). The circled numbers in fig. 13 that mark the connecting path P2 indicate several upstream sides as viewed from the material depletion occurrence position B. Therefore, in the example of fig. 13, the connection path denoted by the symbol P2R is the replacement target connection path. Next, the route generation unit 35 sets the position C1 of the start end of the replacement target connection path P2R to the temporary deviation position (temporary interruption position) (step S106), and sets the position D1 of the end of the replacement target connection path P2R to the temporary return position (temporary restart position) (step S107). Fig. 13 shows an example of the set temporary disengagement position C1 and the temporary return position D1.

As shown in fig. 13, the temporary disengagement position C1 may be referred to as a position of the end (downstream end) of the autonomous working path P1 connected to the start end of the replacement target connection path P2R. The provisional return position D1 may be referred to as a position of the start end (end on the upstream side) of the autonomous working path P1 connected to the end of the connection path P2 of the replacement target connection path P2R.

Next, the route generation unit 35 generates the provisional replenishment route Q1 by calculation (step S108). Specifically, the route generation unit 35 acquires information of the fertilizer replenishment position a1 set by the replenishment position setting unit 58. Then, the route generation unit 35 calculates the shortest route connecting the temporary deviation position C1 and the temporary return position D1 via the fertilizer supply position a1 in the non-working area, and sets the shortest route as the temporary supply route Q1. Shown in fig. 14 are: when the temporary disengagement position C1 and the temporary return position D1 are set at the positions shown in fig. 13, the temporary replenishment path Q1 is generated for replenishment at the replenishment position a 1. The temporary replenishment path Q1 can be obtained by: a set of paths from the temporary departure position C1 as a starting point to the fertilizer supply position a1 through the area of the land or non-cultivated land and from the supply position a1 to the temporary return position D1 as an end point through the area of the land or non-cultivated land is calculated, and then the shortest path is selected, thereby obtaining the temporary supply path Q1.

Next, the route generation unit 35 determines: whether or not the path length of the temporary replenishment path Q1 is shorter than the path length from the temporary return position D1 to the work completion position E on the travel path P (step S109).

When the determination result in the step S109 is that the path length of the temporary replenishment path Q1 is shorter than the path length from the temporary return position D1 to the work completion position E on the travel path P (steps S109 and Yes), the path generation unit 35 sets the temporary replenishment path Q1 as the replenishment path Q (step S110). That is, the temporary disengagement position C1 and the temporary return position D1 set in step S106 and step S107 are used as the disengagement position (interruption position) C and the return position (restart position) D, respectively, and the temporary supply path Q1 generated in step S108 is used as the supply path Q. Then, the series of processes ends. Further, the replacement target connection path P2R is replaced with the obtained replenishment path Q so that the travel path P is connected to the replenishment path Q, whereby the entire travel path of the tractor 1 is completed.

On the other hand, if the determination result in step S109 is that the path length of the temporary replenishment path Q1 is the same as or longer than the path length from the temporary return position D1 to the work end position E on the travel path P (No in step S109), the path length of the temporary replenishment path Q1 becomes too long if it is used as the replenishment path Q, and the balance is poor. Therefore, the route generation unit 35 moves the replacement target connection route P2R to the first 1 upstream connection route P2 (step S111), returns to step S106, and repeats the above-described processing. Shown in fig. 15 are: an example of the newly set replacement target connection path P2R (the temporary deviation position C1 and the temporary return position D1) and the regenerated temporary replenishment path Q1.

The processing of steps S106 to S109 and S111 is repeated until the path length of the new temporary replenishment path Q1 becomes shorter than the path length from the temporary return position D1 to the work completion position E on the travel path P. As a result, in the example of fig. 13, the temporary replenishment path Q1 of fig. 15 is used as the replenishment path Q, and the temporary replenishment path Q1 of fig. 14 is not used as the replenishment path Q.

Thus, the route generation unit 35 can generate the replenishment route Q having a route length not very long. When the "route simulation" button is operated, the information on replenishment route Q thus generated is displayed on the display screen of display 37 as an image represented by an arrow, a line, or the like together with the information on travel route P.

After the display of the "route simulation" is completed, a "data transmission" button, a "return input selection screen" button, and a "change fertilizer supply position" button are displayed in a selectable manner on the display screen of the display screen 37. However, only when the supply route Q is generated, the "change the fertilizer supply position" button is displayed. If "transfer data" is selected, an instruction to transfer the information of the replenishment path Q to the control unit 4 of the tractor 1 can be given. If "return to the input selection screen" is selected, the display screen is switched to the input selection screen 60.

If "change the fertilizer supply position", the material supply position setting window 91 is displayed again on the display screen of the display 37. When the user moves the replenishment position mark 93 displayed on the flat panel display unit 92 to a position to be designated as a new material replenishment position (changed material replenishment position) by, for example, a drag operation and presses the "registration" button on the lower part of the material replenishment position setting window 91, the replenishment position of the material is set (registered) at the position designated on the flat panel display unit 92 by the user. The contents of this setting are received by the replenishment position setting unit 58.

In this case, a process for regenerating the replenishment path Q is performed. Although the details of this processing are not described, the processing in step S105 and thereafter in fig. 12 may be substantially performed again. Shown in fig. 16 are: an example of the changed replenishment position a2 and a temporary replenishment path Q2 generated in association with the change of the replenishment position (the temporary replenishment path Q2 is used as the replenishment path Q).

By inputting (transmitting) the information on the travel route P and the information on the replenishment route Q to the control unit 4 and transmitting the start signal of autonomous travel and autonomous operation to the control unit 4 from the wireless communication terminal 46, the control unit 4 controls the tractor 1, and the tractor 1 can travel autonomously along the travel route P. Further, while autonomously traveling along the travel route P, the tractor 1 can be temporarily detached from the travel route P, automatically travel along the replenishment route Q, and pause at a fertilizer replenishment position a1(a2) located in the middle of the replenishment route Q to replenish fertilizer. Thus, the tractor 1 can travel from the work start position to the work end position E without running out of fertilizer in the middle, and agricultural work can be performed on the autonomous working path.

In the present embodiment, the replenishment route Q is generated with the start end and the end of the connection path P2 existing 3 or more before the fertilizer-exhaustion occurrence position B as the escape position C and the return position D, respectively. Thus, the escape position C and the return position D are set with a margin for the fertilizer-exhaustion occurrence position B, and therefore, the fertilizer exhaustion can be reliably prevented from occurring during the autonomous operation.

Hereinafter, the replenishment path Q generated in various situations will be described mainly with reference to fig. 14 to 17.

In the example shown in fig. 13 to 16, the width of the non-cultivated land is not so wide that: the direction of the tractor 1 can be switched by 180 degrees (turning the direction around). Therefore, for example, the temporary replenishment path Q1 shown in fig. 14 is generated so that it is not necessary to switch the direction of the tractor 1 by 180 degrees. Specifically, the outward route (route to the replenishment position a1) of the temporary replenishment route Q1 is generated as follows: immediately after starting from the temporary disengagement position C1, the tractor 1 is folded back and moves backward to reach the replenishment position a 1. Then, in the circuit of the temporary replenishment path Q2 (path distant from the replenishment position a1), the tractor 1 proceeds from the replenishment position a1 to the return position D in a forward direction. The same applies to the provisional replenishment paths Q1 and Q2 shown in fig. 15 and 16. According to this configuration, even if the width of the ground or the non-cultivated land is narrow, the tractor 1 can reach the return position D from the disengagement position C via the replenishment position a 1.

However, the route of the tractor 1 from the disengaged position C to the return position D via the replenishment position a1 may be reversed from the replenishment route Q shown in fig. 15, and may be configured such that: the sheet reaches the replenishment position a1 so as to advance forward, and then returns back from the replenishment position a1 so as to retreat. Further, after the tractor 1 starts moving forward from the disengagement position C and reaches the replenishment position a1, the tractor may turn around in the non-working area (non-cultivated land and ground) and reach the return position D, starting from the replenishment position a1 so as to move forward, without switching the direction of travel. Alternatively, the vehicle may travel over a non-working area (non-cultivated land and ground) in addition to the detour, or may travel over a non-working area (non-cultivated land and ground) in place of the detour.

In the example of fig. 14 to 16, the replenishment position a1(a2) is arranged on the already-worked side (the side on which agricultural work has been already performed) as viewed in the work advancing direction of the tractor 1 (the direction in which the autonomous working path P1 is aligned from the work starting position S toward the work ending position E) with reference to the temporary disengagement position C1. In this case, the tractor 1 is caused to move backward to the replenishment position a1(a2) on the way of the temporary replenishment paths Q1, Q2 and then move forward from the replenishment position a1(a2) on the way of the circuit, whereby the tractor 1 can move from the temporary disengagement position C1 to the temporary return position D1 via the replenishment position a1(a 2).

Shown in fig. 17: since the replenishment position is changed again from fig. 16 and a new replenishment position a3 is designated, a temporary replenishment path Q3 is created and the temporary replenishment path Q3 is used as the replenishment path Q. In this example, the replenishment position A3 is disposed on the non-working side (side on which agricultural work is not performed) as viewed in the work forward direction with reference to the temporary disengagement position C1. In this case, the tractor 1 is caused to travel forward on the way of the temporary replenishment path Q3 to reach the replenishment position A3, and then starts to move backward from the replenishment position A3 in the circuit, whereby the tractor 1 can reach the temporary return position D1 from the temporary disengagement position C1 via the replenishment position A3. Specifically, the tractor 1 is caused to move forward from the temporary disengagement position C1 to reach the replenishment position A3, the travel direction is switched, the tractor moves backward from the replenishment position A3, and the tractor turns back at a position slightly past the temporary return position D1 to reach the temporary return position D1.

However, in the case of fig. 17, the replenishment path Q may be generated so as to pass through the work area without work, and in this case, the degree of freedom of the replenishment path Q can be increased. However, even in this case, it is preferable that: the portion passing through the non-working place is parallel to the autonomous working path P1 as much as possible.

As described above, the route generation system 99 according to the present embodiment includes: a route generation unit 35, a fertilizer demand calculation unit (calculation unit) 51, a replenishment position setting unit 58, a fertilizer remaining amount acquisition unit (determination unit) 54, and an escape return position setting unit (interruption start position setting unit) 59. The route generation unit 35 can generate an autonomous working route P1S for autonomous working by the tractor (working vehicle) 1 in a preset working area. The fertilizer demand amount calculation unit 51 calculates a predetermined amount of fertilizer (material) used by the tractor 1 on the autonomous working path P1S. The replenishment position setting unit 58 sets a replenishment position a1 of fertilizer at a position outside the working area designated by the user. The remaining fertilizer amount acquiring unit 54 determines the remaining amount of fertilizer that can be used by the tractor 1. The deviation returning position setting unit 59 sets a deviation position C at which the autonomous operation is interrupted and the travel route P is deviated, and a returning position D at which the travel route P is returned after replenishment and the operation is restarted, based on the predetermined amount and the reserved amount. The path generation unit 35 can generate the replenishment path Q from the departure position C to the return position D via the replenishment position a 1.

This enables the tractor 1 to automatically interrupt the autonomous operation and move to the fertilizer supply position a1 before the fertilizer is exhausted, and to automatically move to an appropriate position and resume the autonomous operation after the completion of the fertilizer supply, thereby facilitating the fertilizer supply. This reduces the burden on the user.

In the route generation system 99 according to the present embodiment, the autonomous working route P1S is configured by a plurality of autonomous working routes P1 connected via a connection route P2. The disengagement return position setting unit 59 sets the disengagement position C and the return position D to the autonomous working paths P1 and P1 that are different from each other and are connected via the connection path P2.

This makes it possible to smoothly resume the autonomous operation after the interruption from the return position D, thereby improving the operation efficiency. In particular, since the escape position C and the return position D are disposed on different autonomous working paths P1, when the autonomous working is interrupted and then resumed, it is not necessary to perform the turning back or the like a plurality of times so that the tractor 1 is aligned with the return position D, and the interruption and resumption of the working can be smoothly performed.

In the route generation system 99 of the present embodiment, the deviation position C is set at the end of the autonomous working path P1 connected to the start end of the connection path P2. The return position D is set at the start end of the autonomous working path P1 connected to the end of the connection path P2.

This makes it possible to perform the replenishment work with little influence on the autonomous working path P1S.

In the route generation system 99 according to the present embodiment, the departure return position setting unit 59 sets the departure position C and the return position D as follows: the path length of the replenishment path Q is shorter than the path length from the return position D to the work end position (end position of autonomous work) E on the autonomous work path P1S.

This can suppress the generation of the replenishment path Q having an excessively long path length, and can efficiently replenish the fertilizer. In addition, the psychological burden on the user due to the long length of replenishment path Q can be reduced.

In the route generation system 99 according to the present embodiment, the replenishment position setting unit 58 is configured to: the replenishment path Q can be changed by the path generation unit 35 after it is generated. When the change of the replenishment position a1 to the new replenishment position a2 is received by the replenishment position setting unit 58 after the replenishment path Q is generated, the path generation unit 35 can generate a new replenishment path Q from the departure position C to the resumption position D via the changed replenishment position a2, as shown in fig. 16.

Thus, after the replenishment path Q is created, the user can change the replenishment position a1 to the desired replenishment position a2, and flexibility is further improved.

In the route generation system 99 according to the present embodiment, the fertilizer demand amount calculation unit 51 calculates the predetermined amount (amount of fertilizer required) based on the route length of the autonomous working route P1S and the amount of fertilizer used per unit length in P1.

Thus, the path length of the preset autonomous working path P1S is used, and therefore, the required predetermined amount of fertilizer can be calculated more accurately than when the calculation is performed based on only the field area.

Although the preferred embodiments of the present invention have been described above, the above configuration may be modified as follows.

In the above embodiment, the fertilizer applicator 3 is detachably mounted on the travel machine body 2. However, the fertilizer applicator 3 may be fixed to the travel machine body 2 so as not to be detachable. The fertilizer applicator 3 may be additionally installed in another working machine mounted on the traveling machine body 2.

In the above embodiment, the material is a fertilizer, but the present invention is not limited thereto, and for example, a herbicide, a chemical, seedlings, seeds, or the like may be used instead. For example, in the case where the material is a herbicide, a herbicide application device may be used as a working machine in place of the above-described fertilizer application device 3; in the case where the material is a chemical, a chemical spreading device may be used as a working machine instead of the fertilizer application device 3; in the case where the material is seedlings, the seedling transplantation device may be used as a working machine instead of the above-described fertilizer application device 3; in the case where the material is a seed, a sowing device may be used as the working machine instead of the above-described fertilizer application device 3.

In the above embodiment, the remaining fertilizer amount acquisition unit 54 acquires the remaining amount of fertilizer based on the detection value obtained by the remaining fertilizer amount sensor 30. However, the remaining fertilizer amount acquiring unit 54 may be configured to: for example, the remaining amount of fertilizer visually measured by the user using the scale attached to the fertilizer tank 29 is input to the wireless communication terminal, and the remaining amount of fertilizer is obtained.

In the above-described embodiment, the route generation unit 35 sets the escape position and the return position with reference to the connection paths P2 (replacement target connection path P2R) on the 3 upstream sides of the fertilizer exhaustion occurrence position B in order to generate the replenishment route Q with a margin so as to reliably prevent the fertilizer exhaustion from occurring. That is, the setting of the escape position and the return position with reference to the connecting passage P2 on the several upstream sides of the fertilizer exhaustion occurrence position B is arbitrary and can be determined as appropriate.

In the above-described embodiment, the fertilizer demand calculation unit 51 calculates the predetermined amount (amount of fertilizer required) based on the path length of the autonomous working path P1S and the amount of fertilizer used per unit length in the autonomous working path P1. However, the predetermined amount may be calculated in consideration of other elements. For example, in the fertilizer application device 3, instead of driving the conveying unit 25 with the leveling wheels 26, it may be configured such that: the conveying portion 25 is driven by an electric motor so that the conveying speed thereof can be controlled. In this case, the fertilizer demand amount calculation unit 51 may calculate the predetermined usage amount of the fertilizer by using the moving speed of the tractor 1 on the autonomous working path P1S and the conveying amount of the conveying unit 25 per unit time (the total value of the plurality of conveying units 25). In addition, in the working machine capable of changing the width for performing the work, the predetermined usage amount may be calculated in consideration of the work width.

In the above-described embodiment, the tractor 1 does not fertilize (supply material) at the connecting path P2 on the travel path P, but is not limited thereto, and fertilize may be applied also at the connecting path P2. In this case, the fertilizer demand amount calculation unit 51 may calculate the predetermined amount of fertilizer required based on the total length obtained by adding the path lengths of the autonomous working paths P1, P1, · · and the connecting paths P2, P2, · · to each other. In this case, it is preferable to calculate the length of the travel route excluding the length of the fishtail turning or the like in which the fertilizer is not applied.

In the above configuration, the route generation unit 35, the fertilizer demand amount calculation unit (calculation unit) 51, the fertilizer remaining amount acquisition unit 54, the replenishment position setting unit 58, and the deviation return position setting unit 59 are provided in the wireless communication terminal 46, and the fertilizer holding amount sensor (determination unit) 54 is provided in the tractor 1, but the configuration is not limited to the configuration provided in any one of the tractor 1 and the wireless communication terminal 46. Other components may be provided in any one of the tractor 1 and the wireless communication terminal 46.

The route generation system 99 described above may be used only during the generation of the replenishment route Q, and may be performed during actual travel as follows: for example, the user refers to the replenishment path Q and performs a steering operation of the tractor 1 by the wireless communication terminal 46 or the like.

Description of the reference numerals

Tractor 1 (working vehicle)

35 route generation unit

51 calculating part of fertilizer demand (calculating part)

54 Fertilizer holding quantity sensor (determination part)

58 replenishment position setting unit

59 out of the return position setting section (interruption start position setting section)

99 route generation system

A1, A2 (of material) supply points

B fertilizer exhaustion generating position

C disengaged position (interrupt position)

D Return to position (restart position)

P1 autonomous working road

P1S autonomous working path

Q supply path

Claims (5)

1. A route generation system is characterized by comprising:

a route generation unit that can generate an autonomous working route for autonomous working by a working vehicle in a preset working area;

a calculation unit that calculates a predetermined amount of material used by the work vehicle in the autonomous working path;

a replenishment position setting unit that sets a replenishment position of the material at a position designated outside the working area;

a determination unit that determines a remaining amount of a material that can be used by the work vehicle; and

an interruption start position setting unit that sets an interruption position and a resumption position of the autonomous operation based on the predetermined amount and the reserved amount,

the path generation unit may generate a replenishment path that reaches the restart position from the interruption position via the replenishment position.

2. The path generation system according to claim 1,

the autonomous working path is constituted by a plurality of autonomous working paths connected by connecting paths,

the interruption start position setting unit sets the interruption position and the restart position on different autonomous working paths connected via the connection path.

3. The path generation system according to claim 1,

the interruption start position setting unit sets the interruption position and the restart position such that a path length of the replenishment path is shorter than a path length from the restart position to an end position of the autonomous operation in the autonomous operation path.

4. The path generation system according to claim 1,

the replenishment position setting unit is configured to: the path generation unit generates the replenishment path and then can receive a change of the replenishment position,

when the change of the replenishment position is received by the replenishment position setting unit after the replenishment path is generated, the path generating unit can generate a new replenishment path that reaches the restart position from the interruption position via the changed replenishment position.

5. The path generation system according to claim 1,

the calculation unit calculates the predetermined amount based on at least any one of a path length of the autonomous working path, a moving speed of the working vehicle in the autonomous working path, a usage amount of the material per unit time in the autonomous working path, a width of the work performed by the working vehicle, and a usage amount of the material per unit length in the autonomous working path.

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