JP2018092401A - Path generation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a path generation system capable of performing path generation considering fuel supply.SOLUTION: A path generation part 35 can generate an autonomous traveling path on which autonomous travel is performed by a traveling machine body (vehicle body). An acquisition part 57 acquires a holding amount of fuel held by the traveling machine body. A determination part 58 determines whether or not autonomous traveling on the autonomous traveling path can be completed by the holding amount of fuel. A supply position setting part 56 sets a fuel supply position (supply position) of fuel. The path generation part 35 can generate a fuel supply path from a fuel supply starting position to the fuel supply position on the autonomous traveling path if it is determined that the autonomous traveling cannot be completed by the determination part 58. The path generation part 35 sets the fuel supply starting position so that autonomous traveling up to the fuel supply starting position and autonomous traveling from the fuel supply starting position to the fuel supply position on the fuel supply path can be completed based on the holding amount of fuel.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a route generation system. Specifically, the present invention relates to a route generation system that generates a route for autonomously traveling a vehicle body.

  2. Description of the Related Art Conventionally, there is known a work vehicle route generation system that generates a route for autonomously traveling a vehicle body part and controls the vehicle body part to autonomously travel along the route. Patent Document 1 discloses this type of route generation system.

  In the route generation method of the automatic traveling machine disclosed in Patent Document 1, the automatic traveling machine (body portion) includes a controller (control unit), a GPS receiver (positioning system), and various sensors, and is autonomous. Has the ability to travel. The automatic traveling machine is manually operated in the work target area (traveling area), and at the same time, positioning is performed using GPS, and the positioning data is taken into the storage medium. This positioning data is processed by an off-line personal computer to create terrain data and obstacle data to obtain map data. Based on the map data, a travel route path (travel route) and operation data of the automatic traveling machine are created and supplied to the controller of the automatic traveling machine via a recording medium. In Patent Document 1, this configuration allows the automatic traveling machine to autonomously travel along a movement path path generated in advance.

Japanese Patent Laid-Open No. 9-128045

  However, in the configuration of Patent Document 1, fuel replenishment is not taken into consideration when creating a movement path path. Therefore, if the automatic traveling machine is autonomously traveled along this movement route path, there is a possibility that fuel may run out in the middle, and there is room for improvement.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a route generation system capable of generating a route in consideration of fuel supply.

Means and effects for solving the problems

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

  According to an aspect of the present invention, a route generation system having the following configuration is provided. That is, the route generation system includes a route generation unit, an acquisition unit, a determination unit, and a fuel supply position setting unit. The route generation unit can generate an autonomous traveling route in which autonomous traveling is performed by the vehicle body within a preset traveling region. The acquisition unit acquires the amount of fuel held by the vehicle body. The determination unit determines whether or not the autonomous traveling on the autonomous traveling route can be completed based on the amount of fuel held. The fuel supply position setting unit sets a fuel supply position that is a fuel supply position in the travel region. When the determination unit determines that the autonomous traveling cannot be completed, the route generation unit sets a fuel replenishment start position on the autonomous traveling route and moves from the fuel replenishment start position to the fuel replenishment position. A refueling route can be generated. The route generation unit may complete autonomous traveling from the fuel supply start position to the fuel supply position on the fuel supply route based on the amount of fuel held. The fuel supply start position is set so that it can be performed.

  As a result, when generating the fuel supply route, the fuel supply start position, which is the start position of the fuel supply route, is set in consideration of the fuel required for autonomous travel in the forward direction of the fuel supply route. There is no possibility of running out of fuel in the middle of the route, and it is possible to reliably travel autonomously to the refueling position.

  In the route generation system, when the vehicle body unit assumes that the vehicle body portion has continued to travel on the autonomous travel route without traveling on the fuel supply route, Preferably, the position on the autonomous travel route when the possessed amount is equal to or less than the reference amount is specified as the reachable position, and the fuel supply start position is set upstream of the autonomous travel route from the reachable position. .

  Thereby, the fuel supply start position can be set rationally.

  In the route generation system, the route generation unit is configured to supply fuel necessary for traveling from the fuel supply start position to the fuel supply position when it is assumed that the fuel supply route has the maximum route length. It is preferable to calculate the maximum required fuel amount as the reference amount.

  Accordingly, it is possible to easily generate the fuel supply route by assuming that the fuel necessary for traveling along the fuel supply route is constant.

  The route generation system preferably has the following configuration. That is, the acquisition unit acquires the possessed amount regularly or irregularly during autonomous traveling on the autonomous traveling route. In the case where the reachable position specified based on the newly acquired possession amount is located on the upstream side or the downstream side of the autonomous travel route from the reachable position specified previously, The fuel supply start position is corrected, and a corrected fuel supply path from the corrected fuel supply start position to the fuel supply position can be generated.

  Thereby, even when the actual fuel consumption is different from the estimation based on the previous calculation, the fuel supply start position can be corrected as necessary.

  In the route generation system, the route generation unit is capable of maintaining autonomous travel according to the possessed amount for the first distance from the fuel supply start position to the fuel supply position. Preferably, the fuel supply start position is set to be shorter than the distance 2 by a predetermined distance or more.

  Thus, by setting the fuel supply start position with a certain amount of remaining fuel remaining, autonomous driving can be prevented from being interrupted due to insufficient fuel even if an error occurs in the fuel consumption speed or the like. .

  The route generation system preferably has the following configuration. That is, the acquisition unit acquires the possessed amount regularly or irregularly during autonomous traveling on the autonomous traveling route. The route generation unit may be configured such that the difference between the first distance and the second distance is longer than a first threshold distance that is longer than the predetermined distance, or is shorter than a second threshold distance that is shorter than the predetermined distance. When the time is shortened, the fuel supply start position can be corrected, and a corrected fuel supply path from the corrected fuel supply start position to the fuel supply position can be generated.

  Thereby, even when the actual fuel consumption is different from the estimation based on the previous calculation, the fuel supply start position can be corrected as necessary.

  The route generation system preferably has the following configuration. That is, the route generation system includes a work machine that is attached to the vehicle body and holds materials and performs autonomous work in the traveling area. The said acquisition part can acquire the possession amount of the material which the said working machine holds. The determination unit can determine whether or not autonomous work in the traveling area can be completed based on a holding amount of the material. When the route generation unit is determined by the determination unit to be unable to complete either autonomous running or autonomous work, and the material runs short of the fuel earlier than the fuel in the autonomous running route, Based on the holding amount of the material, autonomous running and autonomous work up to the refueling start position, and autonomous running from the refueling start position to the refueling position in the refueling route can be completed. The fuel replenishment start position is set.

  Thereby, the fuel supply route (and the material supply route) can be generated in accordance with the earlier timing at the timing when the material is insufficient and the timing when the fuel is insufficient. Therefore, it is possible to efficiently supply fuel and materials.

  In the route generation system, the route generation unit is determined by the determination unit to be unable to complete either autonomous traveling or autonomous work, and the previous fuel is insufficient in the autonomous traveling route. In the case where the material is insufficient several times before the next fuel shortage, the shortage of the material farthest from the fuel replenishment start position set in conjunction with the previous shortage of fuel It is preferable to set the next fuel supply start position at a position common to the set material supply start position.

  Thereby, the fuel replenishment start position and the material replenishment start position can be made a common position, and fuel replenishment and material replenishment can be performed efficiently.

1 is a side view showing an overall configuration of a robot tractor that autonomously travels along a route generated by a route generation system according to an embodiment of the present invention. The top view of a robot tractor. The figure which shows the radio | wireless communication terminal which can be operated by the user and can perform radio | wireless communication with a robot tractor. The block diagram which shows the main electrical structures of a robot tractor and a radio | wireless communication terminal. The schematic diagram which shows the example of the autonomous running route which a route generation system produces | generates. The figure which shows the example of a display of the input selection screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the work vehicle information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the agricultural field information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the work information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the replenishment position setting window for setting the fuel replenishment position displayed on the display of a radio | wireless communication terminal. The flowchart which shows the process performed in a path | route production | generation part etc. when generating a fuel supply path | route in 1st Embodiment. 12 is a flowchart showing the continuation of the process of FIG. The flowchart which shows the continuation of the process of FIG. The figure which shows the example of the fuel supply path | route and fuel supply start position when the case where the path | route length from a fuel supply start position to the fuel supply position becomes the longest is assumed. The figure which shows the example which specified the fuel shortage position where the amount of fuel holding becomes below a reference amount on an autonomous driving path. The figure which shows the example which produced | generated the fuel supply path | route based on the fuel shortage position specified in FIG. The figure which shows the example which corrected the fuel supply path | route with the change of the fuel shortage position. In 2nd Embodiment, the flowchart which shows the process performed by a path | route production | generation part etc. when producing | generating a fuel supply path | route. The flowchart which shows the continuation of the process of FIG. FIG. 20 is a flowchart showing the continuation of the process of FIG. 19. FIG. The figure which shows the example of the set provisional fuel supply start position. FIG. 22 is a diagram illustrating an example in which it is determined that the tractor cannot reach the fuel supply position at the temporary fuel supply start position in FIG. 21 and the temporary fuel supply start position is changed to the upstream side. The figure which shows the example of the produced | generated fuel supply path | route. The figure which shows the example of a display of the work information input screen in 3rd Embodiment. The figure explaining the progress in the middle of the process performed by the path | route production | generation part, when producing | generating the replenishment path | route of a fuel and material in 4th Embodiment. The figure explaining a mode that the fuel supply start position and fuel supply end position of a fuel supply path | route are integrated into the material supply start position and material supply end position of a material supply path | route in 4th Embodiment, respectively. The figure which shows the example of a display of the monitoring screen displayed on the display of a radio | wireless communication terminal while a robot tractor is autonomously traveling.

  Next, embodiments of the present invention will be described with reference to the drawings. In the following, the same members are denoted by the same reference symbols in the drawings, and redundant description may be omitted. In addition, names of members and the like corresponding to the same reference may be simply rephrased, or may be rephrased with a superordinate concept or a subordinate concept name.

  The present invention provides a route for generating a travel route for traveling a work vehicle when one or a plurality of work vehicles are traveled in a predetermined field and all or part of the farm work is performed in the field. It relates to the generation system. In this embodiment, a tractor will be described as an example of a work vehicle. However, as a work vehicle, in addition to a tractor, a padded work machine such as a rice transplanter, a combiner, a civil engineering / construction work device, a snowplow, a walking work A machine is also included. In this specification, autonomous traveling means that the configuration related to traveling provided by the tractor is controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route. This means that the control unit included in the tractor controls the configuration related to the work included in the tractor, and the tractor performs the work along a predetermined route. On the other hand, manual running / manual work means that each component provided in the tractor is operated by the user to run / work.

  In the following description, a tractor that autonomously travels and works autonomously may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels manually and is manually operated is referred to as a “manned tractor”. Sometimes. When a part of the farm work is performed by the unmanned tractor in the field, the remaining farm work is performed by the manned tractor. Performing farm work in a single farm with unmanned tractors and manned tractors may be referred to as cooperative work of farm work, follow-up work, accompanying work, and the like. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of an operation by a user, and each configuration is basically common. That is, even if it is an unmanned tractor, the user can board (ride) and operate (that is, it can be used as a manned tractor), or even if it is a manned tractor, the user gets off and autonomously travels. It can be operated autonomously (that is, it can be used as an unmanned tractor). In addition, as cooperative work of farm work, in addition to “execution of farm work in a single farm field with unmanned vehicles and manned vehicles”, “farm work in different farm fields such as adjacent farm fields can be performed at the same time. "Execution" may be included.

<First Embodiment>
Next, the route generation system 99 according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing an overall configuration of a robot tractor 1 that autonomously travels along a route generated by the route generation system 99 according to the first embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a diagram illustrating a wireless communication terminal 46 that is operated by a user and can wirelessly communicate with the robot tractor 1. FIG. 4 is a block diagram showing main electrical configurations of the robot tractor 1 and the wireless communication terminal 46.

  The route generation system 99 according to the first embodiment of the present invention generates an autonomous traveling route that travels when the robot tractor 1 shown in FIG. In the present embodiment, the main configuration of the route generation system 99 is provided in the wireless communication terminal 46 for wireless communication with the robot tractor 1.

  First, a robot tractor (hereinafter sometimes simply referred to as “tractor”) 1 will be described mainly with reference to FIGS. 1 and 2.

  The tractor 1 includes a traveling machine body 2 as a vehicle body that autonomously travels in a field area as a traveling area. For example, various working machines such as a tiller (management machine), a plow, a fertilizer machine, a mowing machine, and a sowing machine can be selected and mounted on the traveling machine body 2. In this embodiment, the working machine As shown in FIG. The traveling machine body 2 is configured to be able to change the height and posture of the mounted work machine (fertilizer 3).

  The configuration of the tractor 1 will be described in more detail with reference to FIGS. 1 and 2. As shown in FIG. 1, the traveling machine body 2 of the tractor 1 is supported at its front part by a pair of left and right front wheels 7 and 7 and at its rear part by a pair of left and right rear wheels 8 and 8.

  A bonnet 9 is disposed at the front of the traveling machine body 2. In the present embodiment, the bonnet 9 accommodates an engine 10 that is a drive source of the tractor 1, a fuel tank (not shown), and the like. Although this engine 10 can be comprised, for example with a diesel engine, it is not restricted to this, For example, you may comprise with a gasoline engine. Further, an electric motor may be employed as a drive source in addition to or instead of the engine 10. The fuel tank may be disposed outside the bonnet 9.

  A cabin 11 for a user to board is disposed behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for a user to steer, a seat 13 on which a user can be seated, and various operation devices for performing various operations. However, the work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  As the above operation device, the monitor device 14 shown in FIG. 2, the throttle lever 15, the main transmission lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO transmission lever 18, the auxiliary transmission lever 19, and the work equipment lift switch 28 etc. can be mentioned as an example. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device 14 is configured to display various information of the tractor 1. The throttle lever 15 is an operating tool for setting the output rotational speed of the engine 10. The main transmission lever 27 is an operating tool for changing the traveling speed of the tractor 1 in a stepless manner. The hydraulic operation lever 16 is an operation tool for switching and operating a hydraulic external take-off valve (not shown). The PTO switch 17 is an operating tool for switching the transmission / cut-off of power to a PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 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. On the other hand, when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off and the PTO shaft rotates. Stopped. The PTO speed change lever 18 is an operating tool for performing a speed change operation of the rotational speed of the PTO shaft. The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22. The work implement lifting switch 28 is an operating tool for raising and lowering the height of the work implement (fertilizer 3) mounted on the traveling machine body 2 within a predetermined range.

  As shown in FIG. 1, a chassis 20 of the tractor 1 is provided at the lower part of the traveling machine body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. The transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheel 8.

  The fertilizer applicator 3 includes a fertilizer tank 29 that can store a fertilizer (material), a feeding unit 25 that feeds the fertilizer supplied from the fertilizer tank 29, and a rotatable pressure reducing wheel 26 that suppresses soil. The feeding unit 25 and the pressure-reducing wheel 26 are arranged in a plurality (four in this embodiment) in the width direction of the traveling machine body 2, and the fertilizer stored in the fertilizer tank 29 is distributed to the plurality of feeding units 25. Supplied. In the present embodiment, each feeding portion 25 includes a rotatable roll-shaped member that is not shown, and a plurality of small concave portions that can accommodate granular fertilizer are formed side by side on the outer peripheral surface of the roll-shaped member. ing. The roll member is connected to the pressure reducing wheel 26 by a chain or the like. With this configuration, when the tractor 1 moves forward with the fertilizer application device 3 supported at a work height described later, the grounded pressure-reducing wheel 26 rotates, and this power is transmitted by a chain or the like to drive the roll-shaped member. The As a result, the fertilizer in the fertilizer tank 29 is fed by the feeding unit 25 and sown in the field, and fertilization is performed.

  As shown in FIG. 4, the tractor 1 includes an operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and an operation of the work machine (fertilizer 3 in this embodiment) (elevation, drive, stop, etc.). The control part 4 for controlling is provided. The control unit 4 includes a CPU, a ROM, a RAM, an I / O, and the like (not shown), and the CPU can read various programs from the ROM and execute them. The controller 4 is electrically connected to a controller for controlling each component (for example, the engine 10 and the like) included in the tractor 1 and a wireless communication unit 40 that can wirelessly communicate with other wireless communication devices. ing.

  As the above controller, the tractor 1 includes at least an unillustrated engine controller, vehicle speed controller, steering controller, and elevator controller. Each controller can control each component of the tractor 1 in accordance with an electrical signal from the control unit 4.

  The engine controller controls the rotational speed of the engine 10 and the like. Specifically, the engine 10 is provided with a governor device 41 including an unillustrated actuator that changes the rotational speed of the engine 10. The engine controller can control the rotational speed of the engine 10 by controlling the governor device 41. Further, the engine 10 is provided with a fuel injection device that adjusts the injection timing and the injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10. For example, the engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the fuel injection device.

  The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42 which is, for example, a movable swash plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 and change to the desired vehicle speed by changing the angle of the swash plate of the transmission 42 with an actuator (not shown).

  The steering controller controls the turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12. With this configuration, when the tractor 1 travels (as an unmanned tractor) on a predetermined route, the control unit 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. Then, a control signal is transmitted to the steering controller so that the obtained rotation angle is obtained. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12. The steering controller may adjust the steering angle of the front wheel 7 of the tractor 1 instead of adjusting the rotation angle of the steering handle 12. In that case, the steering handle 12 does not rotate even if the vehicle turns.

  The raising / lowering controller controls raising / lowering of a working machine (fertilizer application apparatus 3). Specifically, the tractor 1 includes an elevating actuator 44 composed of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the fertilizer application device 3 to the traveling machine body 2. With this configuration, the elevating controller drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately elevate the fertilizer application device 3, thereby allowing the fertilizer application device 3 to perform the agricultural work ( Fertilization work). By this control, the fertilizer application device 3 can be supported at a desired height such as a retreat height (a height at which farm work is not performed) and a work height (a height at which farm work is performed).

  Note that the plurality of controllers (not shown) control each part of the engine 10 and the like based on a signal input from the control part 4, so that the control part 4 substantially controls each part. I can grasp it.

  The tractor 1 including the control unit 4 as described above controls various parts of the tractor 1 (the traveling machine body 2, the fertilizer application 3 and the like) by the control unit 4 when the user gets into the cabin 11 and performs various operations. Thus, the farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be autonomously run and operated by various control signals output from the wireless communication terminal 46 without the user getting on the tractor 1.

  Specifically, as shown in FIG. 4 and the like, the tractor 1 has various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 includes a positioning antenna 6 and the like necessary for acquiring position information of itself (the traveling machine body 2) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field (within the travel region).

  Next, the configuration of the tractor 1 for enabling autonomous traveling will be described in detail with reference to FIG. Specifically, the tractor 1 of the present embodiment includes a positioning antenna 6, a wireless communication antenna 48, various sensors, a storage unit 55, and the like. In addition to these, the tractor 1 is provided with an unillustrated inertial measurement unit (IMU) that can specify the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

  The positioning antenna 6 receives a signal from a positioning satellite 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 roof 5 provided in the cabin 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. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude / longitude information, for example. The position information calculated by the position information calculation unit 49 is stored in the storage unit 55, read out by the control unit 4 in a timely manner, and used for autonomous running.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite type satellite navigation augmentation system (SBAS).

  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 radio communication antenna 48 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. A 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 input to the control unit 4. A signal transmitted from the control unit 4 to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

  The fuel remaining amount sensor 51 detects the remaining amount of fuel in a fuel tank (not shown) mounted on the traveling machine body 2 and detects, for example, the height of the liquid level of the fuel in the fuel tank. The remaining fuel sensor 51 detects the remaining amount of fuel in the fuel tank regularly or irregularly after the tractor 1 starts autonomous traveling, and transmits the detection result to the wireless communication terminal 46.

  The vehicle speed sensor 52 detects the vehicle speed of the tractor 1 and is provided, for example, on the axle between the front wheels 7 and 7.

  The rotational speed sensor 53 detects the rotational speed of the engine 10 (engine rotational speed), and is provided, for example, on the crankshaft of the engine 10.

  The load sensor 54 detects the load of the engine 10 (engine load). The load sensor 54 of this embodiment estimates and detects the load by detecting the accelerator opening of the engine 10.

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

  The detection results obtained by various sensors such as the fuel remaining amount sensor 51, the vehicle speed sensor 52, the rotation speed sensor 53, the load sensor 54, and the fertilizer remaining amount sensor 30 are subjected to signal processing by the wireless communication unit 40, and then wireless communication is performed. Is transmitted from the antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection result on the display 37. Further, the wireless communication terminal 46 can generate a route (autonomous travel route) on which the tractor 1 travels in consideration of the received detection result (information such as the remaining amount of fuel).

  The storage unit 55 stores a route for causing the tractor 1 to autonomously travel, stores a transition (traveling locus) of the position of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous traveling, and detection results of various sensors. Or a memory for storing In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work.

  As shown in FIG. 3, the wireless communication terminal 46 is configured as a tablet personal computer. The user can confirm by referring to information (for example, information from various sensors attached to the tractor 1) displayed on the display 37 of the wireless communication terminal 46 outside the tractor 1, for example. Further, the user operates the hardware key 38 disposed in the vicinity of the display 37 and the touch panel 39 disposed so as to cover the display 37 to control the tractor 1 with the control unit 4 of the tractor 1. The control signal can be transmitted. Here, the control signal output from the wireless communication terminal 46 to the control unit 4 includes a signal related to the route of autonomous running / autonomous work, a start signal of autonomous running / autonomous work, a stop signal, an end signal, an emergency stop signal, and a temporary stop. A signal, a restart signal after a temporary stop, and the like are conceivable, but not limited thereto.

  Note that the wireless communication terminal 46 is not limited to a tablet-type personal computer, but can be configured by, for example, a notebook-type personal computer. Alternatively, when the robot tractor 1 and the manned tractor perform cooperative work, the monitor device 14 mounted on the manned tractor can be a wireless communication terminal.

  The tractor 1 configured as described above is based on an instruction from a user using the wireless communication terminal 46, while the traveling machine body 2 autonomously travels along a path on the field that has been created in advance, ) Fertilization work (agricultural work) according to 3 can be performed.

  Specifically, by performing various settings using the wireless communication terminal 46, the user performs a straight or broken line-like autonomous work path (a linear path on which autonomous work is performed) P1 and the autonomous work path P1. It is possible to generate an autonomous traveling route P as a series of routes in which arc-shaped connecting paths (turning circuits in which turning and turning operations are performed) P2 connecting ends are alternately connected.

  An example of the autonomous traveling route P is shown in FIG. 5, and the autonomous traveling route P is generated so as to connect the work start position S and the work end position E designated in advance. FIG. 5 is a schematic diagram illustrating an example of the autonomous traveling route P generated by the route generating system 99. As shown in FIG. 5, in creating the autonomous traveling route P, a headland and a non-cultivated land (side margin), which are non-working areas in which work by the fertilizer application device 3 is not performed, are set in the farm field (running area). Thus, the area excluding the non-work area becomes the work area. A plurality of the autonomous work paths P1, P1,... Are arranged side by side in the work area, and the connection paths P2, P2,... Are generated so as to be arranged on a headland that is a non-work area. . In the present embodiment, a region combining the non-working region and the working region is referred to as a “traveling region”.

  By inputting (transmitting) the information on the autonomous travel route P to the control unit 4 and performing a predetermined operation, the control unit 4 controls the tractor 1 so that the tractor 1 is moved along the autonomous travel route P. While traveling autonomously, it is possible to perform farming work by the fertilizer application device 3 along the autonomous work path P1.

  Below, with reference mainly to FIG. 4, the radio | wireless communication terminal 46 provided with the main components of the route generation system 99 which concerns on one Embodiment of this invention is demonstrated in detail.

  As shown in FIGS. 3 and 4, the wireless communication terminal 46 of the present embodiment includes a display control unit 31, a field shape acquisition unit 33 as main components, in addition to the display 37, the hardware key 38, and the touch panel 39. A route generation unit 35, a work vehicle information setting unit 36, an agricultural field information setting unit 45, a work information setting unit 47, a replenishment position setting unit 56, an acquisition unit 57, a determination unit 58, a storage unit 32, and the like.

  The display control unit 31 creates display data to be displayed on the display 37 and performs control to switch the display screen appropriately. The display control unit 31 can generate an input selection screen 60 as an initial screen (menu screen) shown in FIG. 6 and display it on the display 37. In addition, when a predetermined operation is performed on the input selection screen 60, the display control unit 31 generates each input screen 70, 80, 90 (see FIGS. 7 to 9) described later, and displays the display screen on the display 37. Can be switched to the input screens 70, 80, 90.

  The field shape acquisition unit 33 shown in FIG. 4 acquires the shape of the field by, for example, rotating the tractor 1 once along the outer periphery of the field and recording the transition of the position of the positioning antenna 6 at that time. It is. The field shape acquired by the field shape acquisition unit 33 is stored in the storage unit 32. However, the method of acquiring the shape of the field is not limited to this. For example, instead of this, the position information of the corners of the field is recorded, and a line graph connecting the recorded points does not intersect with a so-called closed graph. The identified polygon may be acquired as the shape of the field.

  The route generation unit 35 generates a route that is input (transmitted) to the tractor 1. The route generation unit 35 of the present embodiment generates an autonomous travel route P that causes the tractor 1 to travel autonomously. The route generation unit 35 inputs work vehicle information, farm field information, and work information, which will be described later, and automatically generates an autonomous travel route P when a predetermined operation is performed. In addition, the route generation unit 35 generates (calculates) a fuel supply route Q according to the determination result of the determination unit 58 when necessary. The generated autonomous traveling route P and refueling 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 described later. The work vehicle information set by the work vehicle information setting unit 36 is stored in the storage unit 32.

  The agricultural field information setting unit 45 receives agricultural field information (information relating to the agricultural field) input on an agricultural field information input screen 80 described later. The field information set by the field information setting unit 45 is stored in the storage unit 32.

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

  The replenishment position setting unit 56 receives information on a fuel replenishment position input to a replenishment position setting window 91 described later. The fuel replenishment position is a position where fuel is replenished, and is a position where a tank or the like (container) in which fuel for replenishment for preventing fuel shortage is placed in advance. The refueling position is normally set at a position near the road or the like at the end of the field. As a result, the tank containing the fuel can be easily carried to the vicinity of the field by, for example, a truck and can be installed at the fuel supply position.

  The acquisition unit 57 acquires the remaining amount of fuel in the fuel tank, in other words, the amount of fuel held by the traveling machine body 2 based on the detection value received from the fuel remaining amount sensor 51.

  The determination unit 58 determines whether or not the traveling machine body 2 can complete the autonomous traveling on the autonomous traveling route P based on the fuel holding amount acquired by the acquiring unit 57. As will be described in detail later, according to the determination result of the determination unit 58, the route generation unit 35 generates a fuel supply route Q when necessary.

  The storage unit 32 includes a non-volatile memory (for example, a flash ROM). The work vehicle information set by the work vehicle information setting unit 36, the farm field information set by the farm field information setting unit 45, and the work The work information set by the information setting unit 47, the fuel supply position information set by the supply position setting unit 56, and the like can be stored. In addition, the storage unit 32 can store information on the autonomous traveling route P and the fuel supply route Q generated by the route generating unit 35 and the like.

  Next, when the work vehicle information, the field information, and the work information are set and the autonomous travel route P is generated, the operation performed by the user using the wireless communication terminal 46 is displayed on the display 37 of the wireless communication terminal 46. The screen will be described in detail mainly with reference to FIGS. FIG. 6 is a diagram illustrating a display example of the input selection screen 60 on the display 37 of the wireless communication terminal 46. FIG. 7 is a diagram illustrating a display example of the work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46. FIG. 8 is a diagram illustrating a display example of the field information input screen 80 on the display 37 of the wireless communication terminal 46. FIG. 9 is a diagram illustrating a display example of the work information input screen 90 on the display 37 of the wireless communication terminal 46. FIG. 10 is a diagram showing a display example of a replenishment position setting window 91 for setting a fuel replenishment position displayed on the display 37 of the wireless communication terminal 46.

  Before the user starts setting the work vehicle information, the field information, and the work information, the display 37 of the wireless communication terminal 46 has an input selection screen created by the display control unit 31 as shown in FIG. 60 is displayed as an initial screen (menu screen). The input selection screen 60 includes a work vehicle information input operation unit 61, a field information input operation unit 62, a work information input operation unit 63, a travel route generation / transfer operation unit 64, and a farm work start operation unit 65. Mainly displayed.

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

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

  On the work vehicle information input screen 70, work vehicle information related to the traveling machine body 2 and the work machine (fertilizer application device 3) attached to the traveling machine body 2 can be input. Specifically, on the work vehicle information input screen 70, as the work vehicle information, the model of the tractor 1, the mounting position of the positioning antenna 6 with respect to the traveling machine body 2, the lateral width of the tractor 1, the lateral width of the fertilizer 3 (work width) ) Distance from the rear end of the three-point link mechanism (rear end of the lower link) to the rear end of the fertilizer application device 3, fertilizer feed amount per unit length (fertilizer use amount) in the fertilizer application device, during work in the forward path Vehicle speed, vehicle speed on the return road, vehicle speed on the headland (when turning), engine speed on the outward path, engine speed on the return path, engine on the headland (when turning) A column for designating the number of rotations is arranged. Although only a part of the above-described fields are displayed on the 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 of FIG. Can do.

  When all items on the work vehicle information input screen 70 are designated and the user operates a “vehicle setting confirmation” button (not shown), the contents of the work vehicle information are stored in the storage unit 32, and the work vehicle information is set. Is completed.

  When the user finishes setting the work vehicle information and 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 37 is switched to the field information input screen 80 shown in FIG.

  On the farm field information input screen 80, it is possible to input information related to a travel area (farm field) in which the traveling machine body 2 travels. Specifically, on the farm field information input screen 80, a plane display unit 81 that displays the shape of the farm field as a graphic (graphically) is arranged. In the field information input screen 80, buttons for “start recording” and “redo” are arranged in the “position / shape of outer periphery of field” field. In the field information input screen 80, “set” and “redo” buttons are arranged in the respective columns of “work start position”, “work end position”, “work direction”, and “fuel supply position”. Has been.

  When the “recording start” button of “the position and shape of the outer periphery of the field” is operated, the wireless communication terminal 46 switches to the field shape recording mode. In this field shape recording mode, for example, when the tractor 1 is rotated once around the outer periphery of the field, the position transition of the positioning antenna 6 at that time is recorded by the field shape acquisition unit 33, and the field shape acquisition unit At 33, the shape of the field is acquired (calculated). Thereby, the position and shape of the field can be designated. The position and shape of the outer periphery of the field thus calculated (designated) are graphically displayed on the plane display unit 81. Further, by operating the “redo” button, the position (designation) of the outer periphery of the field can be recorded again.

  When the “setting” button of “work start position” is operated, the shape of the field acquired as described above is displayed on the plane display unit 81 of the field information input screen 80 so as to be superimposed on the map data. In this state, when the user selects an arbitrary point near the contour of the field, position information near the selected point can be set as a work start position. The “work end position” can also be set in the same manner as the “work start position”.

  When the “setting” button of “work direction” is operated, the shape of the field, the work start position, and the work end position acquired as described above are superimposed on the map data on the plane display unit 81 of the field information input screen 80. Displayed. In this state, for example, when the user selects two arbitrary points on the contour of the field, the direction of the straight line connecting the two points can be set as the work direction.

  When the settings for all items on the field information input screen 80 are completed, a “Register” button is displayed. When the content designated by the user is confirmed on the flat display unit 81 or the like and the “register” button is operated, 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 finishes setting the field information and returns to the input selection screen 60 of 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.

  The column of “work content” on the work information input screen 90 is a column for selecting which of the work such as fertilization while plowing, leveling, fertilization, sowing, chemical spraying, herbicide spraying, and fertilization while plowing is performed. It is. By performing a pull-down operation in this field, it is possible to set the autonomous work that the user wants the tractor 1 to perform.

  Whether or not to perform work using a plurality of tractors (for example, two of the robot tractor 1 and the manned tractor) in the same field is displayed in the column of “the presence / absence of a plurality of cooperative works” on the work information input screen 90 ( This is a column for selecting whether or not to perform collaborative work. By performing a pull-down operation in this field, it is possible to set either “with collaborative work” or “without collaborative work”.

  The column of “cooperative work mode” on the work information input screen 90 can be operated only when “cooperative work is present” is set in the “presence / absence of cooperative work of a plurality of units” column. In this column, whether a plurality of tractors travel on different autonomous work paths P1 to perform cooperative work (accompaniment), or a plurality of tractors travel on the same autonomous work path P1 to perform cooperative work (follow-up), It is a column for selecting etc. By performing a pull-down operation in this field, any collaborative work mode can be set.

  The column of “overlap width” on the work information input screen 90 is a column for setting a width (overlap amount) for overlapping the width that the work machine (fertilizer 3) passes through in the adjacent autonomous work paths P1 and P1. is there. The overlap amount can be set by performing a pull-down operation in this field or by directly inputting a numerical value.

  The column “number of skips” on the work information input screen 90 includes an arbitrary autonomous work path P1 of the autonomous traveling path P on which the tractor 1 travels, and an autonomous work path P1 on which the tractor travels next to the arbitrary autonomous work path P1. And a column for selecting the number of autonomous work paths (the number of rows skipped). In the present embodiment, the number of skips can be set by performing a pull-down operation in this field.

  The column “headland width” of the work information input screen 90 is a column for setting a width of an area where the tractor 1 turns and turns back (that is, a headland). Initially, the recommended width is displayed in this field, but by performing a pull-down operation, for example, a value that is 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 can directly input a numerical value of a desired width as the headland width.

  The column of “non-cultivated land width” in the work information input screen 90 is a non-work area (that is, non-cultivated land, also referred to as a side margin) arranged at both ends of the traveling area in the direction in which the autonomous work paths P1 of the tractors 1 are arranged. ) Is a field for setting the width. Initially, a recommended width is set in this field, but by performing a pull-down operation, for example, a value that is an integral multiple of the work width can be set as the non-cultivated land width. However, the present invention is not limited to this, and the user can directly input a numerical value of a desired width as a non-cultivated land width.

  When the user inputs necessary fields in the work information input screen 90 and operates a “determine” button (not shown), the replenishment position setting window 91 is superimposed on the work information input screen 90 as shown in FIG. Is displayed.

  In the replenishment position setting window 91, for example, the message “Specify fuel replenishment position.” And the shape of the travel area (farm field) and the work area (area where the autonomous work path P1 is arranged side by side) are displayed. A plane display unit 92 graphically represented by a graphic is displayed. The user touches the position specified as the fuel supply position with the finger on the flat display unit 92 and displays an appropriate mark (supply position mark 93) at the position, and displays “Register” at the bottom of the supply position setting window 91. "Button. Thereby, the setting of the fuel supply position is received by the supply position setting unit 56. In the present embodiment, the fuel supply position can be set only within the travel area and outside the work area.

  When the user finishes setting the work information and returns to the input selection screen 60 in FIG. 6 and selects the travel route generation / transfer operation unit 64, the autonomous travel route P of the tractor 1 is automatically generated. P is stored in the storage unit 32. When the autonomous traveling route P is generated, a “path simulation” button is displayed on the display screen of the display 37 so as to be selectable. By operating this “path simulation” button, an image representing the generated autonomous traveling route P with an arrow or a line is displayed. An animation display in which the tractor icon moves along the autonomous traveling route P may be performed.

  Further, a “transfer data” button and a “return to input selection screen” button are displayed on the display screen of the display 37 so as to be selectable. When “transfer data” is selected, an instruction for transmitting information on the autonomous traveling route P to the tractor 1 can be given. When the “Return to input selection screen” button is selected, the display screen is switched to the input selection screen 60.

  As described above, in the route generation system 99 of the present embodiment, the information on the autonomous traveling route P generated 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 autonomous traveling route P received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4.

  After the information on the autonomous travel route P generated on the wireless communication terminal 46 side is transmitted to the tractor 1, the user steers the tractor 1 to move it to the work start position S, and starts the farm work start operation on the input selection screen 60. When the unit 65 is operated, the tractor 1 starts autonomous traveling along the autonomous traveling route P. While the tractor 1 is traveling autonomously, a monitor screen 100 shown in FIG. 27 is displayed on the display 37 of the wireless communication terminal 46. The user continues to monitor the tractor 1 during autonomous traveling while referring to the monitoring screen 100 and transmitting a control signal to the tractor 1 as necessary.

  Next, specific processing when the route generation unit 35 generates the fuel supply route Q will be described with reference to FIGS. 11 to 13. FIG. 11 is a flowchart illustrating processing performed by the route generation unit 35 and the like when the fuel supply route Q is generated in the first embodiment. FIG. 12 is a flowchart showing the continuation of the process of FIG. FIG. 13 is a flowchart showing the continuation of the process of FIG. The processing shown in FIGS. 11 to 13 of the present embodiment is performed each time the amount of fuel held by the traveling machine body 2 is acquired by the acquisition unit 57 after the autonomous traveling of the tractor 1 is started. Done.

  First, the acquisition unit 57 acquires the amount of fuel held by the traveling machine body 2 based on the detection result of the fuel remaining amount sensor 51 (step S101).

  Subsequently, based on the vehicle speed, engine speed, and the like set when generating the autonomous travel route P, the determination unit 58 determines the expected amount of fuel (scheduled necessary amount) required for the tractor 1 to complete autonomous travel. Is calculated (step S102). The planned required amount is calculated from the autonomous travel route P from the current position of the tractor 1 to the work end position E, and the fuel consumption per unit length obtained based on the vehicle speed and the like is calculated for the route. It can be obtained by multiplying the length.

  Subsequently, when it is assumed that the fuel is not replenished, the determination unit 58 determines whether or not the fuel runs short while the tractor 1 is traveling along the autonomous travel route P from the current position to the work end position E. Judging. In other words, the determination unit 58 determines whether or not the autonomous traveling along the autonomous traveling route P can be completed based on the current fuel holding amount of the traveling machine body 2 (step S103). This determination can be made by comparing the fuel holding amount acquired in step S101 with the planned required amount of fuel acquired in step S102. However, this comparison is preferably performed with sufficient consideration for margins.

  If the result of the determination in step S103 is that the current fuel holding amount is sufficient to complete the autonomous driving (Yes in step S103), it is not necessary to supply fuel in the middle, so the fuel supply route Q is generated. There is no need to do. Thus, the process ends.

  On the other hand, if the result of the determination in step S103 is that the autonomous running cannot be completed with the current fuel holding amount (No in step S103), it means that it is necessary to replenish the fuel in the middle. Therefore, the route generation unit 35 generates a fuel supply route Q that temporarily shifts from the autonomous travel route P and replenishes fuel in the middle of the autonomous travel route P, and transmits the fuel supply route Q to the tractor 1. I do.

  FIG. 14 shows an example in which the fuel supply position F1 is set at an appropriate position on one side of the headland. Each end of the plurality of autonomous work paths P1 included in the autonomous traveling path P is located at the boundary between the work area and the headland, but smoothly shifts from autonomous work to fuel supply, and simplifies the fuel supply path. In order to achieve this, it is preferable to start traveling for refueling from the autonomous traveling route P at a point where the autonomous working route P1 terminates at the boundary between the headland and the work area on the side where the fuel replenishment position F1 is located. In consideration of this, a plurality of positions that are candidates for departure points that shift from the autonomous travel route P to the fuel supply route (fuel supply route Q) can be considered as indicated by square marks in FIG. The determination unit 58 calculates the path length to the fuel supply position F1 for each position, and selects the position where the path length is the longest. In the case of FIG. 14, the position where the path length to the fuel supply position F1 is the longest is C0. Next, the determination unit 58 calculates the amount of fuel (maximum required fuel amount at the time of refueling) N required to reach from the selected position C0 to the fuel replenishment position F1 (step S104).

  In the example of FIG. 14, the maximum required fuel amount N at the time of refueling is calculated as the fuel necessary for traveling on the broken line route from the selected position C0 to the fuel replenishment position F1. Note that this broken line route can be regarded as the forward portion of the fuel supply route, which is a route that returns from the position C0 to the autonomous traveling route P at an appropriate point via the fuel supply position F1. If the maximum required fuel amount N at the time of refueling is calculated in this way, even if the tractor 1 deviates from the autonomous traveling path P at any of the positions of the square marks in FIG. If it is greater than or equal to the maximum required fuel amount N during replenishment, the fuel replenishment position F1 can be reached without a problem from the deviated position. In the present embodiment, the maximum required fuel amount N at the time of refueling is set as a “reference amount”.

  Subsequently, the determination unit 58 takes into account the vehicle speed, the engine speed, the route length of the autonomous travel route P set when the autonomous travel route P is generated, the current fuel remaining amount, and the like. The position on the autonomous travel route P where the amount of fuel held in the (fuel tank) falls below the maximum required fuel amount N during refueling, which is the reference amount, is specified by calculation as a fuel shortage position (reachable position) H (Step S105).

  FIG. 14 shows an example of the fuel shortage position H calculated when the tractor 1 is at the point in the figure. In consideration of reducing the number of times of refueling and improving the efficiency, among the plurality of candidates (square marks) of the departure points, the autonomous traveling route P is upstream of the fuel shortage position H, and What is necessary is just to select the one located most downstream (position C1) and generate the fuel supply route so as to deviate from the autonomous traveling route P from the position C1. Therefore, in this case, a fuel supply route Q is generated as shown in FIG.

  The fuel shortage position H is a position estimated based on the remaining amount of fuel at that time. Therefore, as the tractor 1 actually performs autonomous traveling and autonomous work while consuming fuel. There may be some fluctuation, and as a result, the previously calculated fuel supply route Q may not be appropriate. In the present embodiment, in consideration of this, the processing from FIG. 11 to FIG. 13 is repeatedly performed to monitor the change in the fuel shortage position H, and the fuel supply route Q is corrected from the past as necessary. ing.

  More specifically, based on the flowchart, the determination unit 58 determines whether or not the fuel shortage position H has been calculated in the previous process by reading the information stored in the storage unit 32 (step S106). .

  Immediately after the start of autonomous traveling / autonomous work along the autonomous traveling route P from the work start position S and the calculation of the fuel shortage position H is the first time (step S106, No), the route generation unit 35 Based on the fuel shortage position H calculated in step S105, a recommended fuel replenishment start position C1 that is a recommended position at a point that deviates from the autonomous traveling route P for refueling is obtained (step S107). As shown in FIG. 14, the recommended refueling start position C1 is autonomously driven from the fuel shortage position H calculated this time among the end points of the autonomous work path P1 arranged on the headland near the refueling position F1. When there are a plurality of terminations of the autonomous work path P1 on the upstream side of the route P and on the upstream side of the autonomous traveling route P with respect to the fuel shortage position H, the most downstream of the plurality of terminations Will be placed.

  Subsequently, the route generation unit 35 determines whether or not the recommended fuel supply start position C1 has been calculated for the first time this time (step S108). In other words, it is determined whether or not the recommended fuel supply start position has been set before.

  As a result of the determination in step S108, if the recommended fuel replenishment start position has been calculated before (step S108, No), the path generation unit 35 determines that the recommended fuel replenishment start position C1 obtained this time is the previous process. It is determined whether or not it is the same as the refueling start position that has been set (step S109). If the current recommended fuel supply start position C1 is the same as before (step S109, Yes), the fuel supply path generated in the previous process may be used as it is, and the process is terminated.

  When the recommended fuel replenishment start position C1 is calculated for the first time in the determination of step S108 (step S108, Yes), or when the recommended fuel replenishment start position C1 is different from the previous determination in step S109 (step S109, No). The display control unit 31 creates display data for inquiring the user whether or not to set the current recommended refueling start position C1 as the refueling start position, and displays it on the display 37 of the wireless communication terminal 46. Wait for user operation (step S110).

  In response to the inquiry in step S110, when the user consents to set the current recommended fuel supply start position C1 as the fuel supply start position (step S110, Yes), the route generation unit 35 determines the recommended fuel supply start position C1. Is set as a recommended fuel supply end position D1 as shown in FIG. 15 (step S111). Next, the path generation unit 35 connects the recommended fuel supply start position C1 and the recommended fuel supply end position D1 via the fuel supply position F1 in the non-working area (headland, non-cultivated land). Is generated as a fuel supply route Q as shown in FIG. 15 (step S112). The fuel supply route Q reaches the fuel supply position F1 from the recommended fuel supply start position C1, which is the starting point, through the headland or the non-cultivated area, and from the fuel supply position F1 to the headland or the non-cultivated area. This is obtained by calculating a route group that reaches the recommended fuel replenishment end position D1 that is the end point while passing through and selecting the shortest route.

  Next, the route generation unit 35 generates a modified autonomous traveling route obtained by correcting the autonomous traveling route P based on the fuel supply route Q, and transmits the modified autonomous traveling route to the tractor 1 at an appropriate timing (step S113). This correction is performed by replacing the connection path P2 connecting the recommended fuel supply start position C1 and the recommended fuel supply end position D1 in the autonomous traveling path P with the fuel supply path Q. Thereafter, the process ends.

  When the user refuses to set the current recommended fuel supply start position C1 as the fuel supply start position, or when a predetermined time has passed without any user operation (No at Step S110), the display control unit 31 Creates display data for inquiring whether or not the user consents to stop at the headland upstream of the position where fuel is depleted (position where fuel is exhausted), and the display 37 of the wireless communication terminal 46 And waits for the user's operation (step S114).

  As a result of the inquiry in step S114, when the user consents to stop at the headland upstream from the position where the fuel is exhausted, or when a predetermined time has passed without any operation since the inquiry (step S114, Yes), the path generation unit 35 controls the tractor 1 to stop at the headland before the fuel is depleted (step S115). For example, the path generation unit 35 sets a temporary stop position in the headland upstream of the position where the fuel is depleted, and transmits information on the temporary stop position to the tractor 1. As a result, the control unit 4 temporarily stops the tractor 1 at the temporary stop position. Thereafter, the process ends.

  On the other hand, as a result of the inquiry in step S114, when the user refuses to stop at the headland upstream of the position where fuel is depleted (step S114, No), the display control unit 31 causes the tractor 1 to perform autonomous work. Display data for informing the user that the vehicle will stop due to fuel exhaustion in the middle of the road P1 is created and displayed on the display 37 of the wireless communication terminal 46. Thereafter, the process ends.

  If the fuel shortage position has been previously calculated in the determination in step S106 shown in FIG. 12 (step S106, Yes), the determination unit 58 determines that the fuel shortage position calculated this time is the previously calculated fuel shortage position. It is determined whether or not they are on different autonomous work paths P1 (step S116).

  FIG. 16 shows a state in which the tractor 1 has advanced to some extent from FIG. Then, it is assumed that the fuel shortage position calculated this time is J1 based on the fuel holding amount detected at the time of FIG. In this case, since the current fuel shortage position J1 and the previous fuel shortage position H are on the same autonomous work path P1 (No in step S116), there is no possibility that the recommended fuel supply start position C1 changes from the previous time. Means that. Therefore, the process is terminated as it is.

  On the other hand, when the fuel shortage position calculated this time is, for example, J2 in FIG. 16, the current fuel shortage position J2 and the previous fuel shortage position H are on different autonomous work paths P1. As described above, when the fuel shortage position moves to another autonomous work path P1 (step S116, Yes), there is a high possibility that the fuel supply path Q must be changed, and therefore, the processes after step S107 are performed. FIG. 17 shows the fuel supply route Q after being corrected based on the fuel shortage position J2 calculated this time. However, even if the fuel shortage position moves to another autonomous work path P1, for example, as shown by J3 in FIG. 16, the recommended fuel replenishment start position C1 based on the fuel shortage position J3 does not change from the previous time. In some cases, the route Q is not corrected.

  As described above, in the present embodiment, when the autonomous traveling cannot be completed with the amount of fuel held by the traveling machine body 2, the information on the modified autonomous traveling route is obtained by adding the information on the fuel supply route Q to the information on the autonomous traveling route P. Is input to the control unit 4. As a result, while the tractor 1 is traveling autonomously along the autonomous traveling route P, the tractor 1 can be temporarily transferred from the original autonomous traveling route P to the fuel supply route Q. . Then, the tractor 1 can be autonomously driven along the fuel supply route Q, stopped once at the fuel supply position F1 in the middle of the fuel supply route Q, and the traveling machine body 2 can be supplied with fuel. Thereafter, the tractor 1 returns to the original autonomous traveling route P. Thereby, without running out of fuel on the way, the tractor 1 can be run from the work start position S to the work end position E, and farm work can be performed on the autonomous work path P1.

  Further, in the route generation unit 35 of the present embodiment, when generating the fuel supply route Q, the fuel required for autonomous traveling on the forward route when the forward route of the fuel supply route Q is the longest is taken into consideration. Thus, since the fuel replenishment start position C1 is set, there is no possibility of running out of fuel in the middle of the fuel replenishment route Q, and the tractor 1 can be made to autonomously travel to the fuel replenishment position F1.

  As described above, the route generation system 99 of the present embodiment includes the route generation unit 35, the acquisition unit 57, the determination unit 58, and the supply position setting unit (fuel supply position setting unit) 56. The route generation unit 35 can generate an autonomous traveling route P in which autonomous traveling is performed by the traveling machine body (body portion) 2 within a preset traveling region. The acquisition unit 57 acquires the amount of fuel held by the traveling machine body 2. The determination unit 58 determines whether or not autonomous traveling on the autonomous traveling route P can be completed based on the amount of fuel held. The replenishment position setting unit 56 sets a fuel replenishment position (replenishment position) F1 for fuel in the travel region. When the determination unit 58 determines that the autonomous traveling cannot be completed, the route generation unit 35 sets the fuel supply start position C1 on the autonomous travel route P and starts from the fuel supply start position C1. A fuel supply route Q that reaches F1 can be generated. The route generation unit 35 may complete the autonomous traveling from the fuel replenishment start position C1 to the fuel replenishment position F1 in the fuel replenishment route Q based on the fuel holding amount. The fuel supply start position C1 is set so that it can be performed (see FIG. 16).

  Thus, when the fuel supply route Q is generated, the fuel supply start position C1 of the fuel supply route Q is set in consideration of the fuel required for the autonomous traveling in the forward direction of the fuel supply route Q. There is no possibility of running out of fuel in the middle of the route Q, and it is possible to reliably travel autonomously to the fuel supply position F1.

  Further, in the route generation system 99 of the present embodiment, the route generation unit 35 assumes that the traveling aircraft 2 has continued to travel on the autonomous traveling route P without traveling on the fuel supply route Q, and the traveling aircraft 2 The position on the autonomous travel route P when the amount of fuel held by the vehicle is equal to or less than the reference amount (maximum required fuel amount N at the time of refueling) is specified as a fuel shortage position (reachable position) H, and this fuel shortage position A fuel supply start position C1 is set on the upstream side of the autonomous traveling route P from H.

  Thereby, the fuel supply start position C1 can be set rationally.

  In the route generation system 99 of the present embodiment, the route generation unit 35 travels from the fuel supply start position C0 to the fuel supply position F1 when it is assumed that the fuel supply route Q has the maximum route length. The amount of the maximum required fuel amount N at the time of necessary fuel supply is calculated as the reference amount.

  Accordingly, the fuel supply route Q can be easily generated by assuming that the fuel necessary for traveling on the fuel supply route Q is constant.

  Further, in the route generation system 99 of the present embodiment, the acquisition unit 57 acquires the fuel holding amount regularly or irregularly during autonomous traveling on the autonomous traveling route P. The route generation unit 35 is configured such that the fuel shortage position (reachable position) J2 specified on the basis of the newly acquired possession amount is the autonomous position where the previously specified fuel shortage position (reachable position) H is arranged. When it is located on a different autonomous work path P1 upstream or downstream of the work path P1, the fuel supply start position C1 is corrected, and the corrected fuel supply from the corrected fuel supply start position C1 to the fuel supply position F1 is performed. The route Q can be generated.

  Thereby, even when the fuel consumption is different from the estimation based on the previous calculation, the fuel supply start position C (C1) can be corrected as necessary.

Second Embodiment
Next, a route generation system 99 according to the second embodiment of the present invention will be described mainly with reference to FIGS. In the route generation system 99 according to the second embodiment, the specific processing when the route generation unit 35 generates the fuel supply route Q is different from the route generation system 99 according to the first embodiment. FIG. 18 is a flowchart illustrating processing performed by the route generation unit or the like when the fuel supply route Q is generated in the second embodiment. FIG. 19 is a flowchart showing the continuation of the process of FIG. FIG. 20 is a flowchart showing the continuation of the process of FIG. In the description of the present embodiment, the same or similar members as those of the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  Hereinafter, specific processing when the route generation unit 35 generates the fuel supply route Q in the second embodiment will be described with reference to FIGS. 18 to 20.

  Since the process from step S201 to step S203 is the same as the process from step S101 to step S103 in the first embodiment, a description thereof will be omitted.

  As a result of the determination in step S203, if the autonomous running cannot be completed with the current fuel holding amount (No in step S203), it means that it is necessary to replenish the fuel in the middle. Accordingly, the determination unit 58 takes into consideration the vehicle speed, the engine speed, the route length of the autonomous travel route P set when the autonomous travel route P is generated, the current fuel remaining amount, and the like, and the traveling machine body 2 ( A position on the autonomous traveling route P where the amount of fuel held in the fuel tank) falls below a predetermined value (reference amount) B is specified by calculation as a fuel shortage position (reachable position) K (step S204). The predetermined value B is set to a positive value in anticipation of a certain amount of fuel in the present embodiment, but may be zero. FIG. 21 shows the calculated fuel shortage position K in an example in which the fuel supply position F2 is set at an appropriate position on one side of the headland.

  Since the processing of step S205 and step S220 is the same as that of step S106 and step S116 in the first embodiment, description thereof will be omitted.

  When the calculation of the fuel shortage position K is the first time (step S205, No), the route generation unit 35 performs the autonomous travel route P for refueling based on the fuel shortage position K calculated in step S204. The provisional fuel supply start position C2 that is the provisional position of the point that deviates from is obtained (step S206). Since the method for obtaining the provisional fuel supply start position C2 is exactly the same as the method for obtaining the recommended fuel supply start position C1 in step S107 in the first embodiment, the description thereof is omitted.

  Subsequently, the route generation unit 35 generates a route from the temporary fuel supply start position C2 to the fuel supply position F2 within the non-working area (step S207). This route is calculated so as to be the shortest route, as shown as a dashed route in FIG. This broken line route is regarded as the forward portion of the fuel supply route (provisional fuel supply route), which is a route that returns from the temporary fuel supply start position C2 to the autonomous traveling route P at an appropriate point via the fuel supply position F2. Can do.

  Thereafter, the route generation unit 35 calculates a replenishment required fuel amount G that is fuel necessary for traveling on the forward route (step S208).

  Subsequently, the route generation unit 35 estimates the remaining fuel amount by calculation when the traveling machine body 2 reaches the provisional fuel supply start position C2, and the estimated value (expected fuel remaining amount) is equal to or greater than the required fuel amount G at the time of supply. It is determined whether or not (step S209).

  As a result of the determination in step S209, when the estimated remaining fuel amount when reaching the provisional fuel supply start position C2 is less than the required fuel amount G during supply (No in step S209), the tractor 1 sets the provisional fuel supply start position C2. This means that the fuel supply position F2 cannot be reached. Accordingly, the route generation unit 35 sets the provisional refueling start position C2 to be the upstream end of only one of the end points of the autonomous work path P1 arranged in the headland near the refueling position F2. (Step S210). Thereafter, the process returns to step S207, and the above processing is repeated.

  As a result of the determination in step S209, when the estimated remaining fuel amount when reaching the provisional fuel replenishment start position C2 is equal to or greater than the fuel amount G required for replenishment (step S209, Yes), the tractor 1 sets the provisional fuel replenishment start position C2. This means that the fuel supply position F2 can be reached via the route. Therefore, the route generation unit 35 determines the provisional fuel supply start position C2 as the recommended fuel supply start position C1 (step S211). Since the subsequent processing of step S212 to step S219 is the same as step S108 to step S115 of the first embodiment, description thereof will be omitted.

  Unlike the first embodiment described above, this embodiment recalculates the replenishment required fuel amount G while sequentially changing the provisional fuel supply start position C2 from the downstream side to the upstream side, and reaches the fuel supply position F2. It is determined whether or not it is possible, and the provisional fuel supply start position C2 when it is determined that it is reachable is determined as the recommended fuel supply start position C1. For example, the tractor 1 cannot reach the fuel supply position F2 at the temporary fuel supply start position C2 shown in FIG. 21, but reaches the fuel supply position F2 by moving the temporary fuel supply start position C2 upstream as shown in FIG. Assume that it is possible to do so. In this case, as shown in FIG. 23, the provisional fuel supply start position C2 in FIG. 22 is set to the recommended fuel supply start position C1, and the fuel supply path Q can be generated as in the first embodiment. By configuring in this way, the fuel amount G required for replenishment changes as the departure point of the tractor 1 from the autonomous travel route P changes, and the remaining fuel amount at the time of departure changes. The fuel supply route Q can be generated with appropriate consideration.

  Although the first embodiment and the second embodiment of the present invention have been described above, the above configuration can be modified as follows, for example.

<Modification of First Embodiment and Second Embodiment>
In the above embodiment, when it is assumed that the traveling machine body 2 has continued to travel on the autonomous traveling route P without refueling, the amount of fuel retained by the traveling machine body 2 is less than the reference amount. The position on the autonomous travel route P is specified as the reachable position, and the fuel supply start position C is set at a position upstream of the autonomous travel route P. However, instead of this, the first distance from the current position (or work start position S) of the tractor 1 to the fuel supply position F via the fuel supply start position C is the fuel holding of the traveling machine body 2. The predetermined distance from the second distance (the distance from the current position (or work start position S) of the tractor 1 to the farthest position where the autonomous traveling can be maintained) that can maintain autonomous traveling according to the amount The fuel supply start position C may be set so as to be shorter.

  In that case, the fuel replenishment start position C can be set with a certain amount of remaining fuel remaining, so that even if there is an error in the fuel consumption speed, etc., autonomous driving will not be interrupted due to insufficient fuel. Can do.

  In the case of the above modification, the acquisition unit 57 acquires the remaining fuel amount regularly or irregularly during the autonomous traveling of the tractor 1, and calculates the first distance and / or the second distance each time. It may be fixed. In that case, the route generation unit 35 monitors the difference between the first distance and the second distance, and the difference between the first distance and the second distance is longer than the first threshold distance longer than the predetermined distance. The fuel supply start position C may be corrected when it becomes longer, or when it becomes shorter than the second threshold distance shorter than the predetermined distance. In this case, the route generation unit 35 calculates a fuel supply route Q from the corrected fuel supply start position C to the fuel supply position F by calculation.

  In such a configuration, when the actual fuel consumption is different from the estimation by the prior calculation, the fuel replenishment start position C can be corrected as necessary, and the fuel consumption can be appropriately determined according to the fuel consumption situation. It is possible to generate a simple fuel supply route Q.

  In the first embodiment and the second embodiment described above, the reachable position specified based on the newly acquired amount of fuel held is upstream of the autonomous travel route P from the previously set reachable position or If a refueling start position C and a refueling route Q different from the conventional ones are generated as a result of being arranged on the downstream side, an inquiry is made to the user, and the refueling start position C and / or the refueling is performed. When consent is obtained for changing the route Q, the fuel supply start position C and the fuel supply route Q newly generated this time are changed. That is, the user is inquired about whether or not the fuel can be changed, whether the actual fuel decrease is faster or slower than expected. However, the present invention is not limited to this, and an inquiry for changing the fuel supply route Q is made to the user only when the actual fuel decrease is faster than expected, and the fuel decrease is slower than expected. In this case, the inquiry may not be made and the fuel supply route Q may not be changed.

  In the first and second embodiments described above, the fuel supply route Q is automatically generated on the headland near the fuel supply position F. However, the present invention is not limited to this, and the user may be allowed to designate which headland the fuel supply route Q is to be generated.

  In said 1st Embodiment and 2nd Embodiment, after the tractor 1 starts autonomous driving | running | working, the determination part 58 determines whether autonomous driving | running can be completed with the amount of fuel possessed now. It was. However, the present invention is not limited to this, and the determination unit 58 determines in advance whether or not the autonomous traveling on the autonomous traveling route P can be completed based on the maximum amount of fuel specified by the model of the tractor 1 before the autonomous traveling starts. It may be determined (that is, it may be determined that a full amount of fuel is held at the start of autonomous driving). As a result of the determination, when it is clear that the autonomous traveling cannot be completed only by the maximum amount of fuel specified by the model of the tractor 1, the route generation unit 35 autonomously travels before the autonomous traveling starts. The fuel supply route Q may be generated simultaneously with the generation of the route P. In this case, if it is found that the actual amount of fuel held by the traveling vehicle 2 is less than the maximum amount after the autonomous running is started, the user can determine whether or not the fuel supply route Q can be changed at that time. It is also possible to make an inquiry.

<Third Embodiment>
Next, a route generation system 99 according to the third embodiment of the present invention will be described with reference to FIG. FIG. 24 is a diagram illustrating a display example of the work information input screen 95 according to the third embodiment. In the route generation system 99 according to the third embodiment, before the autonomous traveling of the tractor 1 is started, an autonomous traveling route that takes into consideration necessary fuel is generated in advance. This is different from the embodiment.

  In the third embodiment, when the work information input operation unit 63 on the input selection screen 60 is operated, the operation screen is switched to the work information input screen 95 shown in FIG. That is, in the route generation system 99 according to the third embodiment, a work information input screen 95 is displayed instead of the work information input screen 90.

  The work information input screen 95 has a “fuel remaining amount” field. In the “fuel remaining amount” column, as the initial value, the fuel remaining amount (final detection value of the fuel remaining amount sensor 51) acquired by the acquisition unit 57 last when the tractor 1 was operated last time is input. ing. The user can set a desired value as the remaining amount of fuel by directly inputting a numerical value in the field or selecting “full” by a pull-down operation. The remaining fuel amount set in this field is received by the work information setting unit 47 and stored in the storage unit 32.

  Also in the third embodiment, when the user finishes setting work information, the refill position setting window 91 is displayed so that the fuel refill position can be set. When the user finishes setting the work information and the fuel supply position and returns to the input selection screen of FIG. 6 and selects the travel route generation / transfer operation unit 64, the fuel supply route Q is automatically added to the autonomous travel route P of the tractor 1. The modified autonomous traveling route with the added is generated, and this modified autonomous traveling route is stored in the storage unit 32.

  By transmitting the corrected autonomous traveling route to the tractor 1 and operating the farm work start operation unit 65, the autonomous traveling of the tractor 1 is started.

  Immediately after the start of autonomous traveling of the tractor 1, the acquisition unit 57 acquires the amount of fuel actually held by the traveling machine body 2 by acquiring the detection result of the fuel remaining amount sensor 51.

  Then, the route generation unit 35 determines whether the fuel remaining amount received by the work information setting unit 47 before the start of autonomous traveling and the fuel remaining amount acquired by the acquiring unit 57 after starting autonomous traveling deviate by a predetermined value or more. Judge whether or not.

  When the difference between the fuel remaining amount received by the work information setting unit 47 before the start of autonomous driving and the fuel remaining amount acquired by the acquiring unit 57 after starting autonomous driving is less than a predetermined value, the route generation unit 35 The supply route Q is not regenerated (not corrected).

  On the other hand, if the difference between the fuel remaining amount received by the work information setting unit 47 before the start of autonomous driving and the fuel remaining amount acquired by the acquiring unit 57 after starting autonomous driving is greater than or equal to a predetermined value, the first embodiment or Similar to the processing flow shown in the second embodiment, the fuel supply route Q is generated again, and the user is inquired of whether or not the fuel can be adopted. When the user consents to set (adopt) the fuel supply route Q as the “fuel supply route”, the corrected autonomous traveling route including the fuel supply route Q is transmitted to the tractor 1. Thereby, the tractor 1 can be automatically traveled along the fuel supply route Q set corresponding to the actual fuel remaining amount, and the risk of running out of fuel during autonomous travel can be eliminated.

  In the present embodiment, the “predetermined value” for determining the degree of deviation can be set to a value larger than the amount of fuel required to travel on one autonomous work path P1, for example. As a result, when there is a high possibility that the position of the optimum fuel supply start position C will fluctuate, it is possible to recalculate the fuel supply start position C and generate a corrected fuel supply path Q.

<Fourth embodiment>
Next, a route generation system 99 according to the fourth embodiment of the present invention will be described with reference to FIGS. In the route generation system 99 according to the fourth embodiment, the “replenishment position” set by operating the display screen of the replenishment position setting window 91 is a position where fuel is replenished and a position where fertilizer is replenished. This is different from the above embodiment. That is, in the fourth embodiment, the fuel supply position set by the supply position setting unit 56 also serves as the fertilizer supply position.

  The acquisition unit 57 of the present embodiment acquires not only the amount of fuel held by the traveling machine body 2 but also the amount of fertilizer (material) held by the fertilizer application device 3. The acquisition unit 57 acquires the remaining amount of fertilizer in the fertilizer tank 29, in other words, the amount of fertilizer held by the fertilizer application device 3 based on the detection value received from the fertilizer remaining amount sensor 30.

  The determination unit 58 not only determines whether or not the traveling vehicle 2 can complete autonomous traveling on the autonomous traveling route P based on the amount of fuel acquired by the acquiring unit 57, but also holds the fertilizer acquired by the acquiring unit 57. It is also determined whether or not the fertilizer application device 3 can complete the autonomous work on the autonomous travel route P (autonomous work routes P1, P1,...) Depending on the amount.

  Next, processing when the route generation unit 35 generates the fuel and / or fertilizer supply route Q will be described with reference to FIGS. 25 and 26.

  First, the route generation unit 35 specifies the position on the autonomous traveling route P when the amount of fuel held by the traveling machine body 2 is equal to or less than the reference amount as the reachable position, and the autonomous traveling route is determined from the reachable position. The end of the autonomous work path P1 that is arranged on the upstream side of P and arranged on the headland near the fuel and fertilizer supply position F3 is set as the fuel supply start positions C4 and C5. FIG. 25 shows a case where two positions C4 and C5 are set as fuel supply start positions. Of the two positions C4 and C5, the fuel supply end position corresponding to the fuel supply start position C4 arranged on the upstream side is shown as a position D4. In addition, the fuel supply end position corresponding to the fuel supply start position C5 disposed on the downstream side of the two positions C4 and C5 is indicated as a position D5.

  Moreover, the path | route production | generation part 35 pinpoints the position on the autonomous running path P when the amount of fertilizer possessed by the fertilizer application machine 3 becomes below a predetermined value as a fertilizer running position, and autonomous running path rather than this fertilizer running position The end of the autonomous work path P1 that is arranged on the upstream side of P and located on the headland near the replenishment position F3 is specified as the fertilizer replenishment start positions U1 and U2. FIG. 26 shows a case where two positions U1 and U2 are set as fertilizer supply start positions. In addition, the fertilizer replenishment end position corresponding to the fertilizer replenishment start position U1 arrange | positioned upstream among two positions U1, U2 is shown as position V1. Moreover, the fertilizer replenishment end position corresponding to the fertilizer replenishment start position U2 arrange | positioned downstream among two positions U1, U2 is shown as position V2.

  Subsequently, when the route generation unit 35 looks at the fuel supply start positions C4 and C5 and the fertilizer supply start positions U1 and U2 that are provisionally generated individually as described above, the fuel supply start positions C4 and C5 It is determined whether or not the fertilizer replenishment start positions U1 and U2 are arranged before.

  Here, paying attention to the fuel replenishment start position C4, as shown in FIG. 25, the fertilizer replenishment start position is not arranged at a position upstream of this. Therefore, the fuel supply start position C4 (and the fuel supply end position D4) is not integrated with any fertilizer supply start position (and fertilizer supply end position).

  On the other hand, paying attention to the fuel replenishment start position C5, the fertilizer replenishment start positions U1 and U2 are arranged at positions upstream of this. That is, it has been specified that there is a shortage of fertilizer multiple times (in this embodiment, twice) between the fuel supply start position C5 and the fuel supply start position C4 on the upstream side thereof. On the other hand, a fertilizer supply start position U1 and a fertilizer supply start position U2 are set. In this case, the path generation unit 35 has the next fuel supply start position C5 (and the fuel supply) at the same position as the fertilizer supply start position U2 (and the fertilizer supply end position V2) farthest from the upstream fuel supply start position C4. The end position D5) is moved (moved). In other words, the next fuel supply start position C5 (and the fuel supply end position D5) is integrated into the fertilizer supply start position U2 (and the fertilizer supply end position V2) farthest from the fuel supply start position C4 related to the previous fuel supply. .

  As a result, when the tractor 1 reaches the replenishment position F3 from the fertilizer replenishment start position U2 through the replenishment route Q, it is possible to replenish not only the fertilizer but also the fuel. Therefore, when viewed as a whole, it is possible to reduce the number of passes through the route deviating from the autonomous travel route P and reaching the replenishment position F3 (that is, the number of times the vehicle travels aside from the autonomous travel route P). The length of the fuel can be shortened, and fuel and fertilizer can be replenished efficiently.

  As described above, the route generation system 99 according to the present embodiment is mounted on the traveling machine body (vehicle body part) 2 and holds a fertilizer (material) to perform an autonomous work within the traveling area (work machine). 3 is provided. The acquisition unit 57 can acquire the amount of fertilizer held by the fertilizer applicator 3. The determination unit 58 can determine whether or not autonomous work in the traveling area can be completed based on the amount of fertilizer retained. When the determination unit 58 determines that neither the autonomous traveling nor the autonomous work can be completed by the determining unit 58, and the fertilizer is insufficient in the autonomous traveling route P before the fuel. Based on the amount of fertilizer retained, autonomous traveling and autonomous work up to the fuel replenishment start position C and autonomous traveling from the fuel replenishment start position C to the fuel replenishment position F in the fuel replenishment route Q can be completed. Thus, the fuel supply start position C is set.

  Thereby, the fuel replenishment route (material replenishment route) Q can be generated according to the earlier one at the timing when the fertilizer is insufficient and the timing when the fuel is insufficient. In other words, the fertilizer replenishment start position U2 (and the fertilizer replenishment end position V2) and the fuel replenishment start position C5 (and the fuel replenishment end position D5) are arranged in accordance with the direction of being disposed further upstream. A supply route Q for supplying both can be generated. Therefore, it is possible to efficiently supply fuel and fertilizer.

  In the route generation system 99 of the present embodiment, the route generation unit 35 determines that neither the autonomous traveling nor the autonomous work can be completed by the determination unit 58, and the previous fuel in the autonomous traveling route P is determined. When there is a shortage of fertilizer several times during the period from the shortage of fuel to the next shortage of fuel, with the shortage of fertilizer farthest from the fuel replenishment start position C4 set with the previous shortage of fuel The next fuel supply start position C5 is set at a position common to the set fertilizer supply start position U2.

  Thereby, the fuel replenishment start position C5 and the fertilizer replenishment start position U2 can be made into a common position, and fuel replenishment and fertilizer replenishment can be performed efficiently.

<Modification of Fourth Embodiment>
In the fourth embodiment, the replenishment position F3 set by the replenishment position setting unit 56 is a position where both fuel and fertilizer can be replenished. However, instead of this, the fuel supply position and the fertilizer supply position may be set to different positions. In that case, if the fuel replenishment position and the fertilizer replenishment position are arranged on the same side of the headland, the fuel replenishment start position and the fertilizer replenishment start position are determined in the same manner as shown in the fourth embodiment. Can be integrated as needed. On the other hand, if the fuel replenishment position and the fertilizer replenishment position are arranged on the pillows on different sides, the fuel replenishment start position and the fertilizer replenishment start position are not integrated, and the fuel replenishment route and the fertilizer replenishment route are separated. Can be generated.

  The preferred embodiments and modifications of the present invention have been described above, but the above configuration can be modified as follows, for example.

  After the traveling machine body 2 stops and replenishes fuel at the fuel replenishment position F1 (F2, F3), the acquisition unit 57 obtains the amount of fuel held by the traveling machine body 2 (checks the replenishment amount) and is necessary. Depending on the situation, it may be notified that the fuel is insufficient. For example, the amount of fuel that has been replenished is the amount of fuel that is less than the maximum capacity of the fuel tank from the refueling position F1 (F2, F3) to the work end position E after refueling. If it is less than, for example, a warning lamp may be turned on or an alarm sound may be generated. This can prompt the user to replenish (add) a necessary amount of fuel.

  In the above embodiment, the refueling start position C and the refueling end position D are the end and start ends of two autonomous work paths P1 connected to each other via the connection path P2, and are arranged on the headland on the same side. It was supposed to be. However, it is not necessarily limited to this. For example, instead of this, the fuel replenishment start position C and the fuel replenishment end position D may be arranged on a common autonomous work path P1 or arranged on headlands on different sides.

  In the first embodiment and the second embodiment, the determination unit 58 performs the autonomous traveling based on the vehicle speed, the engine speed, the route length of the autonomous traveling route P, and the like set when generating the autonomous traveling route P. The planned amount of fuel (planned required amount) required for the route P is calculated. However, the method for calculating the expected required amount of fuel is not limited to this. For example, instead of this, the engine load is estimated by taking the detection value of the load sensor 54 into account, and the engine speed and engine load are calculated. The planned required amount of fuel may be calculated from the relationship. Alternatively, the relationship between the planned required amount calculated by the determination unit 58 as the predicted amount when the tractor 1 has been operated in the past and the amount of fuel actually required is stored in the storage unit 32, and this information is stored. It is good also as what calculates the required amount after the next using. In that case, the relationship between the planned required amount on the autonomous work path (straight path) P1 and the actual amount of fuel required is the relationship between the planned required amount on the connection path (turning circuit) P2 and the actual fuel required. It is good also as what memorize | stores separately. Specifically, the ratio between the required amount of fuel and the amount of fuel actually required can be stored as a correction coefficient and used for the calculation of the subsequent required amount.

  In general, the remaining amount of fuel at a position that is not far from the current position of the tractor 1 can be estimated with relatively high accuracy. It is considered that the accuracy of the estimation of is reduced. Therefore, when displaying an image representing the generated autonomous traveling route P with arrows, lines, etc., on the display 37, the route color is expressed in gradation or the like so that the higher the accuracy of estimation of the remaining amount of fuel, the darker the color. It may be expressed. Alternatively, while the tractor 1 is autonomously traveling along the autonomous traveling route P, the fuel from the current position of the tractor 1 is displayed on the monitoring screen 100 (screen displaying the autonomous traveling route P graphically) displayed on the display 37. The color of the path to the replenishment start position C may be expressed by a unified color, and the color may be gradually changed to darker as the tractor 1 travels downstream along the autonomous travel route P. Or it is good also as what expresses with a different color according to the accuracy of estimation for every autonomous work path P1 arrange | positioned side by side. FIG. 27 shows an example in which the difference in the accuracy of estimation for each autonomous work path P1 is represented on the monitoring screen 100 by such an expression method.

  In the above embodiment, the material is a fertilizer. However, the present invention is not limited to this. For example, the material may be a herbicide, a drug, a seedling, a seed, or the like. For example, when the material is a herbicide, the herbicide spraying device, when the material is a drug, the drug spraying device, when the seedling is a seedling transplanting device, when the seed is a seeding device, the fertilizer 3 It can be used as a work machine instead of

  In the above configuration, the route generation unit 35, the replenishment position setting unit 56, the acquisition unit 57, and the determination unit 58 are provided on the wireless communication terminal 46 side, but these configurations are the tractor 1 side and the wireless communication terminal. It is not limited to which of the 46 side is provided. In addition, other components may be provided on either the tractor 1 side or the wireless communication terminal 46 side.

  The route generation system 99 is used only in the process of generating the supply route Q, and the actual traveling is performed by, for example, the user steering the tractor 1 while referring to the supply route Q by the wireless communication terminal 46 or the like. It may be done.

1 Robot tractor (tractor, work vehicle)
2 Traveling body (body part)
35 Route generator 56 Supply position setting section (fuel supply position setting section)
57 Acquisition unit 58 Determination unit 99 Route generation system C1 Refueling start position F1 Refueling position P Autonomous travel route

Claims (8)

A route generator capable of generating an autonomous traveling route in which autonomous traveling is performed by the vehicle body within a preset traveling region;
An acquisition unit for acquiring the amount of fuel held by the vehicle body unit;
A determination unit that determines whether or not autonomous traveling in the autonomous traveling route can be completed by the amount of fuel held;
A fuel replenishment position setting unit for setting a fuel replenishment position that is a fuel replenishment position in the travel region;
With
When the determination unit determines that the autonomous traveling cannot be completed, the route generation unit sets a fuel replenishment start position on the autonomous traveling route and moves from the fuel replenishment start position to the fuel replenishment position. A refueling route can be created,
The route generation unit may complete autonomous traveling from the fuel supply start position to the fuel supply position on the fuel supply route based on the amount of fuel held. A route generation system, wherein the fuel supply start position is set so as to be able to. The route generation system according to claim 1,
When it is assumed that the vehicle body portion continues to travel on the autonomous travel route without traveling on the fuel supply route, the amount of fuel retained by the vehicle body portion is equal to or less than a reference amount. A position on the autonomous traveling route is specified as a reachable position, and the fuel supply start position is set on the upstream side of the autonomous traveling route with respect to the reachable position. The route generation system according to claim 2,
The path generator is configured to calculate a maximum required fuel amount at the time of refueling required for traveling from the refueling start position to the refueling position when the refueling path is assumed to have a maximum path length. A route generation system characterized by being calculated as a quantity. The route generation system according to claim 2 or 3,
The acquisition unit acquires the holding amount regularly or irregularly during autonomous traveling in the autonomous traveling route,
The route generation unit, when the reachable position specified based on the newly acquired possession amount is located on the upstream side or the downstream side of the autonomous traveling route with respect to the previously set reachable position A path generation system capable of correcting the fuel supply start position and generating a corrected fuel supply path from the corrected fuel supply start position to the fuel supply position. The route generation system according to claim 1,
In the route generation unit, a first distance from the fuel supply start position to the fuel supply position is a predetermined distance or more than a second distance at which autonomous travel can be maintained according to the possessed amount. A route generation system characterized in that the fuel supply start position is set to be shorter. The route generation system according to claim 5,
The acquisition unit acquires the holding amount regularly or irregularly during autonomous traveling on the autonomous traveling route,
The route generation unit may be configured such that the difference between the first distance and the second distance is longer than a first threshold distance that is longer than the predetermined distance, or is shorter than a second threshold distance that is shorter than the predetermined distance. A path generation system characterized in that, when the fuel supply period is shortened, the fuel supply start position is corrected, and a corrected fuel supply path from the corrected fuel supply start position to the fuel supply position can be generated. The route generation system according to any one of claims 1 to 6,
A work machine that is mounted on the vehicle body portion and holds materials and performs autonomous work in the traveling area,
The acquisition unit can acquire the amount of material held by the work implement,
The determination unit can determine whether it is possible to complete the autonomous work in the travel area based on the amount of the material,
When the route generation unit is determined by the determination unit to be unable to complete either autonomous running or autonomous work, and the material runs short of the fuel earlier than the fuel in the autonomous running route, Based on the holding amount of the material, autonomous running and autonomous work up to the refueling start position, and autonomous running from the refueling start position to the refueling position in the refueling route can be completed. The route generation system is characterized in that the fuel replenishment start position is set. The route generation system according to claim 7,
The route generation unit is determined by the determination unit that neither autonomous traveling nor autonomous work can be completed, and the fuel runs short after the previous shortage of fuel in the autonomous traveling route. In the case where the material is insufficient a plurality of times, the material replenishment start position set with the shortage of the material farthest from the fuel replenishment start position set with the previous shortage of fuel, A route generation system, characterized in that a next fuel supply start position is set at a common position.

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