JP2020103092A - Travelling support device, work vehicle equipped with travelling support device, and travelling support method - Google Patents

Abstract

To create a scheduled travelling route that allows materials to be replenished smoothly without interrupting work of a work device.SOLUTION: A travelling support device that creates a scheduled travelling route of a travelling vehicle to which a work device is connected includes a route creation unit for creating a scheduled travelling route based on a replenishment area for replenishing materials located outside a work area for performing work by the work device.SELECTED DRAWING: Figure 1

Description

The present invention relates to a travel support device for traveling a work vehicle such as a tractor, a work vehicle including the travel support device, and a travel support method.

BACKGROUND ART Conventionally, a technique disclosed in Patent Document 1 is known as a technique for creating a traveling route (work traveling line) for automatically traveling a work vehicle such as a tractor. The work vehicle of Patent Document 1 includes an acquisition unit that acquires position data of the outer peripheral portion of the field, and a work setting unit that sets a work traveling line on which the traveling machine body travels in the field based on the position data. In addition, the work vehicle replenishes the material after the traveling vehicle finishes traveling along the work traveling line when the remaining amount of the material is low and the material remaining amount detection unit that detects the remaining amount of the mounted material. And a material notification unit for notifying the driver that it should be done.

JP, 2018-39, A

In Patent Document 1, although the work travel line can be created, at the time of creating the work travel line, it is not possible to specify the location where the material runs out, and the material runs out when the work vehicle is actually run. It is necessary to finish the automatic driving at an arbitrary position and replenish it. That is, in Patent Document 1, there is a case where the material runs out in the middle of the work traveling line, and in such a case, the work and the automatic traveling are interrupted, and the work vehicle is manually moved before replenishment The reality is that you can't.

Therefore, in view of the above problems, the present invention includes a traveling support device and a traveling support device capable of creating a planned traveling route that can smoothly supply materials without interrupting the work of the work device. An object is to provide a work vehicle and a driving support method.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The travel support device is a travel support device that creates a planned travel route of a traveling vehicle to which a work device is connected, and is based on a replenishment area for replenishing materials located outside a work area where work is performed by the work device. And a route creation unit that creates the planned travel route.
The route creation unit sets the planned traveling route that passes through the replenishment area and a replenishment position that passes through the planned traveling route in the replenishment area.

The route creation unit sets the replenishment position based on the remaining amount of the material corresponding to the position of the planned travel route when the work device travels the planned travel route by a traveling vehicle.
The route creation unit includes a straight travel creation unit that creates a straight travel route in which the traveling vehicle goes straight in the work area as the planned travel route, and a turning creation unit that creates a turning route in which the traveling vehicle turns in the outer area. , And the turning preparation unit sets the supply position on the turning route.

The turning preparation unit sets the supply position on a turning route in which the turning directions of the traveling vehicles are on the same side among the plurality of turning routes.
The travel support device includes a display unit that displays the work area and an external area outside the work area, and a replenishment area setting unit that sets the replenishment area in the external area displayed on the display unit. ing.

The work vehicle includes a traveling support device, a traveling vehicle, and a driver's seat provided on the traveling vehicle. The traveling support device is provided in the vicinity of the driver's seat and can display the planned traveling route. is there.
The travel support device includes a supply plan creating unit that creates a supply plan for transporting the material to the supply area.

The travel support method is a travel support method for creating a planned travel route of a traveling vehicle to which a work device is connected, and acquires a replenishment area for replenishing materials located outside a work area where work is performed by the work device. And a step of creating the planned traveling route based on the supply area.

According to the present invention, it is possible to create a planned travel route that allows smooth supply of materials without interrupting the work of the work device.

It is a figure showing a block diagram of a work vehicle provided with a run support device. It is a figure which shows a lifting device. It is a figure explaining automatic running. It is a figure which shows an example of the map registration screen M1. It is a figure which calculates|requires the contour H1 (farm field map MP2) of a farm field from the traveling locus K1. It is a figure which calculates|requires the contour H1 (field map MP2) of a farm field from the inflection point of the traveling locus K1. It is a figure which asks for contour H1 (field map MP2) from switch operation at the time of running. It is a figure which shows an example of the work setting screen M2. It is a figure which shows an example of the route setting screen M3. It is the figure which created unit work section A3 in work area A2. It is a figure which shows the unit work division A3 different from FIG. 8A. It is explanatory drawing explaining the setting of the supply area A5. It is explanatory drawing explaining the setting of a scheduled driving route. It is explanatory drawing explaining the transition of the remaining amount of materials. It is a figure which shows a driving assistance method. It is a figure which shows an example of the supply plan screen M9. It is a figure which shows an example of the supply plan screen M9 different from FIG. 12A. It is a figure which shows the mode of supply of materials. It is an overall side view of the tractor.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows a block diagram of a work vehicle provided with a travel support device 100. The travel support device 100 is a device that assists when a work vehicle such as a tractor travels. In this embodiment, the driving support device 100 is provided in the tractor 1, but devices provided in addition to the tractor 1, for example, portable terminals (portable terminals) such as tablets, smartphones, PDAs, personal computers, and servers. A fixed terminal such as a fixed computer (fixed terminal) may be used.

First, a tractor, which is one of the work vehicles, will be described.
As shown in FIG. 14, the tractor 1 includes a traveling vehicle 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The speed change device 5 can switch the propulsive force of the traveling device 7 by speed change, and can also switch the traveling device 7 between forward and reverse. A cabin 9 is provided in the traveling vehicle 3, and a driver's seat 10 is provided in the cabin 9.

Further, an elevating device 8 including a three-point link mechanism or the like is provided at the rear part of the traveling vehicle 3. The working device 2 can be attached to and detached from the lifting device 8. By connecting the work device 2 to the lifting device 8, the work device 2 can be pulled by the traveling vehicle 3. The work device 2 is a device that performs work using materials, for example, a fertilizer spraying device that sprays fertilizer, a pesticide spraying device that sprays pesticides, a seedling transplanting device that transplants seedlings, a seeding device that sprays seeds, and the like. Is. That is, the working device 2 is a device that supplies materials such as fertilizers, agricultural chemicals, seedlings, and seeds to the field. In this embodiment, the material is a sprayed material (fertilizer, pesticide, seed) that is sprayed on the field (ground field), and is mainly a granular solid material.

The working device 2 includes a container (hopper) 2a that can store (store) materials, and a supply mechanism 2b that is provided in the container 2a and that supplies the materials in the container 2a. The supply mechanism 2b is, for example, an openable shutter that supplies the material dropped from the container 2a to the field or stops the supply, a nozzle that sprays the material, a pump that sends the material, and the like. The structure of the work device 2 is not limited to the example described above.

As shown in FIG. 1, the work device 2 includes a control device 2c that controls the supply mechanism 2b, and a display device 2d that is connected to the control device 2c. On the display device 2d, per predetermined area (supply amount per unit area [for example, 10 kg/10a (1000 m ² )], supply width of material (unit: m), input amount of material put in the container 2a (unit: The control device 2c controls the opening/closing amount (opening) of the supply mechanism 2b, the opening/closing timing, etc. based on the supply amount, the supply width (work width), etc. It is preferable that the supply of the material by the device 2 be linked to the vehicle speed that changes the supply amount per unit time in association with the moving speed (vehicle speed), and the control device 2c is a switch or the like provided on the display device 2d. When the supply of the materials is started and the supply of the materials is started, a signal indicating that the supply is started (start signal) is output to the in-vehicle network N1 described later. , And outputs a signal indicating that the supply has been completed (end signal) to the in-vehicle network N1.

The work device 2 also includes a remaining amount detection device 2e that detects the remaining amount of the material in the container 2a. The remaining amount detecting device 2e is composed of a sensor, a load cell and the like, and detects the weight of the material contained in the container 2a as the remaining amount. The remaining amount detected by the remaining amount detection device 2e is output to the in-vehicle network N1. The remaining amount detection device 2e may detect the height (bulk) of the material in the container 2a by the sensor and may estimate the weight of the material based on the detected bulk, to obtain the remaining amount, or input the material. The remaining amount may be a value obtained by subtracting the actually supplied amount from the amount. Note that FIG. 14 shows an example in which a spraying device is attached as the working device 2.

As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 has a steering wheel (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheels 7F.

Therefore, when the handle 11a is operated, the switching position and the opening of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 is expanded or contracted to the left or right according to the switching position and the opening of the control valve 22. By doing so, the steering direction of the front wheels 7F can be changed. Note that the steering device 11 described above is an example, and the present invention is not limited to the configuration described above.
As shown in FIG. 2, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. A front end portion of the lift arm 8a is supported by a rear upper portion of a case (transmission case) accommodating the transmission 5 so as to be swingable upward or downward. The lift arm 8a swings (elevates) by driving the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve. The control valve is an electromagnetic valve or the like, and expands and contracts the lift cylinder 8e.

The front end of the lower link 8b is supported on the lower rear portion of the transmission 5 so as to be swingable upward or downward. The front end portion of the top link 8c is supported by the rear portion of the transmission 5 so as to be swingable upward or downward above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear portion of the lower link 8b and the rear portion of the top link 8c. When the lift cylinder 8e is driven (expanded and contracted), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the work device 2 swings (moves up and down) upward or downward with the front portion of the lower link 8b as a fulcrum.

The tractor 1 includes a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the tractor 1 (for example, latitude, longitude), That is, the vehicle body position is detected. The positioning device 40 includes a reception device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42. The receiving device 41 is a device that has an antenna or the like and receives a satellite signal transmitted from a positioning satellite, and is attached to the traveling vehicle 3 separately from the inertial measuring device 42. In this embodiment, the receiving device 41 is attached to the traveling vehicle 3, that is, the cabin 9. Note that the mounting location of the receiving device 41 is not limited to the embodiment.

The inertial measurement device 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The roll angle, the pitch angle, the yaw angle, etc. of the traveling vehicle 3 can be detected by the inertial measurement device 42 provided below the traveling vehicle 3, for example, the driver's seat 10.
As shown in FIG. 1, the tractor 1 includes a control device 60. The control device 60 is a device that controls a traveling system, a work system, and the like in the tractor 1.

The control device 60 has an automatic travel control unit 61 that controls the automatic travel of the tractor 1. The automatic traveling control unit 61 is composed of an electric/electronic circuit provided in the control device 60, a program stored in a CPU, and the like. When starting the automatic traveling, the automatic traveling control unit 61 controls the control valve 22 of the steering device 11 so that the traveling vehicle 3 travels along the planned traveling route L1. Further, when the automatic running control unit 61 starts the automatic running, the automatic running control unit 61 controls the vehicle speed (speed) of the tractor 1 by automatically changing the shift speed of the transmission, the rotation speed of the prime mover, and the like.

As shown in FIG. 3, when the deviation between the vehicle body position and the planned travel route L1 is less than the threshold value under the condition that the tractor 1 is traveling automatically, the automatic travel control unit 61 causes the steering shaft (rotating shaft) to rotate. The rotation angle of 11b is maintained. When the deviation between the vehicle body position and the planned traveling route L1 is equal to or greater than the threshold value and the tractor 1 is located on the left side of the planned traveling route L1, the automatic traveling control unit 61 determines that the steering direction of the tractor 1 is right. The steering shaft 11b is rotated so as to be oriented. When the deviation between the vehicle body position and the planned travel route L1 is equal to or greater than the threshold value and the tractor 1 is located on the right side of the planned travel route L1, the automatic travel control unit 61 determines that the steering direction of the tractor 1 is left. The steering shaft 11b is rotated so as to be oriented. In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned traveling route L1, but the azimuth of the planned traveling route L1 and the progress of the tractor 1 (traveling vehicle 3). When the azimuth (vehicle body direction) F1 in the direction (traveling direction) is different, that is, when the angle θg of the vehicle body direction F1 with respect to the planned travel route L1 is equal to or greater than a threshold value, the automatic traveling control unit 61 determines that the angle θg is zero (vehicle body direction). The steering angle may be set such that the azimuth F1 matches the azimuth of the planned travel route L1. Further, the automatic travel control unit 61 sets the final steering angle in the automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (azimuth deviation). May be. The setting of the steering angle in the automatic steering in the above-described embodiment is an example, and the setting is not limited.

As described above, the tractor 1 (traveling vehicle 3) can be automatically driven by the control device 60.
Further, the control device 60 can perform manual lifting control, automatic lifting control, and the like. The manual elevating control is a control for elevating the work device 2 by the elevating device 8 based on the operation of the elevating switch 72 connected to the control device 60. Specifically, the elevating switch 72 is a three-position changeover switch provided around the driver's seat 10. When the raising/lowering switch 72 is switched from the neutral position to one side, a raising signal for raising the raising/lowering device 8 (lift arm 8a) is input to the control device 60. Further, when the lifting switch 72 is switched from the neutral position to the other position, a lowering signal for lowering the lifting device 8 (lift arm 8a) is input to the control device 60. The control device 60 outputs the control signal to the control valve to raise the lifting device 8 when the rising signal is obtained, and outputs the control signal to the control valve to drop the lifting device 8 when the falling signal is obtained. That is, the control device 60 can perform the manual elevating control for elevating the elevating device 8 according to the manual operation of the elevating switch 72.

In the automatic raising control, when the steering angle of the steering device 11 is equal to or greater than a predetermined value, for example, the steering angle corresponding to turning, the work device 2 is raised by automatically operating the lifting device 8. .. Specifically, a steering angle detection device 70 and a changeover switch 71 are connected to the control device 60. The steering angle detection device 70 is a device that detects the steering angle of the steering device 11. The changeover switch 71 is a switch that switches between valid/invalid of the automatic raising control and is a switch that can be switched ON/OFF. When the changeover switch 71 is ON, the automatic raising control is set valid, and when the changeover switch 71 is OFF, the automatic raising control is set invalid.

When the automatic raising control is effective and the steering angle detected by the steering angle detecting device 70 is equal to or larger than the steering angle corresponding to the turning, the control device 60 outputs a control signal to the control valve to automatically move the lifting device 8 automatically. The automatic raising control is performed to raise automatically.
As described above, the control device 60 can perform control related to the tractor 1, for example, manual lifting control and automatic lifting control.

The travel support device 100 is a display device provided near the driver's seat 10. Hereinafter, the description will be given assuming that the driving support device 100 is a display device.
The display device is a display device having a display unit 50 configured by any one of a liquid crystal panel, a touch panel, and other panels, and in addition to information for supporting the traveling of the tractor 1, the tractor 1, the working device. Various information regarding 2 can be displayed.

The display device includes a map registration unit 101 and a map storage unit 102. The map registration unit 101 is composed of electric/electronic components provided in the display device, programs installed in the display device, and the like. The map storage unit 102 is composed of a non-volatile memory or the like. The map registration unit 101 registers a contour of a predetermined field, for example, a position corresponding to the contour of the predetermined field.

As shown in FIG. 4, when the worker (driver) performs a predetermined operation on the display device, the map registration unit 101 displays the map registration screen M1 on the display unit 50 of the display device. On the map registration screen M1, field identification information such as a map MP1 including a field, a vehicle body position VP1 of the tractor 1, a field name and a field management number are displayed. The map MP1 is associated with position information such as latitude and longitude in addition to image data showing a field. When the tractor 1 enters the field and goes around the field, the current vehicle body position VP1 detected by the positioning device 40 when the tractor 1 goes around is displayed on the map registration screen M1. When the tractor 1 completes the orbit in the field and the registration button 51 displayed on the map registration screen M1 is selected, as shown in FIG. The travel locus K1 obtained from the vehicle body position is used as the contour (outer shape) H1 of the field, and the field map MP2 represented by the contour H1 is registered together with the field identification information.

As shown in FIG. 5B, the map registration unit 101 calculates an inflection point from the traveling locus indicated by the vehicle body position VP1 and registers the contour K2 connecting the inflection points as the field contour H1 (field map MP2). Alternatively, as shown in FIG. 5C, when the tractor 1 orbits, the driver or the like designates the end of the field by a switch or the like provided on the tractor 1, and a contour K3 connecting the designated ends. May be registered as the contour H1 (field map MP2). The field registration method described above is an example, and is not limited. The contour of the field, that is, the field map MP2, may be expressed by other expressions, whether it is the data shown by the position (latitude, longitude) or the data shown by the coordinate system (X axis, Y axis). It may be the data shown.

The map storage unit 102 stores the field map MP2 indicating the contour (outer shape) registered by the map registration unit 101. That is, the map storage unit 102 stores the farm field map MP2 and data indicating the contour of the farm field (data for representing a predetermined farm field).
The display device (travel support device 100) can create a planned travel route L1 used when the tractor 1 is automatically traveled in a predetermined field. The travel support device 100 includes a route creation unit 105 that creates a planned travel route L1 and a work width acquisition unit 107. The route creation unit 105 and the work width acquisition unit 107 are composed of electric/electronic circuits provided in the display device, programs stored in the display device, and the like.

As shown in FIG. 6, when the worker (driver) performs a predetermined operation on the display device, the route creation unit 105 displays the work setting screen M2. The work setting screen M2 includes a farm field input unit 80 and a farm field display unit 81. The field input unit 80 can input field identification information such as a field name and a field management number. The farm field display unit 81 displays a farm field map MP2 indicating a predetermined farm field corresponding to the farm field identification information input to the farm field input unit 80. That is, the route creation unit 105 requests the map storage unit 102 for the field map MP2 corresponding to the field identification information input to the field input unit 80, and displays the field map MP2 transmitted from the map storage unit 102 in the field display. It is displayed on the section 81.

When the headland setting button 83 is selected after the headland width W1 is input to the headland width input section 82 on the work setting screen M2, the route creation section 105 causes the field map MP2 displayed on the field display section 81 to display the field map MP2. The work area A2 excluding the headland area A1 is displayed. For example, the route creation unit 105 sets, as the work area A2, the area surrounded by the contour H2 formed by offsetting the contour H1 of the farm field map MP2 inside by the headland width W1. In the work setting screen M2, the work area A2 is set in the farm field map MP2 by designating the position of the contour of the work area A2 on the farm field map MP2 displayed on the farm field display unit 81 using a pointer or the like. May be.

As shown in FIG. 7, when the setting of the work area A2 is completed, the route creation unit 105 switches the display of the display device (driving support device 100) from the work setting screen M2 to the route setting screen M3. On the route setting screen M3, the planned travel route L1 can be set in an area including the work area A2 in the field. The route setting screen M3 includes a route display section 85 for displaying the planned traveling route L1 and a width input section 88. The work width acquisition unit 107 acquires the work width W2 input to the width input unit 88. The work width W2 of the work device 2 is a width (work execution width) in which the work device 2 works on a ground such as a field, and in the case of the work device 2 that supplies materials to the field, supplies the material. It is the supply width. For example, when the working device 2 is a fertilizer application device, the fertilizer application width is a working width W2, the chemical application device is a chemical application width W2, and the seedling transplant device is a seedling transplant device, the seedlings can be produced in one operation. The planting width that can be planted in the field is the working width, and in the case of the seeding device, the seeding width is the working width W2.

When the work width acquisition unit 107 acquires the work width W2, the route creation unit 105 divides the work area A2 into the work width W2 in the vertical direction or the horizontal direction as shown in FIG. A plurality of unit work sections A3 to be performed are created in the work area A2. That is, the route creation unit 105 creates a plurality of unit work sections A3 having the same width as the work width W2 in the work area A2. As shown in FIG. 8B, the route creation unit 105 may create a plurality of unit work sections A3 having a width W4 obtained by dividing the work width W2 by the overlap width W3 in the work area A2. The overlap width W3 can be input on the route setting screen M3. That is, the route creation unit 105 sets, as the unit work section A3, the minimum unit area where work is performed on the field by the work device 2 when the traveling vehicle 3 connected to the work device 2 is run. ..

Further, when creating the planned travel route L1, the route creation unit 105 requests the supply area A5 for supplying the material and creates the planned travel route L1 based on the supply area A5. Specifically, the display device (driving support device 100) includes a supply area setting unit 111. The replenishment area setting unit 111 includes an electric/electronic circuit provided in the display device, a program stored in the display device, and the like.

When the supply area A5 is not set in the field H10 displayed on the route display section 85, the supply area setting unit 111 requests the message section 94 shown in the route setting screen M3 to set the supply area A5. Display a message. The supply area A5 is set by, for example, the pointer section 95 displayed on the route display section 85. When the area outside the work area A2 (external area), that is, the headland area A1, is selected by the pointer unit 95, the selected headland area A1 is set as the supply area A5. Specifically, as shown in FIG. 9A, the work area A2 is composed of a plurality of sides Gn (n=1, 2, 3, 4... N), and the headland area A1 is in contact with the plurality of sides Gn. It is assumed that the area is divided into areas Jn (n=1, 2, 3, 4... N). In this case, of the plurality of areas Jn, the area Jn selected by the pointer 95 is set as the supply area A5. For example, when the work area A2 is composed of four sides G1, G22, G3, G4, the headland area A1 becomes four areas J1, J2, J3, J4. Here, when the area J3 is selected from the four areas J1, J2, J3, and J4, the area J3 is set as the supply area A5.

In this way, the supply area A5 can be set to the area Jn that is in contact with the farm road outside the work area A2, corresponding to the shape of the field H10, that is, the shape of the work area A2.
When the setting of the supply area A5 by the supply area setting unit 111 is completed, the route creation unit 105 acquires the set supply area A5 and creates the planned travel route L1 while predicting the remaining amount of the material. The route creating unit 105 includes a straight traveling creating unit 105A and a turning creating unit 105B. As shown in FIG. 9B, the straight traveling preparation unit 105A prepares a straight traveling portion (straight traveling route) L1a in which the traveling vehicle 3 travels straight for each unit work section A3 of the work area A2. That is, the straight-movement creating unit 105A, for example, creates a linear straight-moving portion L1a that connects both end portions in the longitudinal direction of the unit work section A3 in the widthwise center of the unit work section A3. In addition, the turning creating unit 105B creates a route that passes through the replenishment area A5, that is, a route that can connect adjacent straight traveling portions L1a within the replenishment area A5. That is, the turning creating section 105B creates a turning section (turning route) L1b in which the traveling vehicle 3 turns inside the supply area A5. That is, the route creation unit 105 creates a part of the planned travel route L1 for automatic travel in the replenishment area A5 set outside the work area A2.

The route creation unit 105 calculates the remaining amount of material when the traveling vehicle 3 (work device 2) travels along the straight traveling portion L1a and the turning portion L1b of the planned traveling route L1 in association with the planned traveling route L1. I do. The route creation unit 105 multiplies, for example, the travel distance when the work device 2 travels in the straight traveling portion L1a by the work width (supply width) W2 to obtain the area (work area) where the work is performed, Using the supply amount per unit area, the predicted total supply amount (the amount supplied to the field after starting the supply of the material) is calculated. The route creation unit 105 subtracts the total supply amount from the input amount of the material to be placed in the container 2a to obtain the remaining amount of the material at the predetermined position of the straight traveling section L1a. The supply amount per predetermined area and the input amount of material (unit: kg) can be obtained by inputting the supply input unit 96 and the input unit 97 of the route setting screen M3. Further, in the turning portion L1b, since the work device 2 has stopped the supply of the material, the working device 2 obtains the total supply amount of the material supplied in the straight traveling portion L1a. Note that the route setting screen M3 can display the material input unit 98, and can input material information such as the material name and the material type (type) into the material input unit 98.

The route creating unit 105 prevents the remaining amount of the material from becoming zero before the working device 2 reaches the replenishment area A5 in a state where the working device 2 supplies the material while traveling in the straight-ahead section L1a. The supply position P20 is set in the supply area A5. When the remaining amount of material at the end positions Z1 to Z6 of the straight-ahead portion L1a is in the state shown in FIG. 10, at the end position Z3 adjacent to the supply area A5, the end position adjacent to the supply area A5 is reached. Since the remaining amount is not zero even when Z5 is reached, it is not necessary to set the replenishment position P20 in the turning portion L1b following the end position Z3. On the other hand, at the time of the end position Z5, the remaining amount of the material is small, and if the material is not replenished at the end position Z5 as shown by the phantom line, the end position Z6 on the opposite side of the replenishment area A5 is At that time, the remaining amount becomes zero. Therefore, the turning preparation unit 105B of the route preparation unit 105 sets the replenishment position P20 in at least the turning unit L1b following the end position Z5. In the description of FIG. 10, the turning position L1b following the end position Z5 is set to the refill position P20, but the turning creating unit 105B sets the refill position P20 to the turning part L1b following the end position Z3. May be. That is, the turning generating unit 105B sets the replenishment position P20 to the turning unit L1b arranged on the same side among the plurality of turning units L1b. In this way, the replenishment work can be facilitated by arranging the replenishment positions 20a on the same side of the turning portion L1b.

FIG. 11 is a diagram showing a travel support method for creating the planned travel route L1. In addition, in the travel support method, the creation of the planned travel route L1 will be described on the assumption that the field is registered.
As shown in FIG. 11, the field map MP2 for creating the planned travel route L1 is displayed (S1). A headland area A1 and a work area A2 are set in the field map MP2 (S2). The work width W2 of the work device 2 is acquired (S3). A plurality of unit work sections A3 are created in the work area A2 using the work width W2 (S4). A replenishment area A5 for replenishing materials located outside the work area A2 is acquired (S5). A planned travel route R1 is created based on the supply area A5 (S6). The straight-ahead portion L1a is created for each unit work section A3 (S6-1). The turning portion L1b is created in the supply area A5 (S6-2). When the work device 2 reaches the end of the straight-ahead portion L1a adjacent to the replenishment area A5, the remaining amount is calculated and the transition of the remaining amount is confirmed (S6-3). When the remaining amount when reaching the straight advancing portion L1a adjacent to the replenishing area A5 is zero, the replenishment position P20 is set at least in the replenishing area A5 before reaching the straight advancing portion L1a (S6-4).

As described above, if the planned travel route L1 is set based on the replenishment area A5, it is possible to perform replenishment in the replenishment area A5 before the materials mounted on the work device 2 are exhausted in the work area A2. Further, in the replenishment area A5, the replenishment position P20 is set outside the work area A2 and on the planned traveling route L1, so that replenishment can be performed without departing from the route in the automatic traveling. In particular, in the replenishment area A5, the work device 2 (traveling vehicle 3) is set at the replenishment position P20 on the revolving portion L1b where the work device 2 revolves. Does not interfere.

In addition, when the replenishment position P20 is set, the automatic traveling control unit 61 automatically stops when the work device 2 (traveling vehicle 3) reaches the replenishment position P20. Further, when the traveling vehicle 3 is automatically stopped at the replenishment position P20, the fact that the traveling vehicle 3 is stopped at the replenishment position P20 is displayed on the display device.
The route creation unit 105 may request the setting of the replenishment area A5 by the replenishment area setting unit 111 before setting the unit work section A3, and may set the unit work section A3 after setting the replenishment area A5. .. For example, as shown in FIG. 9A, when the supply area A5 is set in the area J3 among the four areas J1, J2, J3, and J4 of the headland area A1, the heading is toward the set area J3 (supply area A5). Thus, the orientation of the unit work section A3 is set. In other words, the orientation of the unit work section A3 is set such that the longitudinal end of the unit work section A3 contacts the area J3 (supply area A5). In this way, the worker can determine the replenishment area A5 first, and then set the orientation of the rectilinear section L1a (the orientation of the unit work section A3) corresponding to the position in the replenishment area A5. It is possible to replenish while automatically driving in the direction indicated.

Now, the travel support device (display device) 100 may be configured to be able to create a supply plan for transporting materials to the supply area A5. The map storage unit 102 of the display device (driving support device 100) stores, in addition to the field map MP2, map information around the field map MP2. That is, the map storage unit 102 stores map information including farm roads, roads, buildings, and the like.

The travel support device (display device) 100 includes a supply plan creation unit 115. The replenishment plan creation unit 115 creates a replenishment plan, and includes an electric/electronic circuit provided in the display device, a program stored in the display device, and the like.
In the route setting screen M3, for example, when the supply plan setting button 99A is selected, the supply plan creation unit 115 includes a peripheral display unit 801, setting conditions 802, and a machine input unit 803, as shown in FIG. 12A. The supply plan screen M9 is displayed. The supply plan screen M9 is an example, and may be a screen that displays any of the peripheral display unit 801, the setting condition 802, and the machine input unit 803.

The peripheral display unit 801 is a portion that displays the periphery of the field map MP2 (hereinafter referred to as the supply setting field map MP2) in which the supply position P20 is set, and the setting condition 802 is the supply setting from the supply source P65 to the supply destination. The machine input unit 803 is a part for inputting a priority condition for creating the transportation route L7 to the farm field map MP2, and the machine input unit 803 identifies the name, model, type, etc. of the replenishment machine (for example, a tractor and a towing vehicle) VB1 that conveys the material. This is the part for inputting information. The location of the supply source P65 may be a location registered in advance in the travel support device 100 or may be registered when the supply plan is created.

The supply plan creation unit 115 acquires map information around the supply setting field map MP2 from the map storage unit 102 and displays the farm road J10, road J11, building J12, etc. around the supply setting field map MP2 on the peripheral display unit 801. To do.
The supply plan creation unit 115 creates a transportation route L7 from the supply source P65 to the supply destination (supply setting farm field map MP2) and displays it on the peripheral display unit 801. The transport route L7 includes position information such as latitude and longitude.

The supply plan creation unit 115 creates the transport route L7 based on the priority condition input in the setting condition 802 displayed on the supply plan screen M9. For example, when “farm road” is selected in the setting condition 802, the supply plan creating unit 115 preferentially creates the transport route L7 passing through the farm road J10. When “distance” is selected in the setting condition 802, the supply plan creating unit 115 preferentially creates the transport route L7 having the smallest distance. When a plurality of priority conditions displayed in the setting conditions 802 are selected, the supply plan creating unit 115 creates a transport route L7 that matches the plurality of priority conditions. For example, when “farm road” and “distance” are selected in the setting conditions 802, the transport route L7 that passes through the farm road J10 and has a short distance is created.

In the above-described embodiment, the replenishment plan creation unit 115 automatically creates the transport route L7 based on the condition input in the setting condition 802. However, as shown in FIG. 12B, the pointer is displayed on the replenishment plan screen M9. The transportation route L7 may be created by displaying 811 or the like and manually drawing the transportation route L7 while selecting the peripheral map displayed on the peripheral display unit 801 with the pointer 811 or the like. In this case, the supply plan creation unit 115 displays a peripheral map including the pointer 811 and the supply setting field map MP2 on the supply plan screen M9, and draws the transport route L7 on the peripheral map according to the operation of the pointer 811.

The transport route L7 in the supply setting field map MP2 may be a route from the supply source P65 to the vicinity of the entrance of the supply setting field map MP2, or as shown in FIGS. 12A and 12B, supply from the supply source P65. It may be a route to the area A5 or a route from the supply source P65 to the supply position P20.
Further, the replenishment plan creation unit 115 automatically calculates the arrival time (date, time) and the like when the replenishment machine VB1 reaches (arrives) the field of the replenishment setting field map MP2, and the time display unit of the replenishment plan screen M9. 804. When the replenishment plan button 99B is selected on the replenishment plan screen M9, time information such as the conveyance route L7 (conveyance route L7 including position information), the replenishment machine VB1, and the arrival time set by the replenishment plan creation unit 115 is displayed. The included replenishment plan is stored in the plan storage unit 810 of the display device. The material information input to the material input unit 98 of the route setting screen M3 may be added and stored in the plan storage unit 810 as a supply plan.

The supply plan may be created by linking the planned travel route L1 and the transportation route L7. For example, in the planned travel route L1, the start time (the time at which the work is started from the start point of the planned travel route L1) for starting work (travel) can be input to the start input unit 807 of the route setting screen M3. When the start time is input to the start input unit 807, the replenishment plan creation unit 115 calculates the time until the replenishment position P20 is reached after the work of the traveling vehicle 3 is started (replenishment position arrival time). In addition, before the arrival time of the supply position, the supply plan creation unit 115 sets the transport route L7 for the supply machine VB1 to reach the supply position P20 and the supply setting field map MP2, and the time of departure from the supply source P65 ( Departure time) is set, and the departure time, the transport route L7, etc. are set as a supply plan. With this configuration, the replenishment machine VB1 can reach the replenishment position P20 before the traveling vehicle 3 reaches the replenishment position P20.

Further, the replenishment plan stored in the plan storage unit 810 can be displayed on the display device or transmitted to the computer of the replenishment source P65 (replenishment source computer) by the communication device provided in the traveling vehicle 3 or the like. .. By doing so, information can be supplied by the worker who is working in the field corresponding to the supply setting field map MP2 and the manager who is at the supply source P65. After the replenishment machine VB1 arrives at the field corresponding to the replenishment setting field map MP2, as shown in FIG. 13, at the replenishment position P20 of the replenishment area A5, the material mounted on the replenishment machine VB1 such as a loader wagon can be easily worked. It can be supplied to the device 2 or the like.

Further, when the replenishment machine VB1 is a work vehicle (for example, a tractor) capable of automatic traveling, the replenishment machine VB1 including the work vehicle can be automatically driven based on the transport route L7. That is, the automatic travel control unit 61 of the replenishment machine VB1 including the work vehicle automatically travels along the transport route L7, similar to the planned travel route L1. The control of the automatic travel control unit 61 may be performed by replacing the planned travel route L1 described above with the “conveyance route L7”, and thus the description thereof is omitted. In this way, by automatically running the replenishment machine VB1, the material can be easily transported to the replenishment area A5 (field corresponding to the replenishment setting field map MP2) and replenishment can be performed in the replenishment area A5.

The embodiments disclosed this time are to be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.

1: Working vehicle (tractor)
50: Display unit 100: Driving support device 105: Route creation unit 105A: Straight travel creation unit 105B: Turn creation unit 111: Supply area setting unit 115: Supply plan creation unit A5: Supply area

Claims (9)

A travel support device for creating a planned travel route of a traveling vehicle to which a work device is connected,
A travel support including a route creation unit that sets a replenishment area for replenishing materials located outside the work area where work is performed by the work device and creates the planned traveling route based on the set replenishment area apparatus. The travel assistance device according to claim 1, wherein the route creation unit sets the planned travel route that passes through the supply area and a supply position that passes through the planned travel route in the supply area. The route creation unit sets the replenishment position based on the remaining amount of the material corresponding to the position of the planned travel route when the work device travels the planned travel route by a traveling vehicle. The driving support device described. The route creation unit includes a straight travel creation unit that creates a straight travel route in which the traveling vehicle goes straight in the work area as the planned travel route, and a turning creation unit that creates a turning route in which the traveling vehicle turns in the outer area. Has,
The travel support device according to claim 1, wherein the turning preparation unit sets the supply position on the turning route. The travel support device according to claim 4, wherein the turning preparation unit sets the replenishment position on a turning route in which the turning directions of the traveling vehicles are on the same side among the plurality of turning routes. A display unit that displays the work area and an external area outside the work area;
A replenishment area setting unit for setting the replenishment area in the external area displayed on the display unit,
The travel support device according to any one of claims 1 to 5, further comprising: The travel support device according to claim 1, further comprising a replenishment plan creation unit that creates a replenishment plan for transporting materials to the replenishment area. A travel support device according to any one of claims 1 to 7,
A traveling vehicle,
A driver's seat provided in the traveling vehicle,
Equipped with
A work vehicle in which the travel support device is provided near the driver's seat and can display the planned travel route. A driving support method for creating a planned travel route of a traveling vehicle to which a work device is connected,
A step of acquiring a replenishment area for replenishing materials located outside the work area where the work device is operated,
Creating the planned travel route based on the supply area,
A driving support method that is equipped with.

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