JP2023001174A - Autonomous running system for work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous running system for a work vehicle capable of generating a route with the resupply of a fuel or a material being taken into consideration.

SOLUTION: A display control system includes a resupply location setting unit 56 and a display control unit 31. The resupply location setting unit 56 sets, in a field where a work is carried out by a work vehicle (a robot tractor 1) that executes an autonomous running work, a resupply location where a resupply object which is at least either one of the fuel for the work vehicle or a material applied for the work is provided. The display control unit 31 executes a control that causes a display unit to display a display screen. The display control unit 31 displays, before the work vehicle starts the autonomous running, the display screen that is a resupply location setting screen which receives a user operation relating to the setting for the resupply location.

SELECTED DRAWING: Figure 4

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to an autonomous travel system for work vehicles.

2. Description of the Related Art Conventionally, there has been known a route generation system for a work vehicle that previously generates a route along which a vehicle body autonomously travels and controls the vehicle body to autonomously travel along the route. Patent Literature 1 discloses this type of route generation system.

In the automatic traveling machine route generation method disclosed in Patent Document 1, the automatic traveling machine (body section) includes a controller (control section), a GPS receiver (positioning system), and various sensors. It has the ability to run. The automatic traveling machine is manually operated within the work target area (traveling area), and at the same time positioning is performed using GPS, and the positioning data is captured in a storage medium. This positioning data is processed by an offline personal computer to create terrain data and obstacle data to obtain map data. Based on this map data, the moving route path (running 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. Patent Literature 1 states that this configuration enables the automatic traveling machine to autonomously travel along a movement route path generated in advance.

JP-A-9-128045

However, in the configuration of Patent Literature 1, replenishment of fuel is not taken into consideration when creating a moving route path. Therefore, if the automatic traveling machine is caused to autonomously travel along this movement route path, there is a possibility that the fuel will run out on the way, and there is room for improvement.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object thereof is to provide an autonomous traveling system for a work vehicle capable of generating a route in consideration of replenishment of fuel or materials.

An autonomous traveling system for a work vehicle according to one aspect of the present invention includes a replenishment position setting section and a display control section. The replenishment position setting unit sets a replenishment position for replenishing a replenishment target consisting of at least one of fuel for the work vehicle and materials used for the work in a field where work is performed by the work vehicle that performs the autonomous traveling work. do. The display control unit controls the display unit to display a display screen. The display control unit displays, as the display screen, a replenishment position setting screen for accepting a user's operation regarding setting of the replenishment position before the work vehicle starts autonomous traveling.

1 is a side view showing the overall configuration of a robot tractor autonomously traveling along a route generated by a route generation system according to one embodiment of the present invention; FIG. The top view of a robot tractor. FIG. 2 is a diagram showing a wireless communication terminal operated by a user and capable of wirelessly communicating with a robot tractor; FIG. 2 is a block diagram showing the main electrical configurations of the robot tractor and wireless communication terminal; FIG. 2 is a schematic diagram showing an example of an autonomous driving route generated by a route generation system; FIG. 4 is a diagram showing a display example of an input selection screen on the display of the 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 an 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. FIG. 4 is a diagram showing a display example of a refueling position setting window for setting a refueling position displayed on the display of the wireless communication terminal; 4 is a flow chart showing processing performed by a route generating unit or the like when generating a refueling route in the first embodiment; FIG. 12 is a flowchart showing the continuation of the process of FIG. 11; FIG. FIG. 13 is a flowchart showing the continuation of the process of FIG. 12; FIG. FIG. 4 is a diagram showing an example of a fuel supply route and a fuel supply start position when it is assumed that the route length from the fuel supply start position to the fuel supply position is the longest; The figure which shows the example which pinpointed the fuel shortage position where the reserve amount of fuel becomes below a reference amount on an autonomous driving route. FIG. 16 is a diagram showing an example of generating a refueling route based on the fuel shortage position specified in FIG. 15; The figure which shows the example which corrected the refueling route according to the change of a fuel shortage position. 9 is a flow chart showing processing performed by a route generating unit or the like when generating a refueling route in the second embodiment; FIG. 19 is a flowchart showing a continuation of the process of FIG. 18; 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 refueling start position. FIG. 22 is a diagram showing an example in which it is determined that the tractor cannot reach the fuel supply start position at the temporary fuel supply start position of FIG. 21 and the temporary fuel supply start position is changed to the upstream side; FIG. 4 is a diagram showing an example of a generated refueling route; The figure which shows the example of a display of the work information input screen in 3rd Embodiment. FIG. 11 is a view for explaining the intermediate progress of processing performed by a route generation unit when generating replenishment routes for fuel and materials in the fourth embodiment; FIG. 11 is a view for explaining how the fuel supply start position and the fuel supply end position of the fuel supply route are integrated with the material supply start position and the material supply end position of the material supply route, respectively, in the fourth embodiment; FIG. 10 is a view showing a display example of a monitoring screen displayed on the display of the wireless communication terminal while the robot tractor is autonomously traveling;

Next, embodiments of the present invention will be described with reference to the drawings. Below, the same reference numerals are given to the same members in each figure of the drawings, and redundant description may be omitted. In addition, the names of members and the like corresponding to the same reference numerals may be simplified, or may be replaced with names of higher-level concepts or lower-level concepts.

The present invention is a route for generating a travel route for traveling one or more work vehicles in a predetermined field to perform all or part of agricultural work in the field. Regarding the generation system. In this embodiment, a tractor is used as a working vehicle. machine is also included. In this specification, the term "autonomous travel" means that the tractor travels along a predetermined route under the control of a configuration related to travel provided by the tractor by a control unit (ECU) provided in the tractor. It means that the configuration related to the work of the tractor is controlled by the control unit of the tractor, and the tractor performs the work along a predetermined route. On the other hand, manual travel/manual work means that each component of the tractor is operated by the user to travel/work.

In the following description, a tractor that runs and works autonomously is sometimes called an "unmanned tractor" or a "robot tractor", and a tractor that runs and works manually is called a "manned tractor". Sometimes. When a part of agricultural work is performed by an unmanned tractor in a field, the remaining agricultural work is performed by a manned tractor. Execution of agricultural work in a single field by an unmanned tractor and a manned tractor is sometimes referred to as cooperative work, follow-up work, accompaniment work, or the like of agricultural work. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of operation by a user, and each configuration is basically common. That is, even an unmanned tractor can be operated by a user (that is, it can be used as a manned tractor), or even a manned tractor can be driven autonomously after the user gets off. - It can be operated autonomously (that is, it can be used as an unmanned tractor). In addition to "executing agricultural work in a single field by unmanned vehicles and manned vehicles" as cooperative work of agricultural work, "agricultural work in different fields such as adjacent fields can be performed at the same time by unmanned vehicles and manned vehicles." may include "to carry out".

<First embodiment>
Next, a 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 the overall configuration of a robot tractor 1 autonomously traveling along a route generated by a 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. FIG. 3 is a diagram showing a wireless communication terminal 46 operated by a user and capable of wirelessly communicating with the robot tractor 1. As shown in FIG. FIG. 4 is a block diagram showing the main electrical configurations of the robot tractor 1 and wireless communication terminal 46. As shown in FIG.

A route generation system 99 according to the first embodiment of the present invention generates an autonomous travel route along which the robot tractor 1 shown in FIG. 1 travels autonomously and performs autonomous work. In this embodiment, the main components of the route generation system 99 are provided in the wireless communication terminal 46 for wirelessly communicating 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. FIG.

The tractor 1 includes a traveling machine body 2 as a vehicle body that autonomously travels in a field area as a traveling area. Various working machines such as a cultivator (managing machine), a plow, a fertilizing machine, a lawn mower, and a seeding machine can be selected and attached to the traveling body 2, but in the present embodiment, the working machine As a fertilizing device 3 is mounted. The traveling machine body 2 is configured to be able to change the height and posture of the work machine (fertilizer 3) mounted thereon.

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

A bonnet 9 is arranged on the front part of the traveling body 2 . In this embodiment, the bonnet 9 accommodates an engine 10 that is a driving source of the tractor 1, a fuel tank (not shown), and the like. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Also, an electric motor may be employed in addition to or instead of the engine 10 as a drive source. Also, the fuel tank may be arranged outside the bonnet 9 .

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

2, a monitor device 14, a throttle lever 15, a main speed change lever 27, a plurality of hydraulic control levers 16, a PTO switch 17, a PTO speed change lever 18, an auxiliary speed change lever 19, and a work machine lifting switch. 28 etc. can be mentioned as an example. These operating devices are arranged near the seat 13 or near the steering handle 12 .

The monitor device 14 is configured to be able to display various information about the tractor 1 . The throttle lever 15 is an operating tool for setting the output speed of the engine 10 . The main shift lever 27 is an operation tool for changing the running speed of the tractor 1 steplessly. The hydraulic operating lever 16 is an operating tool for switching a hydraulic external extraction valve (not shown). The PTO switch 17 is an operation tool for switching transmission/interruption of power to a PTO shaft (power transmission shaft) (not shown) projecting 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. be stopped. The PTO gear shift lever 18 is an operation tool for changing the rotational speed of the PTO shaft. The sub-transmission lever 19 is an operation tool for switching the gear ratio of the traveling sub-transmission gear mechanism in the transmission 22 . The working machine elevating switch 28 is an operation tool for raising and lowering the height of the working machine (fertilizing device 3) attached to the traveling body 2 within a predetermined range.

As shown in FIG. 1 , a chassis 20 of the tractor 1 is provided below the traveling 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 supporting member in the front part of the tractor 1, and supports the engine 10 directly or via a vibration isolating member or the like. 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 power input from the transmission 22 to the front wheels 7 . The rear axle 24 is configured to transmit power input from the transmission 22 to the rear wheels 8 .

The fertilizing device 3 includes a fertilizer tank 29 capable of containing fertilizer (material), a feeding unit 25 feeding out the fertilizer supplied from the fertilizer tank 29, and a rotatable crushing wheel 26 crushing soil. A plurality (four in this embodiment) of the delivery units 25 and the pressing wheels 26 are arranged side by side in the width direction of the traveling body 2, and the fertilizer stored in the fertilizer tank 29 is distributed to the multiple delivery units 25. supplied. In this embodiment, each of the delivery units 25 is provided with a rotatable roll-shaped member (not shown), and on the outer peripheral surface of this roll-shaped member, a plurality of small recesses capable of accommodating granular fertilizer are formed side by side. ing. This roll-shaped member is connected to the pressing wheel 26 by a chain or the like. With this configuration, when the tractor 1 moves forward while the fertilizing device 3 is supported at a working height, which will be described later, the pressing wheel 26 that is in contact with the ground rotates, and this power is transmitted by a chain or the like to drive the roll-shaped member. be. As a result, the fertilizer in the fertilizer tank 29 is delivered by the delivery unit 25 and spread over the field for fertilization.

As shown in FIG. 4, the tractor 1 operates the traveling body 2 (forward, backward, stop, turn, etc.) and the working machine (in this embodiment, the fertilizing device 3) (lifting, driving, stopping, etc.). A control unit 4 is provided for controlling the The control unit 4 includes a CPU, ROM, RAM, and I/O (not shown), and the CPU can read and execute various programs from the ROM. The control unit 4 is electrically connected to a controller for controlling each component (for example, the engine 10, etc.) provided in the tractor 1, a wireless communication unit 40 capable of wireless communication with other wireless communication devices, and the like. ing.

As the controllers, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, and an elevation controller (not shown). Each controller can control each component of the tractor 1 according to the 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 having an unillustrated actuator for changing the rotation speed of the engine 10 . The engine controller can control the rotation speed of the engine 10 by controlling the governor device 41 . The engine 10 is also provided with a fuel injection device that adjusts the injection timing and injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10 . By controlling the fuel injection device, the engine controller can, for example, stop the supply of fuel to the engine 10 and stop driving the engine 10 .

A vehicle speed controller controls the vehicle speed of the tractor 1 . Specifically, the transmission 22 is provided with a transmission 42 that 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 by changing the angle of the swash plate of the transmission 42 using an actuator (not shown) to achieve a desired vehicle speed.

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

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

Note that the plurality of controllers (not shown) described above control each unit such as the engine 10 based on signals input from the control unit 4. Therefore, it is assumed that the control unit 4 substantially controls each unit. can grasp.

The tractor 1 having the control unit 4 as described above controls each part of the tractor 1 (the traveling body 2, the fertilizing device 3, etc.) by the control unit 4 when the user gets in the cabin 11 and performs various operations. It is configured so that the farm work can be performed while running in the field. In addition, the tractor 1 of the present embodiment can be caused to autonomously travel and autonomously work 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 travel and autonomous work. For example, the tractor 1 is provided with a positioning antenna 6 and the like necessary for acquiring position information of itself (the traveling 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 autonomously travel over the field (within the travel area).

Next, the configuration of the tractor 1 for enabling autonomous travel will be described in detail with reference to FIG. 4 and the like. Specifically, the tractor 1 of this 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 equipped with an unillustrated inertial measurement unit (IMU) capable of specifying the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2 .

The positioning antenna 6 receives signals from positioning satellites that form a positioning system such as the Global Positioning System (GNSS). As shown in FIG. 1 , the positioning antenna 6 is attached to the top surface of the roof 5 of the cabin 11 of the tractor 1 . A positioning signal received by the positioning antenna 6 is input to the position information calculator 49 shown in FIG. The position information calculation unit 49 calculates the position information of the traveling 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 at appropriate times, and used for autonomous travel.

In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used. may For example, relative positioning (DGPS) or geostationary satellite augmentation system (SBAS) could be used.

The wireless communication antenna 48 receives signals from the wireless communication terminal 46 operated by the user and transmits signals to the wireless communication terminal 46 . As shown in FIG. 1 , the wireless communication antenna 48 is attached to the top surface of the roof 5 of the cabin 11 of the tractor 1 . A signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is processed by the wireless communication unit 40 shown in FIG. A signal to be transmitted from the control unit 4 to the wireless communication terminal 46 is processed by the wireless communication unit 40 , transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46 .

The remaining fuel sensor 51 detects the remaining amount of fuel in a fuel tank (not shown) mounted on the traveling body 2, and detects, for example, the height of the liquid level of the fuel in the fuel tank. After the tractor 1 starts autonomous traveling, the remaining fuel sensor 51 periodically or irregularly detects the remaining amount of fuel in the fuel tank 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 on the axle between the front wheels 7, 7, for example.

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

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 fertilizer remaining amount 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 the fertilizing device 3 is used for work. This fertilizer remaining amount sensor 30 can be configured as, for example, a weight sensor.

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 wirelessly communicated. transmitted from the antenna 48 to the wireless communication terminal 46 . The wireless communication terminal 46 can display the received detection results on the display 37 . In addition, the wireless communication terminal 46 can generate a route (autonomous travel route) along which the tractor 1 travels, taking into consideration the received detection results (information such as remaining amount of fuel).

The storage unit 55 stores the route on which the tractor 1 travels autonomously, stores the position transition (trajectory) of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel, and stores the detection results of various sensors. It is a memory that stores In addition, the storage unit 55 stores various information necessary for the tractor 1 to travel and work autonomously.

The wireless communication terminal 46 is configured as a tablet personal computer, as shown in FIG. Outside the tractor 1, for example, the user can refer to and confirm information displayed on the display 37 of the wireless communication terminal 46 (for example, information from various sensors attached to the tractor 1). In addition, the user operates the hardware keys 38 arranged near the display 37 and the touch panel 39 arranged so as to cover the display 37, and the like, so that the controller 4 of the tractor 1 controls the tractor 1. of control signals can be transmitted. Here, the control signals that the wireless communication terminal 46 outputs to the control unit 4 include signals related to the route of autonomous travel/autonomous work, start signals for autonomous travel/autonomous work, stop signals, end signals, emergency stop signals, and temporary stop signals. A signal, a restart signal after a pause, and the like are conceivable, but are not limited to these.

It should be noted that the wireless communication terminal 46 is not limited to a tablet personal computer, and instead may be configured by a notebook personal computer, for example. Alternatively, when the robot tractor 1 and a manned tractor cooperate, the monitor device 14 mounted on the manned tractor can be used as a wireless communication terminal.

The tractor 1 configured as described above autonomously travels the traveling machine body 2 along a pre-created route on the field based on the instruction of the user using the wireless communication terminal 46, while the fertilizing device (working machine ) Fertilization work (agricultural work) according to 3 can be performed.

Specifically, by performing various settings using the wireless communication terminal 46, the user can set a linear or polygonal autonomous work path (a linear path where autonomous work is performed) P1 and the autonomous work path P1. It is possible to generate an autonomous travel route P as a series of routes alternately connecting arc-shaped connecting paths (turning paths where turning and turning operations are performed) P2 that connect ends.

An example of this autonomous travel route P is shown in FIG. FIG. 5 is a schematic diagram showing an example of an autonomous driving route P generated by the route generation system 99. As shown in FIG. As shown in FIG. 5, when creating the autonomous travel route P, a headland and a non-cultivated land (side margin), which are non-work areas where the fertilizing device 3 does not work, are set in the farm field (travel area). The area excluding this non-working area becomes the working area. A plurality of autonomous work paths P1, P1, . . . are arranged side by side in this work area, and connection paths P2, P2, . . In addition, in this embodiment, the combined area of the non-working area and the working area is referred to as a "running area".

By inputting (transmitting) the information of the autonomous travel route P to the control unit 4 and performing a predetermined operation, the control unit 4 controls the tractor 1 to move the tractor 1 along the autonomous travel route P. It is possible to perform agricultural work by the fertilizing device 3 along the autonomous work path P1 while traveling autonomously.

In the following, mainly with reference to FIG. 4, the radio communication terminal 46 comprising the main components of the route generation system 99 according to one embodiment of the invention will be described in more detail.

As shown in FIGS. 3 and 4, the wireless communication terminal 46 of the present embodiment includes a display 37, hardware keys 38, and a touch panel 39, as well as a display control unit 31, an agricultural field shape acquisition unit 33, and a display control unit 31. , a route generation unit 35, a work vehicle information setting unit 36, a 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 appropriately switch the display screen. The display control unit 31 can generate an input selection screen 60 as an initial screen (menu screen) shown in FIG. 6 and display it on the display 37 . Further, when a predetermined operation is performed on the input selection screen 60, the display control unit 31 generates respective input screens 70, 80, and 90 (see FIGS. 7 to 9) to be described later, and the display screen of the display 37 can be switched to input screens 70 , 80 , 90 .

The field shape acquiring unit 33 shown in FIG. 4 acquires the shape of the field by, for example, making the tractor 1 go around once along the outer circumference of the field and recording the transition of the position of the positioning antenna 6 at that time. 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 the line segments connecting the recorded points do not intersect. The identified polygon may be acquired as the shape of the field.

The route generation unit 35 generates a route to be input (transmitted) to the tractor 1 . The route generator 35 of the present embodiment generates an autonomous travel route P along which the tractor 1 travels autonomously. The route generation unit 35 automatically generates an autonomous travel route P when work vehicle information, farm field information, and work information, which will be described later, are input, and a predetermined operation is performed. In addition, the route generation unit 35 generates (calculates) the fuel supply route Q according to the determination result of the determination unit 58, if necessary. The generated autonomous travel 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 about the traveling machine body 2 and the fertilizing device 3) input to a work vehicle information input screen, which will be described later. The work vehicle information set by the work vehicle information setting unit 36 is stored in the storage unit 32 .

The farm field information setting unit 45 receives farm field information (information about farm fields) input to a farm field information input screen 80 described later. The farm field information set by the farm field information setting unit 45 is stored in the storage unit 32 .

The work information setting unit 47 receives work information (information related to work mode, etc.) input to a work information input screen 90, which will be 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 the refueling position input to a replenishment position setting window 91, which will be described later. The refueling position is a position where fuel is replenished, and is a position where a tank or the like (container) containing replenishing fuel for preventing fuel shortage is arranged in advance. The refueling position is usually set at the edge of the field, near a road or the like. As a result, the tank filled with fuel can be easily transported to the vicinity of the field by, for example, a truck, and installed at the refueling 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 body 2 based on the detection value received from the remaining fuel amount sensor 51 .

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

The storage unit 32 includes a non-volatile memory (for example, a flash ROM), and stores 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, the work Work information set by the information setting unit 47, information on the refueling position set by the refueling position setting unit 56, and the like can be stored. In addition, the storage unit 32 can store information such as the autonomous travel route P and the fuel supply route Q generated by the route generation unit 35 .

Next, the display 37 of the wireless communication terminal 46 displays the operation performed by the user using the wireless communication terminal 46 when setting the work vehicle information, the farm field information, and the work information and generating the autonomous travel route P. A detailed description will be given mainly with reference to FIGS. 6 to 10 which are screens displayed. FIG. 6 is a diagram showing a display example of an input selection screen 60 on the display 37 of the wireless communication terminal 46. As shown in FIG. FIG. 7 is a diagram showing a display example of a work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46. As shown in FIG. FIG. 8 is a diagram showing a display example of an agricultural field information input screen 80 on the display 37 of the wireless communication terminal 46. As shown in FIG. FIG. 9 is a diagram showing a display example of a work information input screen 90 on the display 37 of the wireless communication terminal 46. As shown in FIG. FIG. 10 is a diagram showing a display example of a refueling position setting window 91 for setting a refueling position displayed on the display 37 of the wireless communication terminal 46. As shown in FIG.

Before the user starts setting work vehicle information, field information, and work information, the display 37 of the wireless communication terminal 46 displays 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 farm field information input operation unit 62, a work information input operation unit 63, a travel route generation/transfer operation unit 64, and an agricultural work start operation unit 65. Mainly displayed.

All of these operation units are configured as virtual buttons (so-called icons) displayed on the display 37 . Further, 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 button with a finger or the like. means something

The user first operates the work vehicle information input operation section 61 of the input selection screen 60 to input work vehicle information. As a result, the display screen is switched to the work vehicle information input screen 70 shown in FIG.

On this work vehicle information input screen 70, it is possible to input work vehicle information related to the traveling machine body 2 and the work machine (fertilizing device 3) attached to the traveling machine body 2. FIG. Specifically, on the working vehicle information input screen 70, the model of the tractor 1, the mounting position of the positioning antenna 6 with respect to the traveling body 2, the width of the tractor 1, the width of the fertilizing device 3 (working width ), the distance from the rear end of the three-point link mechanism (rear end of the lower link) to the rear end of the fertilizing device 3, the amount of fertilizer delivered per unit length in the fertilizing device 3 (amount of fertilizer used), and the time of work on the outward trip vehicle speed, vehicle speed during work on the return trip, vehicle speed at the headland (when turning), engine speed during work on the outbound trip, engine speed during work on the return trip, engine speed at the headland (when turning) Columns for designating the number of revolutions and the like are arranged respectively. Although only a part of the columns described above is displayed on the work vehicle information input screen 70 shown in FIG. 7, the rest of the columns can be displayed by scrolling the screen downward from the state of FIG. can be done.

All the items on the work vehicle information input screen 70 are specified, and when the user operates an unillustrated "confirm vehicle setting" button, the content of the work vehicle information is stored in the storage unit 32, and the work vehicle information is set. is completed.

When the user finishes setting the work vehicle information, returns to the input selection screen 60 of FIG. 6, and operates the field information input operation unit 62, the display screen of the display 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 about the travel area (farm field) in which the traveling machine body 2 travels. Specifically, the farm field information input screen 80 is provided with a planar display section 81 that graphically shows the shape of the farm field. Further, in the field information input screen 80, buttons for "start recording" and "redo" are arranged in the column of "position and shape of outer periphery of field". In addition, on the field information input screen 80, buttons for "set" and "redo" are arranged in the respective columns of "work start position", "work end position", "work direction", and "fuel supply position". It is

When the 'recording start' button of the 'position and shape of the outer circumference of the field' is operated, the wireless communication terminal 46 switches to the field shape recording mode. In this farm field shape recording mode, for example, when the tractor 1 makes one turn along the outer circumference of the farm field, the transition of the position of the positioning antenna 6 at that time is recorded by the farm field shape acquiring section 33, and the farm field shape acquiring section At 33, the shape of the field is obtained (calculated). This makes it possible to specify the position and shape of the field. The position and shape of the perimeter of the field calculated (specified) in this manner are graphically displayed on the plane display unit 81 . Further, by operating the "Redo" button, it is possible to record (specify) the position of the outer circumference of the field again.

When the "Set" button of "Work start position" is operated, the shape of the farm field acquired as described above is displayed on the plane display portion 81 of the farm field information input screen 80, superimposed on the map data. In this state, the user can select an arbitrary point near the outline of the field to set the position information near the selected point as the work start position. The "work end position" can also be set in the same manner as the "work start position".

When the "Set" button for "Work Direction" is operated, the shape of the field, the work start position, and the work end position obtained as described above are superimposed on the map data on the plane display portion 81 of the field information input screen 80. displayed. In this state, the user can select, for example, any two points on the contour of the field, and set the direction of the straight line connecting the two points as the working direction.

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

When the user finishes setting the field information, returns to the input selection screen 60 of FIG. 6, and operates the work information input operation section 63, the display screen switches to the work information input screen 90 shown in FIG.

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

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

The column of "cooperative work mode" on the work information input screen 90 becomes operable only when "with cooperative work" is set in the above-mentioned "presence or absence of cooperative work with a plurality of machines". This column indicates whether a plurality of tractors are traveling on different autonomous work paths P1 to perform cooperative work (accompaniment), or whether a plurality of tractors are traveling on the same autonomous work path P1 to perform cooperative work (following), etc. is a column for selecting. By performing a pull-down operation in the relevant column, any cooperative work mode can be set.

The "overlap width" column of the work information input screen 90 is a column for setting the width (overlap amount) by which the working machine (fertilizing device 3) passes over the adjacent autonomous work paths P1, P1. be. The overlap amount can be set by performing a pull-down operation in the column or by directly entering a numerical value.

The "number of skips" column of the work information input screen 90 includes an arbitrary autonomous working path P1 of the autonomous traveling route P on which the tractor 1 travels, and an autonomous working path P1 on which the tractor travels next to the arbitrary autonomous working path P1. This is a column for selecting the number of autonomous work paths arranged between and (how many rows to skip for work). In this embodiment, the number of skips can be set by performing a pull-down operation in the relevant column.

The "headland width" column of the work information input screen 90 is a column for setting the width of the area (that is, the headland) in which the tractor 1 turns and turns. A recommended width is initially displayed in this column, but by performing a pull-down operation, for example, a value that is an integral multiple of the working width can be selected and set as the headland width. However, the present invention is not limited to this, and it is also possible for the user to directly input a desired width value as the headland width.

The "non-cultivated land width" column of the work information input screen 90 indicates non-work areas (that is, non-cultivated land, also called side margins) located at both ends of the traveling area in the direction in which the autonomous work paths P1 of the tractor 1 are arranged. ) is a column for setting the width of A recommended width is initially set in this column, but by performing a pull-down operation, it is possible to set, for example, a value that is an integral multiple of the working width as the non-cultivated land width. However, the present invention is not limited to this, and it is also possible for the user to directly input the numerical value of the desired width as the non-cultivated land width.

When the user enters necessary fields in the work information input screen 90 and operates an unillustrated "Confirm" button, a 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, along with the message "Please specify the refueling position", the shape of the travel area (field) and the shape of the work area (the area where the autonomous work paths P1 are arranged side by side) are displayed. A planar display portion 92 is displayed graphically. On the plane display unit 92, the user touches a position to be designated as the refueling position with a finger to display an appropriate mark (refueling position mark 93) at the position, and selects "Register" at the bottom of the refueling position setting window 91. ” button. Thereby, the setting of the refueling position is accepted by the refueling position setting unit 56 . In this embodiment, the refueling position can be set only inside the travel area and outside the work area.

When the user finishes setting the work information, returns to the input selection screen 60 in FIG. 6, and selects the traveling route generation/transfer operation section 64, the autonomous traveling route P of the tractor 1 is automatically generated, and this autonomous traveling route P is stored in the storage unit 32 . Further, when the autonomous driving 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 driving route P with arrows, lines, or the like is displayed. An animation display in which the icon of the tractor moves along the autonomous travel route P may be performed.

Further, on the display screen of the display 37, a "transfer data" button and a "return to input selection screen" button are displayed in a selectable manner. When "transfer data" is selected, an instruction for transmitting the information of the autonomous driving 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. FIG.

As described above, in the route generation system 99 of the present embodiment, the information of the autonomous driving route P generated by the wireless communication terminal 46 can be transmitted to the control unit 4 of the tractor 1 . The control unit 4 stores information on the autonomous travel route P received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4 .

After the information of the autonomous traveling route P generated by the wireless communication terminal 46 is transmitted to the tractor 1, the user steers the tractor 1 to move it to the work start position S, and the farm work start operation on the input selection screen 60 is performed. When the part 65 is operated, the tractor 1 starts autonomous traveling along the autonomous traveling route P. While the tractor 1 is autonomously traveling, the 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 autonomously running tractor 1 while referring to the monitoring screen 100 and transmitting control signals to the tractor 1 as necessary.

Next, specific processing when the route generation unit 35 generates the refueling route Q will be described with reference to FIGS. 11 to 13. FIG. FIG. 11 is a flow chart showing the processing performed by the route generating unit 35 and the like when generating the refueling route Q in the first embodiment. FIG. 12 is a flow chart showing the continuation of the process of FIG. FIG. 13 is a flow chart showing the continuation of the process of FIG. 11 to 13 of the present embodiment, each time the acquisition unit 57 acquires the amount of fuel held by the traveling body 2 after the autonomous travel of the tractor 1 is started, done.

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

Subsequently, the determining unit 58 determines the planned amount of fuel (scheduled required amount) required until the tractor 1 completes the autonomous travel based on the vehicle speed, the engine speed, etc. set when the autonomous travel route P is generated. is calculated (step S102). This planned required amount is obtained by calculating the route length from the current position of the tractor 1 to the work end position E on the autonomous traveling route P, and by calculating the fuel consumption per unit length calculated based on the above-mentioned vehicle speed and the like. It can be obtained by multiplying by

Subsequently, the determination unit 58 determines whether or not the fuel will run short while the tractor 1 is traveling from the current position to the work end position E along the autonomous traveling route P, assuming that the fuel will not be replenished. to judge. In other words, the determination unit 58 determines whether or not it is possible to complete the autonomous travel along the autonomous travel route P with the current amount of fuel in the traveling body 2 (step S103). This determination can be made by comparing the reserve amount of fuel acquired in step S101 and the planned required amount of fuel acquired in step S102. However, it is preferable that this comparison be made with due consideration given to margins.

As a result of the determination in step S103, if the current amount of stored fuel is sufficient to complete the autonomous driving (step S103, Yes), refueling route Q is generated because there is no need to refuel midway. No need to. Therefore, the process ends.

On the other hand, if the result of determination in step S103 is that autonomous driving cannot be completed with the current amount of fuel stored (step S103, No), it means that fuel needs to be replenished on the way. Therefore, the route generating unit 35 generates a refueling route Q that temporarily shifts from the autonomous traveling route P to replenish fuel in the middle of the autonomous traveling route P, and transmits the refueling route Q to the tractor 1. I do.

FIG. 14 shows an example in which the refueling position F1 is set at an appropriate position on one headland. Each end of a plurality of autonomous work paths P1 included in the autonomous travel path P is located at the boundary between the work area and the headland, but the transition from autonomous work to refueling is smooth, and the refueling route is simplified. In order to do so, it is preferable to start traveling for refueling from the autonomous travel route P at the point where the autonomous work path P1 terminates at the boundary between the headland on the side where the refueling position F1 is located and the work area. Taking this into consideration, there are a plurality of possible deviation point candidates for shifting from the autonomous travel route P to the refueling route (refueling route Q), as indicated by the square marks in FIG. 14 . The determination unit 58 calculates the route length to the refueling position F1 for each position, and selects the position with the longest route length. In the case of FIG. 14, the position where the path length to the refueling position F1 is the longest is C0. Next, the determination unit 58 calculates the amount of fuel (maximum necessary fuel amount for refueling) N required to reach the refueling position F1 from the selected position C0 (step S104).

In the example of FIG. 14, the maximum required fuel amount N for refueling is calculated as the fuel required to travel the dashed route from the selected position C0 to the refueling position F1. The dashed route can be regarded as the outward route of the refueling route, which is a route from the position C0 via the refueling position F1 to return to the autonomous travel route P at an appropriate point. If the maximum required fuel amount N for refueling is calculated in this way, even if the tractor 1 deviates from the autonomous driving route P at any of the positions of the square marks in FIG. If it is equal to or greater than the maximum required fuel amount N for replenishment, the fuel replenishment position F1 can be reached from the deviated position without any problem. In this embodiment, this maximum necessary fuel amount N for refueling is used as a "reference amount".

Subsequently, the determination unit 58 takes into consideration the vehicle speed, the engine speed, the route length of the autonomous travel route P, and the current remaining amount of fuel, etc., which are set when the autonomous travel route P is generated. A position on the autonomous driving route P at which the amount of fuel (the fuel tank) is less than the maximum required fuel amount N for refueling, which is a reference amount, is specified as a fuel shortage position (reachable position) H by calculation. (step S105).

FIG. 14 shows an example of the fuel shortage position H calculated when the tractor 1 is at the point shown in the figure. In consideration of improving efficiency by reducing the number of times of refueling, among the plurality of candidates (square marks) for the above-mentioned deviating point, it is located on the upstream side of the fuel shortage position H on the autonomous driving route P, and The most downstream position (position C1) is selected, and a refueling route is generated so as to deviate from the autonomous travel route P from the position C1. Therefore, in this case, a refueling route Q is generated as shown in FIG.

Note that the fuel shortage position H is a position estimated based on the remaining amount of fuel at that point in time. It may fluctuate somewhat and as a result the previously calculated refueling path Q may not be appropriate. In consideration of this fact, the present embodiment is configured so that the processes shown in FIGS. 11 to 13 are repeated to monitor changes in the fuel shortage position H, and to correct the fuel replenishment route Q as necessary. ing.

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 information stored in the storage unit 32 (step S106). .

Immediately after starting autonomous traveling/autonomous work along the autonomous traveling route P from the work start position S, when the fuel shortage position H is calculated for 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, which is a recommended position for deviating from the autonomous travel route P for fuel replenishment, is determined (step S107). As shown in FIG. 14, this recommended fuel replenishment start position C1 is located closer to the fuel shortage position H calculated this time than the currently calculated fuel shortage position H at the end of the autonomous work road P1 located on the headland near the fuel replenishment position F1. If there are multiple ends of the autonomous working path P1 located upstream of the route P and upstream of the fuel shortage position H, the most downstream of the multiple ends to be placed.

Subsequently, the route generator 35 determines whether or not the recommended refueling 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 refueling start position has never been set before.

As a result of the determination in step S108, if the recommended refueling start position has been calculated before (step S108, No), the route generation unit 35 determines that the recommended refueling start position C1 calculated this time is calculated by 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 replenishment start position C1 is the same as before (step S109, Yes), the fuel replenishment route generated in the previous process can be used as it is, so the process ends.

If the recommended refueling start position C1 is calculated for the first time in the judgment of step S108 (step S108, Yes), or if the recommended refueling start position C1 is different from the previous one in the judgment of step S109 (step S109, No), The display control unit 31 creates display data for asking the user whether or not to set the current recommended refueling start position C1 as the refueling start position, displays it on the display 37 of the wireless communication terminal 46, It waits for user's operation (step S110).

In response to the inquiry in step S110, if the user consents to set the current recommended refueling start position C1 as the refueling start position (step S110, Yes), the route generator 35 determines the recommended refueling start position C1. 15, is set as the recommended refueling end position D1 (step S111). Next, the route generation unit 35 determines the shortest route connecting the recommended fuel supply start position C1 and the recommended fuel supply end position D1 via the fuel supply position F1 in the non-work area (headland, non-cultivated land). is generated as a refueling route Q as shown in FIG. 15 (step S112). The fuel supply route Q reaches the fuel supply position F1 while passing through the headland or non-cultivated area from the recommended fuel supply start position C1, which is the starting point, and from the fuel supply position F1 to the headland or non-cultivated area. is calculated and the shortest route is selected after calculating a group of routes that pass through and reach the end point, the recommended refueling end position D1.

Next, the route generator 35 generates a corrected autonomous traveling route by correcting the autonomous traveling route P based on the refueling route Q, and transmits it to the tractor 1 at an appropriate timing (step S113). This correction is performed by replacing the connection path P2 connecting the recommended refueling start position C1 and the recommended refueling end position D1 with the refueling route Q in the autonomous travel route P. After that, the process ends.

If the user refuses to set the current recommended refueling start position C1 as the refueling start position, or if a predetermined time has passed without user operation (step S110, No), the display control unit 31 prepares display data for inquiring whether the user agrees to stop at the headland upstream of the position where the fuel runs out (the position where the fuel runs out), and displays it on 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, if the user agrees to stop at the headland upstream of the position where the fuel will be exhausted, or if a predetermined time has passed without any operation after the inquiry (step S114, Yes), the route generator 35 controls the tractor 1 to stop at the headland before the fuel runs out (step S115). For example, the route generation unit 35 sets a temporary stop position in the headlands on the upstream side of the position where the fuel runs out, and transmits information on the temporary stop position to the tractor 1 . As a result, the controller 4 temporarily stops the tractor 1 at the temporary stop position. After that, the process ends.

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

In the determination of step S106 shown in FIG. 12, if the fuel shortage position was previously calculated (step S106, Yes), the determination unit 58 determines that the fuel shortage position calculated this time is the fuel shortage position calculated last time. is on a different autonomous working path P1 (step S116).

FIG. 16 shows a state in which the tractor 1 has progressed to some extent from FIG. Assume that the fuel shortage position calculated this time is J1 based on the amount of fuel 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 (step S116, No), there is no possibility that the recommended fuel supply start position C1 will change from the previous time. means that Therefore, the processing is terminated as it is.

On the other hand, if the fuel shortage position calculated this time is J2 in FIG. 16, for example, the current fuel shortage position J2 and the previous fuel shortage position H are on different autonomous work paths P1. If the fuel shortage position moves to another autonomous work path P1 (step S116, Yes), there is a high possibility that the fuel replenishment route Q must be changed, so the processing from step S107 is performed. FIG. 17 shows the refueling route Q after correction based on the fuel shortage position J2 calculated this time. However, even if the fuel shortage position moves to another autonomous work path P1, the recommended fuel supply start position C1 based on the fuel shortage position J3 does not change from the previous time, as indicated by J3 in FIG. Path Q may not be modified.

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

Further, in the route generating unit 35 of the present embodiment, when generating the refueling route Q, the fuel required for the autonomous traveling of the outward route when the outward route of the refueling route Q is the longest is taken into consideration. Since the refueling start position C1 is set, the tractor 1 can reliably travel autonomously to the refueling position F1 without running out of fuel in the middle of the refueling route Q.

As described above, the route generation system 99 of this embodiment includes the route generation section 35 , the acquisition section 57 , the determination section 58 , and the replenishment position setting section (fuel replenishment position setting section) 56 . The route generation unit 35 can generate an autonomous travel route P in which the traveling body (body unit) 2 autonomously travels within a preset travel area. The acquisition unit 57 acquires the amount of fuel held by the traveling body 2 . The determination unit 58 determines whether or not the autonomous travel on the autonomous travel route P can be completed based on the amount of fuel stored. The supply position setting unit 56 sets a fuel supply position (supply position) F1 within the travel area. When the determination unit 58 determines that the autonomous travel cannot be completed, the route generation unit 35 sets the fuel supply start position C1 on the autonomous travel route P, and calculates the fuel supply start position C1 from the fuel supply start position C1. A refueling path Q to F1 can be generated. The route generator 35 can complete the autonomous travel to the fuel replenishment start position C1 and the autonomous travel from the fuel replenishment start position C1 to the fuel replenishment position F1 on the fuel replenishment route Q based on the amount of fuel stored. The refueling start position C1 is set so that it can be done (see FIG. 16).

As a result, 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 of the outbound route of the fuel supply route Q. Without running out of fuel in the middle of the route Q, it is possible to reliably travel autonomously to the refueling position F1.

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

As a result, the refueling start position C1 can be rationally set.

Further, in the route generation system 99 of the present embodiment, the route generation unit 35 determines the travel distance 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 N of the maximum necessary fuel amount N for necessary refueling is calculated as the reference amount.

As a result, the fuel supply route Q can be easily generated by assuming that the fuel required for driving the fuel supply route Q is constant.

Further, in the route generation system 99 of the present embodiment, the acquisition unit 57 periodically or irregularly acquires the amount of fuel during autonomous travel on the autonomous travel route P. The route generation unit 35 automatically determines that the fuel shortage position (reachable position) J2 specified based on the newly acquired reserve amount is the fuel shortage position (reachable position) H previously specified. If it is located on a different autonomous work path P1 on the upstream side or downstream side 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. Path Q can be generated.

As a result, even if the fuel consumption is different from the estimated amount calculated in advance, the refueling start position C (C1) can be corrected as necessary.

<Second embodiment>
Next, a route generation system 99 according to a second embodiment of the present invention will be described mainly with reference to FIGS. 18 to 23. FIG. The route generation system 99 according to the second embodiment differs from the route generation system 99 according to the first embodiment in specific processing when the route generation unit 35 generates the refueling route Q. FIG. FIG. 18 is a flow chart showing the processing performed by the route generation unit and the like when generating the fuel supply route Q in the second embodiment. FIG. 19 is a flow chart showing the continuation of the process of FIG. FIG. 20 is a flow chart showing the continuation of the process of FIG. In the description of this embodiment, the same or similar members as those in the above-described embodiment are denoted by the same reference numerals in the drawings, and description thereof may be omitted.

Below, 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. FIG.

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

As a result of the judgment in step S203, if the autonomous driving cannot be completed with the current amount of fuel stored (step S203, No), it means that it is necessary to replenish the fuel on the way. Therefore, the determination unit 58 considers the vehicle speed, the engine speed, the route length of the autonomous travel route P, and the current remaining amount of fuel, which are set when the autonomous travel route P is generated, and determines the traveling body 2 ( A position on the autonomous driving route P at which the amount of fuel in the fuel tank falls below a predetermined value (reference amount) B is identified as a fuel shortage position (reachable position) K by calculation (step S204). Although this predetermined value B is set to a positive value in anticipation of a certain margin of the fuel amount in this embodiment, it may be zero. FIG. 21 shows the calculated fuel shortage position K in an example in which the fuel replenishment position F2 is set at an appropriate position on one side of the headland.

Since the processes of steps S205 and S220 are the same as those of steps S106 and S116 in the first embodiment, description thereof is omitted.

If the fuel shortage position K is calculated for the first time (step S205, No), the route generation unit 35 calculates the autonomous travel route P for fuel supply based on the fuel shortage position K calculated in step S204. A provisional refueling start position C2, which is the provisional position of the point where the deviation from , is obtained (step S206). The method for obtaining the provisional refueling start position C2 is exactly the same as the method for obtaining the recommended refueling start position C1 in step S107 in the first embodiment, so the explanation is omitted.

Subsequently, the route generator 35 generates a route from the provisional refueling start position C2 to the refueling position F2 within the non-work area (step S207). This path is calculated to be the shortest path, shown as the dashed path in FIG. This dashed route is regarded as the forward portion of the fuel supply route (temporary fuel supply route) which is a route from the temporary fuel supply start position C2 via the fuel supply position F2 and returns to the autonomous driving route P at an appropriate point. can be done.

After that, the route generation unit 35 calculates the required fuel amount G for replenishment, which is the fuel required for traveling on the outbound route (step S208).

Subsequently, the route generation unit 35 estimates the remaining amount of fuel when the traveling body 2 reaches the provisional refueling start position C2 by calculation, and this estimated value (estimated remaining amount of fuel) is equal to or greater than the required fuel amount G for replenishment. (step S209).

As a result of the determination in step S209, if the estimated remaining amount of fuel when reaching the provisional refueling start position C2 is less than the required fuel amount G for refueling (step S209, No), the tractor 1 moves to the provisional refueling start position C2. It means that the refueling position F2 cannot be reached via. Therefore, the route generation unit 35 sets the provisional refueling start position C2 to the upstream end by one from the current end of the autonomous working path P1, which is arranged on the headland closer to the refueling position F2. (step S210). After that, the process returns to step S207 and the above processing is repeated.

As a result of the determination in step S209, if the estimated remaining amount of fuel when reaching the provisional refueling start position C2 is equal to or greater than the required fuel amount G for refueling (step S209, Yes), the tractor 1 moves to the provisional refueling start position C2. means that it is possible to reach the refueling position F2 via Therefore, the route generator 35 determines the provisional refueling start position C2 as the recommended refueling start position C1 (step S211). The subsequent steps S212 to S219 are the same as steps S108 to S115 in the first embodiment, so description thereof will be omitted.

Unlike the above-described first embodiment, this embodiment recalculates the necessary fuel amount G for replenishment while sequentially changing the provisional refueling start position C2 from the downstream side to the upstream side, and reaches the refueling position F2. It is determined whether or not it is possible, and the provisional refueling start position C2 when it is determined to be reachable is set as the recommended refueling 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. Assume that it is possible. In this case, as shown in FIG. 23, the provisional refueling start position C2 in FIG. 22 is determined as the recommended refueling start position C1, and the refueling route Q can be generated as in the first embodiment. By configuring in this way, it is possible to prevent the change in the necessary fuel amount G for replenishment and the change in the remaining amount of fuel at the time of departure according to the change in the departure point of the tractor 1 from the autonomous travel route P. A refueling path Q can be generated with appropriate considerations.

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.

<Modified Examples of First and Second Embodiments>
In the above embodiment, when it is assumed that the traveling machine body 2 continues traveling on the autonomous traveling route P without refueling on the way, the amount of fuel held by the traveling machine body 2 is equal to or less than the reference amount position on the autonomous travel route P is specified as a reachable position, and the refueling start position C is set at a position on the upstream side 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 A predetermined distance greater than the second distance (distance from the current position (or work start position S) of the tractor 1 to the furthest position at which autonomous travel can be maintained) at which autonomous travel can be maintained The refueling start position C may be set so as to be shorter than this.

In this case, it is possible to set the refueling start position C with a certain margin of the remaining amount of fuel, so that even if an error occurs in the fuel consumption speed or the like, the autonomous driving is not interrupted due to lack of fuel. can be done.

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

With such a configuration, when the actual fuel consumption is different from the estimation based on the calculation in advance, the fuel replenishment start position C can be corrected as necessary, and an appropriate fuel consumption condition can be determined. It is possible to generate a fuel replenishment route Q that is

In the first embodiment and the second embodiment described above, the reachable position specified based on the newly acquired amount of fuel is upstream or upstream of the previously set reachable position on the autonomous driving route P. If a fuel supply start position C and a fuel supply route Q different from those before are generated as a result of being arranged downstream, an inquiry is made to the user, and the fuel supply start position C and/or fuel supply If consent is obtained to change the route Q, the fuel supply start position C and the fuel supply route Q newly generated this time will be changed. In other words, whether the actual fuel consumption is faster or slower than expected, the user is asked whether the change is possible. However, it is not limited to this, and the user is asked to change the refueling route Q only when the actual decrease in fuel is faster than expected, and the decrease in fuel is slower than expected. In this case, the inquiry may not be made and the refueling route Q may not be changed.

In the above-described first and second embodiments, the refueling route Q is automatically generated on the headland closer to the refueling position F. However, the present invention is not limited to this, and the user may specify on which headland side the refueling route Q is to be generated.

In the first embodiment and the second embodiment described above, after the tractor 1 starts autonomous traveling, the determination unit 58 determines whether or not the autonomous traveling can be completed with the current fuel reserve amount. and However, the present invention is not limited to this, and the determination unit 58 determines in advance whether or not the autonomous travel on the autonomous travel route P can be completed with the maximum fuel reserve amount specified by the model of the tractor 1 before the autonomous travel starts. The determination may be made (that is, determination may be made by assuming that a full amount of fuel is held at the start of autonomous travel). As a result of the determination, if it is clear that the autonomous traveling cannot be completed with only the maximum amount of fuel that is specified by the model of the tractor 1, the route generating unit 35 performs the autonomous traveling The refueling route Q may be generated at the same time when the route P is generated. In this case, if it is found that the actual amount of fuel held by the traveling body 2 is less than the maximum amount after the start of autonomous travel, the user can determine whether or not to change the refueling route Q at that time. may be asked.

<Third Embodiment>
Next, a route generation system 99 according to a third embodiment of the invention will be described with reference to FIG. FIG. 24 is a diagram showing a display example of the work information input screen 95 in the third embodiment. In the route generation system 99 according to the third embodiment, the autonomous travel route is generated in advance before the autonomous travel of the tractor 1 is started, taking into account the required fuel, which is different from the first embodiment and the second embodiment. It differs from the embodiment.

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

The work information input screen 95 is provided with a column of "remaining amount of fuel". In this "remaining amount of fuel" column, as an initial value, the remaining amount of fuel (the final detection value of the remaining amount of fuel sensor 51) obtained by the obtaining unit 57 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 corresponding column or by selecting "Full" by a pull-down operation. The remaining amount of fuel set in this column 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 the work information, the replenishment position setting window 91 is displayed so that the refueling position can be set. When the user finishes setting the work information and the refueling position, returns to the input selection screen in FIG. is added, and the corrected autonomous driving route is stored in the storage unit 32 .

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

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

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

If the difference between the remaining amount of fuel received by the work information setting unit 47 before the start of autonomous travel and the remaining amount of fuel acquired by the acquisition unit 57 after the start of autonomous travel is less than a predetermined value, the route generation unit 35 Do not regenerate (do not modify) supply route Q.

On the other hand, if the difference between the remaining amount of fuel received by the work information setting unit 47 before the start of autonomous traveling and the remaining amount of fuel acquired by the acquisition unit 57 after the start of autonomous traveling is a predetermined value or more, the first embodiment or Similar to the flow of processing shown in the second embodiment, the refueling route Q is created again, and the user is asked whether it can be adopted. When the user agrees 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 . As a result, the tractor 1 can be automatically driven along the refueling route Q set according to the actual remaining amount of fuel, and the possibility of running out of fuel during autonomous driving can be eliminated.

In this embodiment, the "predetermined value" for judging the degree of divergence can be set to a value larger than the amount of fuel required for traveling one autonomous work path P1, for example. As a result, when there is a high possibility that the optimal refueling start position C will fluctuate, it is possible to recalculate the refueling start position C and generate a corrected refueling route Q.

<Fourth Embodiment>
Next, a route generation system 99 according to a fourth embodiment of the invention will be described with reference to FIGS. 25 and 26. FIG. 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 the position for replenishing fuel and the position for replenishing fertilizer. This is different from the above embodiment in this respect. 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 body 2 but also the amount of fertilizer (material) held by the fertilizing device 3 . The acquiring unit 57 acquires the remaining amount of fertilizer in the fertilizer tank 29 , in other words, the amount of fertilizer held by the fertilizing device 3 based on the detection value received from the remaining amount of fertilizer sensor 30 .

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

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

First, the route generation unit 35 identifies a position on the autonomous travel route P when the amount of fuel held by the traveling body 2 is equal to or less than a reference amount as a reachable position, and determines the position on the autonomous travel route P from the reachable position. The terminal ends of the autonomous working path P1, which is arranged upstream of P and arranged on the headland near the fuel and fertilizer replenishment position F3, are set as refueling start positions C4 and C5. FIG. 25 shows a case where two positions C4 and C5 are set as the refueling start positions. Note that the fuel supply end position corresponding to the fuel supply start position C4 arranged on the upstream side of the two positions C4 and C5 is indicated as position D4. Further, the fuel supply end position corresponding to the fuel supply start position C5 arranged downstream of the two positions C4 and C5 is indicated as position D5.

Further, the route generation unit 35 identifies a position on the autonomous travel route P when the amount of fertilizer held by the fertilizing device 3 is equal to or less than a predetermined value as a fertilizer depletion position, and determines that the position on the autonomous travel route P is higher than the fertilizer depletion position. The ends of the autonomous working path P1 arranged upstream of P and arranged on the headland closer to the replenishment position F3 are identified as fertilizer replenishment start positions U1 and U2. FIG. 26 shows a case where two positions U1 and U2 are set as fertilizer replenishment start positions. Note that the fertilizer replenishment end position corresponding to the fertilizer replenishment start position U1 arranged on the upstream side of the two positions U1 and U2 is indicated as position V1. Further, the fertilizer replenishment end position corresponding to the fertilizer replenishment start position U2 arranged on the downstream side of the two positions U1 and U2 is indicated as position V2.

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

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

On the other hand, focusing on the fuel replenishment start position C5, the fertilizer replenishment start positions U1 and U2 are arranged upstream of this. That is, it is specified that there will be a shortage of fertilizer a plurality of times (twice in this embodiment) between the fuel supply start position C5 and the fuel supply start position C4 on the upstream side. On the other hand, a fertilizer supply start position U1 and a fertilizer supply start position U2 are set. In this case, the route generation unit 35 places the next fuel supply start position C5 (and end position D5) is shifted (moved). In other words, the next fuel supply start position C5 (and fuel supply end position D5) is integrated with the farthest fertilizer supply start position U2 (and fertilizer supply end position V2) from the fuel supply start position C4 related to the previous fuel supply. .

Thus, when the tractor 1 reaches the replenishment position F3 from the fertilizer replenishment start position U2 through the replenishment route Q, not only the fertilizer but also the fuel can be replenished. Therefore, when viewed as a whole, it is possible to reduce the number of times the autonomous travel route P deviates from the route leading to the replenishment position F3 (that is, the number of times the autonomous travel route P deviates to the side). can be shortened, and fuel and fertilizer can be supplied efficiently.

As described above, the route generation system 99 of the present embodiment is a fertilizing device (working machine) that is attached to the traveling machine body (body part) 2, holds fertilizer (materials), and performs autonomous work within the traveling area. 3. The acquisition unit 57 can acquire the amount of fertilizer held by the fertilizing device 3 . The determination unit 58 can determine whether or not it is possible to complete the autonomous work within the travel area based on the amount of fertilizer retained. When the determination unit 58 determines that neither the autonomous travel nor the autonomous work can be completed, and the fertilizer runs short of the fuel on the autonomous travel route P, the route generation unit 35 , autonomous traveling and autonomous work to the refueling start position C, and autonomous traveling from the refueling start position C to the refueling position F on the refueling route Q can be completed based on the amount of fertilizer held. The refueling start position C is set as follows.

As a result, the fuel replenishment route (material replenishment route) Q can be generated in accordance with the timing of the shortage of fertilizer and the timing of the shortage of fuel, whichever is earlier. In other words, the fertilizer and fuel are arranged in accordance with the upstream side of the fertilizer replenishment start position U2 (and the fertilizer replenishment end position V2) and the fuel replenishment start position C5 (and the refueling end position D5). A resupply path Q can be created to resupply both. Therefore, it is possible to efficiently supply fuel and fertilizer.

Further, in the route generation system 99 of the present embodiment, the route generation unit 35 is determined by the determination unit 58 that neither the autonomous driving nor the autonomous work can be completed, and When there is a shortage of fertilizer a plurality of times between the shortage of fuel and the next shortage of fuel, with the shortage of fertilizer furthest from the refueling start position C4 set with the previous shortage of fuel A next fuel supply start position C5 is set at a position common to the set fertilizer supply start position U2.

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

<Modification of Fourth Embodiment>
In the fourth embodiment described above, 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 at different positions. In that case, if the fuel supply position and the fertilizer supply position are arranged on the same side of the headland, the fuel supply start position and the fertilizer supply start position are determined by the same method as shown in the fourth embodiment. Can be integrated as needed. On the other hand, if the fuel supply position and the fertilizer supply position are arranged on different headlands, the fuel supply start position and the fertilizer supply start position are not integrated, and the fuel supply route and the fertilizer supply route are separated. can be generated to

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

After the traveling machine body 2 temporarily stops at the refueling position F1 (F2, F3) and replenishes the fuel, the acquiring unit 57 acquires the amount of fuel held by the traveling machine body 2 (checks the replenishment amount), It is also possible to notify that the fuel is insufficient according to the time. For example, after refueling at the refueling position F1 (F2, F3), until reaching the work end position E, an amount of fuel equal to or less than the maximum capacity of the fuel tank is required. When it is less than that, for example, it is possible to notify by turning on a warning lamp or generating an alarm sound. This can prompt the user to replenish (add) the required 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 the two autonomous working paths P1 that are connected to each other via the connection path P2, and are located on the headland on the same side. shall be However, it is not necessarily limited to this. For example, instead of this, the refueling start position C and the refueling end position D may be arranged on a common autonomous working path P1, or may be arranged on headlands on different sides.

In the first embodiment and the second embodiment described above, the determining unit 58 determines the autonomous driving route P based on the vehicle speed, the engine speed, the route length of the autonomous driving route P, and the like, which are set when the autonomous driving route P is generated. A planned amount of fuel required for the route P (planned required amount) is calculated. However, the method of calculating the planned required amount of fuel is not limited to this. The estimated required amount of fuel may be calculated from the relationship. Alternatively, the relationship between the planned required amount calculated as the expected amount by the determination unit 58 when the tractor 1 was operated in the past and the amount of fuel actually required is stored in the storage unit 32, and this information is stored in the storage unit 32. It may be used to calculate the planned required amount from the next time onward. In that case, the relationship between the planned required amount and the actually required amount of fuel on the autonomous work path (straight path) P1 is compared with the relationship between the planned required amount and the actually required amount of fuel on the connecting path (turning path) P2. Alternatively, it may be stored. Specifically, the ratio between the planned required amount and the actually required amount of fuel can be stored as a correction coefficient and used for subsequent calculation of the planned required amount.

In general, the remaining amount of fuel at a position not far from the current position of the tractor 1 can be estimated with relatively high accuracy. It is thought that the accuracy of the estimation of Therefore, when an image representing the generated autonomous driving route P with arrows, lines, etc. is displayed on the display 37, the color of the route is changed by gradation or the like so that the color of the position where the estimation of the remaining amount of fuel is more accurate becomes darker. It can be expressed as Alternatively, while the tractor 1 is autonomously traveling along the autonomous traveling route P, on the monitoring screen 100 (a screen graphically displaying the autonomous traveling route P) displayed on the display 37, fuel is displayed from the current position of the tractor 1. The color of the path to the replenishment start position C may be expressed in one uniform color, and as the tractor 1 travels downstream along the autonomous travel route P, the color may gradually darken. Alternatively, each autonomous work path P1 arranged side by side may be expressed in a different color depending on the accuracy of estimation. FIG. 27 shows an example in which the differences in estimation accuracy for each autonomous work path P1 are represented on the monitor screen 100 by such a representation method.

In the above-described embodiment, the material is fertilizer, but the material is not limited to this. For example, instead of this, the material may be a herbicide, a drug, a seedling, a seed, or the like. For example, if the material is a herbicide, a herbicide spraying device, if a chemical, a chemical spraying device, if a seedling, a seedling transplanting device, if a seed, a seeding device, It can be used as a working machine instead of

In the above configuration, the route generation unit 35, the supply position setting unit 56, the acquisition unit 57, and the determination unit 58 are provided on the wireless communication terminal 46 side. It is not limited to this as to which of the 46 sides it is provided. Also, 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 for the process of generating the replenishment route Q, and the actual traveling is performed by the user steering the tractor 1 while referring to the replenishment route Q via the wireless communication terminal 46 or the like. It may be done.

<Additional remarks of the invention>
A first aspect of the present invention provides a route generation system having the following configuration. That is, this route generation system includes a route generation section, an acquisition section, a refueling position setting section, and a determination section. The route generation unit is capable of generating an autonomous travel route in which autonomous travel is performed by the vehicle body within a preset travel region that is a combination of a non-work region and a work region. The obtaining unit obtains a reserve amount of fuel mounted on the vehicle body. The fuel supply position setting unit sets a fuel supply position, which is a fuel supply position, within the travel area. The determination unit determines whether or not it is possible to complete autonomous travel on the autonomous travel route based on the amount of fuel stored. The route generation unit is configured to start fuel supply for moving the vehicle body to the fuel supply position set by the fuel supply position setting unit when the determination unit determines that autonomous driving cannot be completed. A position is set to the boundary between the non-working area and the working area.

As a result, it is possible to smoothly transition from autonomous work to refueling, and to simplify the refueling route.

According to a second aspect of the present invention, there is provided a route generation system configured as follows. That is, this route generation system includes a route generation section, an acquisition section, a material replenishment position setting section, and a determination section. The route generation unit is capable of generating an autonomous travel route in which autonomous travel is performed by the vehicle body within a preset travel region that is a combination of a non-work region and a work region. The acquisition unit acquires the amount of materials mounted on the vehicle body. The material supply position setting unit sets a material supply position, which is a material supply position, within the travel area. The determination unit determines whether or not it is possible to complete the autonomous traveling work within the traveling area based on the amount of the materials held. The route generation unit, when the determination unit determines that the autonomous traveling work cannot be completed, supplies material for moving the vehicle body to the material supply position set by the material supply position setting unit. A replenishment start position is set at the boundary between the non-work area and the work area.

A display control system according to an aspect of the present invention includes a replenishment position setting section and a display control section. The replenishment position setting unit specifies fuel for the work vehicle and fuel for the work within a travel area that is a combination of a work area in which work is performed by the work vehicle that performs autonomous travel work and a non-work area in which the work is not performed. A replenishment position is set for replenishing a replenishment target consisting of at least one of materials to be supplied. The display control unit controls the display unit to display a display screen. The display control unit displays a replenishment position setting screen that accepts a user's operation for designating a position for setting the replenishment position.

A route generation system according to an aspect of the present invention includes the display control system and a route generation unit capable of generating an autonomous travel route along which autonomous travel work is performed by the work vehicle within the travel area.

1 Robot tractor (tractor, working vehicle)
2 Running body (body part)
35 route generation unit 56 replenishment position setting unit (fuel replenishment position setting unit)
57 Acquisition unit 58 Determination unit 99 Route generation system C1 Fuel supply start position F1 Fuel supply position P Autonomous travel route

Claims (4)

a replenishment position setting unit that sets a replenishment position for replenishing a replenishment target consisting of at least one of fuel for the work vehicle and materials used for the work in a field where work is performed by a work vehicle that performs autonomous traveling work;
A display control unit that controls to display a display screen on the display unit,
The display control unit displays, as the display screen, a replenishment position setting screen for accepting a user's operation regarding setting of the replenishment position before the work vehicle starts autonomous traveling.
Autonomous driving system for work vehicles. The display control unit displays the farm field on the replenishment position setting screen.
The autonomous traveling system for the work vehicle according to claim 1. The replenishment position can be set only at a specific position in the field,
The autonomous traveling system for the work vehicle according to claim 1 or 2. The replenishment position is set at any position at the end of the field,
The autonomous traveling system for the work vehicle according to claim 3.

Images