JP6700160B2 - Route generation system - Google Patents

Description

  The present invention relates to a route generation system. More specifically, the present invention relates to a route generation system that generates a route that allows a vehicle body section to travel autonomously.

  BACKGROUND ART Conventionally, there is known a route generation system for a work vehicle in which a route for autonomously traveling a vehicle body unit is generated in advance and control is performed so that the vehicle body unit autonomously travels along the route. Patent Document 1 discloses a route generation system of this type.

  In the route generation method of the automatic traveling machine disclosed in Patent Document 1, the automatic traveling machine (vehicle body section) includes a controller (control section), a GPS receiver (positioning system), and various sensors, and is autonomous. It has the function of running. The automatic driving machine is manually driven in a work target area (running area), and at the same time, positioning is performed using GPS and the positioning data is stored in a storage medium. This positioning data is processed by an offline personal computer, terrain data and obstacle data are created, and map data is obtained. Based on this map data, a moving route path (driving route) and operation data of the automatic traveling machine are created and supplied to a controller of the automatic traveling machine via a recording medium. According to Patent Document 1, with this configuration, it is possible to cause the automatic traveling machine to autonomously travel along a previously generated travel route path.

JP, 9-128045, A

  However, in the configuration of Patent Document 1 described above, refueling is not considered when creating the movement path path. Therefore, if the automatic traveling machine autonomously travels along this path of travel, there is a possibility that fuel may run out on the way, and there is room for improvement.

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

Means and effects for solving the problems

  The problem to be solved by the present invention is as described above. Next, means for solving the problem and its effect will be described.

According to the aspect of the present invention, a route generation system having the following configuration is provided. That is, this route generation system includes a route generation unit, an acquisition unit, a determination unit, and a fuel supply position setting unit. The route generation unit can generate an autonomous traveling route in which the vehicle body section autonomously travels within a traveling region that is a preset non-working region and a working region . The acquisition unit acquires the amount of fuel held by the vehicle body unit. The determination unit determines whether or not autonomous traveling on the autonomous traveling route can be completed based on the amount of fuel held. The fuel supply position setting unit sets a fuel supply position, which is a fuel supply position, within the travel area. The path generation unit, wherein when it is determined that it is impossible to complete the autonomous driving by the determination unit, the set fuel supply starting position and fuel replenishment end at the boundary of the working area and the non-working area A fuel supply path from the fuel supply start position to the fuel supply end position via the fuel supply position can be generated. The route generation unit may complete autonomous traveling to the refueling start position and autonomous traveling from the refueling start position to the refueling position on the refueling route, based on the amount of fuel possessed. The refueling start position is set so that it can be performed.

  As a result, when the fuel supply route is generated, the fuel required for autonomous traveling on the outward path of the fuel supply route is taken into consideration, and the fuel supply start position, which is the start position of the fuel supply route, is set. It is possible to reliably drive autonomously to the fuel supply position without running out of fuel in the middle of the route.

  In the above route generation system, when the route generation unit assumes that the vehicle body unit continues to travel on the autonomous traveling route without traveling on the fuel supply route, It is preferable to specify a position on the autonomous traveling route when the stored amount is equal to or less than a reference amount as a reachable position, and set the fuel supply start position on the upstream side of the autonomous traveling route with respect to the reachable position. ..

  As a result, the fuel supply start position can be set reasonably.

  In the above route generation system, the route generation unit, at the time of refueling necessary for traveling from the refueling start position to the refueling position, assuming that the refueling route has a maximum route length. It is preferable to calculate the maximum required fuel amount as the reference amount.

  As a result, it is possible to easily generate the fuel supply route by assuming that the fuel required for traveling on the fuel supply route is constant.

The above route generation system preferably has the following configuration. That is, the acquisition unit acquires the possessed amount regularly or irregularly during autonomous traveling on the autonomous traveling route. The route generation unit, when the reachable position specified based on the newly acquired holding amount is located upstream or downstream of the autonomous travel route with respect to the reachable position set previously. It is possible to correct the fuel supply start position and generate a corrected fuel supply route from the corrected fuel supply start position to the fuel supply position.

  As a result, even when the actual fuel consumption amount is different from the estimated value by the previous calculation, the fuel supply start position can be corrected as necessary.

  In the above route generation system, the route generation unit may maintain a first distance from the refueling start position to the fuel replenishment position to maintain autonomous traveling by the possession amount. It is preferable to set the refueling start position so that it is shorter than the distance of 2 by a predetermined distance or more.

  Thus, by setting the fuel supply start position with a certain margin of the fuel remaining amount, it is possible to prevent the autonomous traveling from being interrupted due to lack of fuel even if an error occurs in the fuel consumption speed or the like. ..

  The above route generation system preferably has the following configuration. That is, the acquisition unit acquires the held amount regularly or irregularly during autonomous traveling on the autonomous traveling route. When the difference between the first distance and the second distance is longer than a first threshold distance that is longer than the predetermined distance, or the route generation unit is more than a second threshold distance that is shorter than the predetermined distance. When it becomes short, it is possible to correct the fuel supply start position and generate a corrected fuel supply route from the corrected fuel supply start position to the fuel supply position.

  As a result, even when the actual fuel consumption amount is different from the estimated value by the previous calculation, the fuel supply start position can be corrected as necessary.

  The above route generation system preferably has the following configuration. That is, the route generation system includes a working machine that is mounted on the vehicle body section and holds materials to perform autonomous work in the traveling area. The acquisition unit can acquire the amount of material held by the working machine. The determination unit can determine whether or not the autonomous work in the traveling area can be completed based on the amount of the material held. The route generation unit, by the determination unit, if it is determined that neither autonomous traveling nor autonomous work can be completed, and if the material is insufficient before the fuel in the autonomous traveling route, Based on the possessed amount of the material, it is possible to complete autonomous traveling and autonomous work to the refueling start position, and autonomous traveling from the refueling start position to the refueling position in the refueling route. The fuel supply start position is set to.

  As a result, the fuel supply route (and the material supply route) can be generated earlier depending on the timing when the material is insufficient and the timing when the fuel is insufficient. Therefore, fuel and materials can be efficiently supplied.

  In the route generation system, the route generation unit is determined by the determination unit that neither autonomous traveling nor autonomous work can be completed, and the fuel has run short in the autonomous traveling route last time. From the next to the shortage of the fuel, if the material is short of a plurality of times, with the shortage of the material farthest from the refueling start position set with the previous shortage of the fuel It is preferable to set the next fuel supply start position at a position common to the set material supply start position.

  As a result, the fuel supply start position and the material supply start position can be set to the common position, and the fuel supply and the material supply can be efficiently performed.

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 an embodiment of the present invention. The top view of a robot tractor. FIG. 3 is a diagram showing a wireless communication terminal operated by a user and capable of wirelessly communicating with a robot tractor. The block diagram which shows the main electric constitutions of a robot tractor and a wireless communication terminal. The schematic diagram which shows the example of the autonomous travel route which a route generation system produces|generates. The figure which shows the example of a display of the input selection screen on the display of a wireless communication terminal. The figure which shows the example of a display of the work vehicle information input screen in the display of a wireless communication terminal. The figure which shows the example of a display of the field information input screen on the display of a wireless communication terminal. The figure which shows the example of a display of the work information input screen on the display of a wireless communication terminal. The figure which shows the example of a display of the refueling position setting window for setting the refueling position of fuel displayed on the display of a wireless communication terminal. 3 is a flowchart showing processing performed by a route generation unit or the like when generating a fuel supply route in the first embodiment. The flowchart which shows the continuation of the process of FIG. The flowchart which shows the continuation of the process of FIG. The figure which shows the example of a fuel supply route and a fuel supply start position when the case where the path length from a fuel supply start position to a fuel supply position becomes the longest is assumed. The figure which shows the example which pinpointed the fuel shortage position in which the amount of fuel possessions becomes below a reference amount on an autonomous driving route. FIG. 16 is a diagram showing an example in which a fuel supply path is generated based on the fuel shortage position identified in FIG. 15. The figure which shows the example which corrected the fuel supply path according to the change of the fuel shortage position. 9 is a flowchart showing processing performed by a route generation unit or the like when generating a fuel supply route in the second embodiment. The flowchart which shows the continuation of the process of FIG. 20 is a flowchart showing a continuation of the processing of FIG. The figure which shows the example of the provisional refueling start position which was set. FIG. 22 is a diagram showing an example in which it is determined that the tractor cannot reach the fuel supply position at the temporary fuel supply start position in FIG. 21, and the temporary fuel supply start position is changed to the upstream side. The figure which shows the example of the produced fuel supply path. The figure which shows the example of a display of the work information input screen in 3rd Embodiment. FIG. 14 is a diagram illustrating a process in progress performed by a route generation unit when generating a fuel and material supply route in the fourth embodiment. FIG. 14 is a diagram illustrating a manner in which the fuel supply start position and the fuel supply end position of the fuel supply path are integrated into the material supply start position and the material supply end position of the material supply path in the fourth embodiment. The figure which shows the example of a display of the monitoring screen displayed on the display of a wireless communication terminal while a robot tractor is autonomously driving.

  Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same reference numerals are given to the same members in each drawing 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 simply paraphrased or may be paraphrased by the names of superordinate concepts or subordinate concepts.

  The present invention relates to a route for generating a traveling route for traveling a work vehicle when one or a plurality of work vehicles are traveling in a predetermined field and all or part of agricultural work in the field is executed. Regarding the generation system. In the present embodiment, a tractor will be described as an example of the work vehicle, but as the work vehicle, in addition to a tractor, a rice transplanter, a combine, a civil engineering/construction work device, a snowplow, etc. Machine is also included. In the present specification, autonomous traveling means that the control unit (ECU) included in the tractor controls a configuration related to traveling included in the tractor and the tractor travels along a predetermined route. This means that the control unit included in the tractor controls the configuration related to the work included in the tractor, and the tractor performs the work along a predetermined route. On the other hand, the manual traveling/manual work means that the user operates each component provided in the tractor to perform traveling/work.

  In the following description, a tractor that is autonomously driven/worked autonomously may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that is manually driven/manually worked is referred to as a “manned tractor”. Sometimes. When a part of the agricultural work is performed by the unmanned tractor in the field, the remaining agricultural work is performed by the manned tractor. Performing agricultural work in a single field with unmanned tractors and manned tractors may be referred to as cooperative work of agricultural work, follow-up work, accompanying work, and the like. In the present specification, the difference between the unmanned tractor and the manned tractor is the presence/absence of an operation by the user, and each configuration is basically common. That is, even an unmanned tractor can be boarded (operated) by the user for operation (that is, can be used as a manned tractor), or even a manned tractor can be dismounted by the user and autonomously driven. -It is possible to work autonomously (that is, it can be used as an unmanned tractor). In addition, as cooperative work of agricultural work, in addition to "performing agricultural work in a single field with unmanned vehicles and manned vehicles", "unmanned vehicles and manned vehicles with agricultural fields in different fields such as adjacent fields at the same time “To perform” may be included.

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

  The route generation system 99 according to the first embodiment of the present invention generates an autonomous traveling route along which the robot tractor 1 shown in FIG. 1 travels when autonomously traveling and working. In the present embodiment, the main configuration of the route generation system 99 is 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.

  The tractor 1 includes a traveling machine body 2 as a vehicle body section that autonomously travels in a field area as a traveling area. Various working machines such as a tiller (management machine), a plow, a fertilizer applicator, a mower, and a seeder can be selected and mounted on the traveling machine body 2. However, in the present embodiment, the working machine is used. The fertilizer application device 3 is attached as the. The traveling machine body 2 is configured to be able to change the height and the posture of the work machine (fertilizer application device 3) attached thereto.

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

  A hood 9 is arranged at the front of the traveling machine body 2. In this embodiment, the engine 10, which is a drive source of the tractor 1, a fuel tank (not shown), etc. are accommodated in the bonnet 9. 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. An electric motor may be adopted as a drive source in addition to or instead of the engine 10. Further, the fuel tank may be arranged outside the hood 9.

  At the rear of the hood 9, a cabin 11 for a user to board is arranged. Inside the cabin 11, there are mainly provided a steering handle 12 for a steering operation by a user, a seat 13 on which the user can sit, and various operating devices for performing various operations. However, the work vehicle is not limited to the one with the cabin 11, and may not have the cabin 11.

  As the above-mentioned operation device, the monitor device 14, the throttle lever 15, the main speed change lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO speed change lever 18, the auxiliary speed change lever 19, and the work machine lifting switch shown in FIG. 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 of the tractor 1. The throttle lever 15 is an operation tool for setting the output rotation speed of the engine 10. The main shift lever 27 is an operation tool for continuously changing the traveling speed of the tractor 1. The hydraulic operation lever 16 is an operation tool for switching an unillustrated hydraulic external extraction valve. The PTO switch 17 is an operation tool for switching the transmission/cutoff of power to a PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, the power is transmitted to the PTO shaft to rotate the PTO shaft, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is shut off and the PTO shaft is rotated. Be stopped. The PTO speed change lever 18 is an operation tool for performing speed change operation of the rotation speed of the PTO shaft. The subtransmission lever 19 is an operation tool for switching the speed ratio of the traveling subtransmission gear mechanism in the transmission 22. The work implement lifting switch 28 is an operating tool for raising and lowering the height of the work implement (fertilizer application device 3) mounted on the traveling machine body 2 within a predetermined range.

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

  The machine body frame 21 is a support member in the front part of the tractor 1, and supports the engine 10 directly or through a vibration isolating member or the like. The transmission 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

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

  As shown in FIG. 4, the tractor 1 includes an operation of the traveling machine body 2 (forward, backward, stop, turn, etc.) and an operation of the working machine (fertilizer application device 3 in this embodiment) (elevation, drive, stop, etc.). And a control unit 4 for controlling the. The control unit 4 is configured to include a CPU, a ROM, a RAM, an I/O, etc., which are not shown, and the CPU can read various programs from the ROM and execute them. The controller 4 is electrically connected to a controller for controlling each configuration (for example, the engine 10) included in the tractor 1 and a wireless communication unit 40 capable of wirelessly communicating with another wireless communication device. ing.

  As the above controller, the tractor 1 includes at least an unillustrated engine controller, vehicle speed controller, steering controller, and lift controller. Each controller can control each component of the tractor 1 according to an electric signal from the control unit 4.

  The engine controller controls the rotation speed and the like of the engine 10. Specifically, the engine 10 is provided with a governor device 41 including an actuator (not shown) that changes the rotation speed of the engine 10. The engine controller can control the number of revolutions of the engine 10 by controlling the governor device 41. Further, the engine 10 is provided with a fuel injection device for adjusting the injection timing/injection amount of fuel for injecting (supplying) into the combustion chamber of the engine 10. By controlling the fuel injection device, the engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10, for example.

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

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

  The elevation controller controls the elevation of the work machine (fertilizer application device 3). Specifically, the tractor 1 includes a lifting actuator 44 including a hydraulic cylinder and the like near a three-point link mechanism that connects the fertilizer application device 3 to the traveling machine body 2. With this configuration, the elevating controller drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately elevate and lower the fertilizer application device 3, so that the fertilizer application device 3 performs a farming operation at a desired height ( Fertilization work) can be performed. By this control, the fertilizer application device 3 can be supported at a desired height such as a retracted height (height at which farm work is not performed) and a work height (height at which farm work is performed).

  Since the plurality of controllers (not shown) described above control each part such as the engine 10 based on the signal input from the control part 4, it is said that the control part 4 substantially controls each part. You can figure it out.

  In the tractor 1 including the control unit 4 as described above, the user rides in the cabin 11 and performs various operations to control each unit of the tractor 1 (the traveling machine body 2, the fertilizer application device 3, etc.) by the control unit 4. Then, the farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be made to autonomously run and work by various control signals output from the wireless communication terminal 46 without the user boarding the tractor 1.

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

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

  The positioning antenna 6 receives a signal from a positioning satellite that constitutes a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit 49 shown in FIG. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as, for example, latitude/longitude information. The position information calculated by the position information calculation unit 49 is stored in the storage unit 55, read by the control unit 4 at appropriate times, and used for autonomous traveling.

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

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

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

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

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

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

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

  The detection results obtained by various sensors such as the fuel remaining amount sensor 51, the vehicle speed sensor 52, the rotation speed sensor 53, the load sensor 54, and the fertilizer remaining amount sensor 30 are wirelessly communicated after being signal-processed by the wireless communication unit 40. The data is transmitted from the antenna for use 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection result on the display 37. Further, the wireless communication terminal 46 can generate a route (autonomous traveling route) along which the tractor 1 travels, taking into consideration the received detection result (information such as the remaining fuel amount).

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

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

  The wireless communication terminal 46 is not limited to a tablet type personal computer, and instead of this, for example, a notebook type personal computer may be used. Alternatively, when the robot tractor 1 and the manned tractor perform cooperative work, 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 causes the traveling machine body 2 to travel along a prefabricated route on the field based on a user's instruction using the wireless communication terminal 46, and the fertilizer applicator (working machine). )3 fertilization work (agricultural work) can be performed.

  Specifically, the user performs various settings by using the wireless communication terminal 46 so that a straight or polygonal autonomous work path (a linear path in which autonomous work is performed) P1 and the autonomous work path P1. It is possible to generate an autonomous traveling route P as a series of routes in which an arc-shaped connection path (a turning circuit in which a turning/folding operation is performed) P2 that connects the ends is alternately connected.

  An example of this autonomous travel route P is shown in FIG. 5, and the autonomous travel route P is generated so as to connect a work start position S and a work end position E designated in advance. FIG. 5 is a schematic diagram showing an example of the autonomous traveling route P generated by the route generation system 99. As shown in FIG. 5, when creating the autonomous travel route P, a headland and a non-cultivated land (side margin), which are non-working areas where the fertilizer application device 3 does not perform work, are set in the field (running area). The area excluding this non-work area becomes the work area. The plurality of autonomous work paths P1, P1,... Are arranged side by side in this work area, and the connection paths P2, P2,... Are generated so as to be arranged in a headland which is a non-work area. .. In the present embodiment, the area where the non-work area and the work area are combined is referred to as a “travel area”.

  By inputting (transmitting) the information of the autonomous traveling 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 traveling route P. It is possible to perform agricultural work by the fertilizer application device 3 along the autonomous work path P1 while autonomously traveling.

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

  As shown in FIGS. 3 and 4, in addition to the display 37, the hardware keys 38, and the touch panel 39, the wireless communication terminal 46 of the present embodiment has a display controller 31, a field shape acquisition unit 33 as main components. 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 supply 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 controls the display screen to be switched appropriately. The display control unit 31 can generate the input selection screen 60 as the initial screen (menu screen) shown in FIG. 6 and display it on the display 37. Further, the display control unit 31 generates each input screen 70, 80, 90 (see FIGS. 7 to 9) described later when a predetermined operation is performed on the input selection screen 60, and the display screen of the display 37 is displayed. Can be switched to the input screens 70, 80, 90.

  The field shape acquisition unit 33 shown in FIG. 4 acquires the shape of the field by rotating the tractor 1 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 shape of the field 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, by recording the positional information of the corners of the field and using a so-called closed loop graph in which the line segments connecting the recorded points do not intersect. The specified polygon may be acquired as the shape of the field.

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

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

  The farm field information setting unit 45 receives farm field information (information about farm fields) input on 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 relating to work mode and the like) input on a work information input screen 90 described later. The work information set by the work information setting unit 47 is stored in the storage unit 32.

  The replenishment position setting unit 56 receives information on the fuel replenishment position input in the replenishment position setting window 91 described later. The refueling position is a position where fuel is replenished, and a tank or the like (container) containing refueling fuel for preventing fuel shortage is arranged in advance. The refueling position is usually set at a position near the road at the end of the field. As a result, the tank containing the fuel can be easily carried to the vicinity of the field by, for example, a truck and can be installed at the 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 vehicle body 2 based on the detection value received from the fuel remaining amount sensor 51.

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

  The storage unit 32 is configured to include a non-volatile memory (for example, a flash ROM), the work vehicle information set by the work vehicle information setting unit 36, the farm field information set by the farm field information setting unit 45, and the work. It is possible to store the work information set by the information setting unit 47, the fuel supply position information set by the refill position setting unit 56, and the like. In addition, the storage unit 32 can store information such as the autonomous traveling route P and the fuel supply route Q generated by the route generation unit 35.

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

  At a stage before the user starts setting the work vehicle information, the field information, and the work information, the input selection screen created by the display control unit 31 is displayed on the display 37 of the wireless communication terminal 46 as shown in FIG. 60 is displayed as an initial screen (menu screen). The input selection screen 60 includes a work vehicle information input operation unit 61, a field information input operation unit 62, a work information input operation unit 63, a travel route generation/transfer operation unit 64, and 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, all “buttons” are 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.

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

  On the work vehicle information input screen 70, work vehicle information regarding the traveling machine body 2 and the working machine (fertilizer application device 3) mounted on the traveling machine body 2 can be input. Specifically, on the work vehicle information input screen 70, as the work vehicle information, the model of the tractor 1, the mounting position of the positioning antenna 6 with respect to the traveling machine body 2, the width of the tractor 1, the width of the fertilizer application device 3 (work width). ) The distance from the rear end of the three-point link mechanism (the rear end of the lower link) to the rear end of the fertilizer application device 3, the amount of fertilizer fed out per unit length in the fertilizer application device (amount of fertilizer used), when working on the outward path Vehicle speed, work speed on the return trip, headland (when turning), engine speed during work on the outward trip, engine speed during work on the return trip, engine on headland (when turning) Columns for designating the number of revolutions and the like are arranged respectively. Although only part of the above-mentioned columns are displayed on the work vehicle information input screen 70 shown in FIG. 7, the remaining columns can be displayed by performing an operation of scrolling the screen downward from the state of FIG. You can

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

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

  On the farm field information input screen 80, it is possible to input information on a traveling region (farm field) in which the traveling machine body 2 travels. Specifically, on the field information input screen 80, a plane display unit 81 that graphically (graphically) shows the shape of the field is arranged. Further, on the field information input screen 80, buttons for “start recording” and “redo” are arranged in the “position/shape of outer circumference of field” field. Further, on the field information input screen 80, the “setting” and “redo” buttons are arranged in the fields of “work start position”, “work end position”, “work direction”, and “fuel supply position”, respectively. Has been done.

  When the "start recording" button of "position/shape of outer circumference of field" is operated, the wireless communication terminal 46 is switched to the field shape recording mode. In this field shape recording mode, for example, when the tractor 1 is rotated once around the outer circumference of the field, the change in the position of the positioning antenna 6 at that time is recorded in the field shape acquisition unit 33, and the field shape acquisition unit 33 is recorded. At 33, the shape of the field is acquired (calculated). Thereby, the position and shape of the field can be specified. The position and shape of the outer circumference of the field calculated (designated) in this way are graphically displayed on the flat display unit 81. Further, by operating the "redo" button, it is possible to record (designate) the position of the outer circumference of the field again.

  When the “Set” button of the “work start position” is operated, the shape of the field acquired as described above is displayed on the flat display section 81 of the field information input screen 80 in a superimposed manner on the map data. In this state, when the user selects any point near the contour of the field, the position information near the selected point can be set as the work start position. The "work end position" can be set in the same manner as the "work start position".

  When the “Setting” button of “Working direction” is operated, the shape of the field, the work start position, and the work end position acquired as described above are superimposed on the map data on the flat display section 81 of the field information input screen 80. Is displayed. In this state, the user can set the direction of the straight line connecting the two points as the work direction by selecting any two points on the contour of the field, for example.

  When the setting for all the items on the field information input screen 80 is completed, the “Register” button is displayed. When the user designates the contents specified on the flat display 81 or the like and operates the “register” 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 farm field information and returns to the input selection screen 60 of FIG. 6 and operates the work information input operation unit 63, the display screen switches to the work information input screen 90 shown in FIG. 9.

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

  The column of “presence or absence of cooperative work of a plurality of units” on the work information input screen 90 indicates whether or not work is to be performed using a plurality of tractors (for example, two robot tractors 1 and manned tractors) in the same field ( This field is 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” of the work information input screen 90 can be operated only when “with collaborative work” is set in the above-mentioned “presence or absence of collaborative work of a plurality of machines”. The column indicates whether a plurality of tractors travel on different autonomous work paths P1 for cooperative work (accompanied), or a plurality of tractors travel on the same autonomous work path P1 for cooperative work (following), This is a field for selecting the like. By performing a pull-down operation in this column, it is possible to set any of the cooperative work modes.

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

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

  The “headland width” field of the work information input screen 90 is a field for setting the width of an area (that is, headland) where the tractor 1 turns and turns back. Although the recommended width is initially displayed in the column, it is possible to select a value that is an integral multiple of the working width and set it as the headland width by performing a pull-down operation. However, the present invention is not limited to this, and the user can directly input a numerical value of a desired width as the headland width.

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

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

  In the replenishment position setting window 91, for example, the shape of the traveling area (field) and the shape of the work area (the area where the autonomous work paths P1 are arranged side by side) are displayed together with the message "Please specify the fuel replenishment position." A plane display portion 92, which is graphically represented by a graphic, is displayed. In the flat display unit 92, the user touches the position designated as the fuel supply position with his/her finger to display an appropriate mark (replenishment position mark 93) at that position, and in the lower portion of the replenishment position setting window 91, "registration" Button. As a result, the setting of the fuel supply position is accepted by the supply position setting unit 56. In the present embodiment, the fuel supply position can be set only within the travel area and outside the work area.

  When the user finishes setting the work information and returns to the input selection screen 60 of FIG. 6 and selects the travel route generation/transfer operation unit 64, the autonomous travel route P of the tractor 1 is automatically generated, and the autonomous travel route is generated. P is stored in the storage unit 32. Further, when the autonomous traveling route P is generated, a “path simulation” button is selectably displayed on the display screen of the display 37. By operating this "path simulation" button, an image in which the generated autonomous traveling route P is represented by arrows, lines, etc. is displayed. An animation display in which the tractor icon moves along the autonomous traveling 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 selectably displayed. When “Transfer data” is selected, it is possible to give an instruction to transmit the information on the autonomous travel route P to the tractor 1. When the "return to input selection screen" button is selected, the display screen is switched to the input selection screen 60.

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

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

  Next, a specific process when the route generation unit 35 generates the fuel supply route Q will be described with reference to FIGS. 11 to 13. FIG. 11 is a flowchart showing a process performed by the route generation unit 35 or the like when generating the fuel supply route Q in the first embodiment. FIG. 12 is a flowchart showing the continuation of the processing of FIG. FIG. 13 is a flowchart showing the continuation of the processing of FIG. Note that the processing illustrated in FIGS. 11 to 13 of the present embodiment is performed each time when the acquisition unit 57 acquires the amount of fuel held by the traveling vehicle body 2 after the autonomous traveling of the tractor 1 is started. Done.

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

  Subsequently, the determination unit 58, based on the vehicle speed, the engine speed, and the like set when the autonomous travel route P is generated, the planned amount of fuel required before the tractor 1 completes autonomous travel (scheduled required amount). Is calculated (step S102). As the planned required amount, the route length from the current position of the tractor 1 to the work end position E in the autonomous traveling route P is obtained, and the fuel consumption amount per unit length obtained based on the vehicle speed and the like is used as the route. It can be obtained by multiplying the length.

  Subsequently, if it is assumed that fuel is not replenished, the determination unit 58 determines whether or not the fuel is insufficient while the tractor 1 is traveling along the autonomous travel route P from the current position to the work end position E. To judge. In other words, the determination unit 58 determines whether or not it is possible to complete the autonomous traveling along the autonomous traveling route P based on the current fuel holding amount of the traveling vehicle body 2 (step S103). This determination can be made by comparing the fuel holding amount acquired in step S101 with the planned required fuel amount acquired in step S102. However, it is preferable that this comparison be performed with due consideration of the margin.

  As a result of the determination in step S103, when the current fuel holding amount is sufficient to complete the autonomous traveling (step S103, Yes), it is not necessary to refuel, so that the fuel refueling route Q is generated. You don't even have to. Therefore, the process ends.

  On the other hand, as a result of the determination in step S103, when the autonomous running cannot be completed with the current fuel holding amount (step S103, No), it means that the fuel needs to be refilled on the way. Therefore, the route generation unit 35 generates the fuel supply route Q for temporarily replenishing the fuel by temporarily shifting from the autonomous drive route P in the middle of the autonomous drive route P and transmitting it to the tractor 1 for subsequent processing. I do.

  FIG. 14 shows an example in which the fuel supply position F1 is set at an appropriate position on the headland on one side. The ends of each of the plurality of autonomous work paths P1 included in the autonomous travel path P are located at the boundary between the work area and the headland, but the autonomous work smoothly transitions to refueling and simplifies the refueling path. In order to do so, it is preferable to start traveling for refueling from the autonomous travel route P at a point where the autonomous work path P1 ends at the boundary between the headland on the side where the fuel supply position F1 is located and the work area. In consideration of this, there are a plurality of possible departure point positions for transitioning from the autonomous travel route P to the route for refueling (fuel replenishing route Q), as shown by the square marks in FIG. The determination unit 58 calculates the route length to the fuel supply position F1 for each position and selects the position where the route length is the longest. In the case of FIG. 14, the position where the path length to the fuel supply position F1 is the longest is C0. Next, the determination unit 58 calculates the amount of fuel required to reach the refueling position F1 from the selected position C0 (maximum required fuel amount during refueling) N (step S104).

  In the example of FIG. 14, the maximum required fuel amount N at the time of refueling is calculated as the fuel required for traveling on the route of the dashed line from the selected position C0 to the refueling position F1. It should be noted that the route indicated by the broken line can be regarded as a forward route portion of the fuel supply route which is a route that returns from the position C0 to the autonomous traveling route P at an appropriate point via the fuel supply position F1. By calculating the maximum required fuel amount N at the time of refueling in this way, no matter where the tractor 1 departs from the autonomous travel route P among the positions of the square marks in FIG. If the maximum required fuel amount N during replenishment is equal to or greater than the maximum refueling amount N, the fuel replenishment position F1 can be reached from the deviated position without any problem. In the present embodiment, the maximum required fuel amount N at the time of refueling is set as the “reference amount”.

  Subsequently, the determination unit 58 takes into consideration the vehicle speed, the engine speed, the path length of the autonomous travel route P, the current remaining fuel amount, and the like set when the autonomous travel route P is generated, and the traveling vehicle body 2 is considered. A position on the autonomous travel route P at which the amount of fuel held in the fuel tank falls below the maximum required fuel amount N at the time of refueling, which is the reference amount, is specified by calculation as a fuel shortage position (reachable position) H. (Step S105).

  FIG. 14 shows an example of the fuel shortage position H calculated when the tractor 1 is at the point shown in the figure. Considering that the number of times of refueling is reduced to improve the efficiency, it is located on the upstream side of the fuel shortage position H in the autonomous traveling route P among the plurality of candidates (quadrangle marks) for the departure point, and The one located at the most downstream side (position C1) may be selected, and the fuel supply route may be generated so as to deviate from the autonomous traveling route P from the position C1. Therefore, in this case, the fuel supply path Q is generated as shown in FIG.

  The above-mentioned fuel shortage position H is a position estimated based on the amount of fuel remaining at that time, etc., and therefore, as the tractor 1 actually consumes fuel and autonomously travels and works. It may fluctuate slightly, and as a result, the previously calculated refueling route Q may not be appropriate. In the present embodiment, in consideration of this, the process of FIGS. 11 to 13 is repeatedly performed to monitor the change in the fuel shortage position H, and the fuel supply path Q is corrected as necessary. ing.

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

  Immediately after the autonomous traveling/autonomous work along the autonomous traveling route P is started from the work start position S and 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 supply start position C1 that is a recommended position of a point that deviates from the autonomous travel route P for fuel supply is obtained (step S107). As shown in FIG. 14, the recommended refueling start position C1 is more autonomously driven than the fuel shortage position H calculated this time among the end points of the autonomous work path P1 arranged in the headland on the side closer to the fuel refill position F1. When there are a plurality of end points of the autonomous work path P1 located on the upstream side of the path P and on the upstream side of the autonomous running path P with respect to the fuel shortage position H, the most downstream side among the plurality of end points. It will be arranged.

  Subsequently, the route generation unit 35 determines whether or not the recommended fuel supply start position C1 has been calculated for the first 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 fuel supply start position has been calculated before (step S108, No), the route generation unit 35 determines that the recommended fuel supply start position C1 obtained this time is the previous process. It is determined whether it is the same as the set refueling start position (step S109). When the recommended fuel supply start position C1 of this time is the same as before (step S109, Yes), the fuel supply route generated in the previous processing may be used as it is, and the processing is ended.

  If the recommended fuel supply start position C1 is calculated for the first time this time in the determination in step S108 (step S108, Yes), or if the recommended fuel supply start position C1 is different in the determination in step S109 (step S109, No), The display control unit 31 creates display data for inquiring of the user whether or not to set the recommended fuel supply start position C1 of this time as the fuel supply start position, and displays the display data on the display 37 of the wireless communication terminal 46. It waits for a user operation (step S110).

  In response to the inquiry of step S110, when the user consents to setting the recommended fuel supply start position C1 of this time as the fuel supply start position (step S110, Yes), the route generation unit 35 causes the recommended fuel supply start position C1 to be set. The start end of the autonomous work path P1 connected via the connection path P2 to the recommended fuel supply end position D1 is set as shown in FIG. 15 (step S111). Next, the route generation unit 35 is 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-working area (headland, non-cultivated land). Is generated as the fuel supply path 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 land region from the recommended fuel supply start position C1 which is the starting point, and reaches the headland or non-cultivated land region from the fuel supply position F1. It is obtained by calculating the route group reaching the recommended refueling end position D1 which is the end point while passing through and then selecting the shortest route.

  Next, the route generation unit 35 generates a modified autonomous traveling route in which the autonomous traveling route P is modified based on the fuel supply 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 fuel supply start position C1 and the recommended fuel supply end position D1 in the autonomous travel path P with the fuel supply path Q. Then, the process ends.

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

  As a result of the inquiry in step S114, when the user consents to stop at the headland upstream of the position where the fuel is exhausted, or when a predetermined time elapses without being operated after the inquiry (step S114, Yes), the route generation unit 35 controls to stop the tractor 1 on the headland before the fuel is exhausted (step S115). For example, the route generation unit 35 sets a temporary stop position in the headland upstream of the fuel depletion position, and transmits information on the temporary stop position to the tractor 1. As a result, the control unit 4 temporarily stops the tractor 1 at the temporary stop position. Then, the process ends.

  On the other hand, as a result of the inquiry in step S114, when the user refuses to stop at the headland upstream of the fuel depletion position (step S114, No), the display control unit 31 causes the tractor 1 to perform autonomous work. Display data for notifying the user that the vehicle will stop 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. Then, the process ends.

  When the fuel shortage position is previously calculated in the determination of step S106 shown in FIG. 12 (step S106, Yes), the determination unit 58 determines that the fuel shortage position calculated this time is the fuel shortage position calculated last time. Determines whether they are on different autonomous work paths P1 (step S116).

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

  On the other hand, when the fuel shortage position calculated this time is, for example, J2 in FIG. 16, the current fuel shortage position J2 and the previous fuel shortage position H are on different autonomous work paths P1. In this way, when the fuel shortage position moves to another autonomous work path P1 (Yes in step S116), there is a high possibility that the refueling route Q needs to be changed, and therefore the processing from step S107 is performed. FIG. 17 shows the fuel supply path Q after being corrected based on the fuel shortage position J2 calculated this time. However, even if the fuel shortage position moves to another autonomous work path P1, 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. The route Q may not be modified.

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

  Further, in the route generation unit 35 of the present embodiment, when the fuel supply route Q is generated, the fuel required for autonomous traveling of the outward route when the outward route of the fuel supply route Q becomes the longest is taken into consideration. Since the fuel supply start position C1 is set, the tractor 1 can be reliably driven to the fuel supply position F1 autonomously without running out of fuel in the fuel supply route Q.

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

  Accordingly, when the fuel supply route Q is generated, the fuel required for autonomous traveling on the outward route of the fuel supply route Q is taken into consideration, and the fuel supply start position C1 of the fuel supply route Q is set. It is possible to reliably drive the vehicle to the fuel supply position F1 autonomously without running out of fuel in the middle of the route Q.

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

  As a result, the fuel supply start position C1 can be set reasonably.

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

  As a result, it is possible to easily generate the fuel supply route Q by assuming that the fuel required for traveling on the fuel supply route Q is constant.

  In addition, in the route generation system 99 of the present embodiment, the acquisition unit 57 acquires the fuel holding amount regularly or irregularly during autonomous traveling on the autonomous traveling route P. In the route generation unit 35, the fuel shortage position (reachable position) J2 specified based on the newly acquired holding amount and the fuel shortage position (reachable position) H previously specified are arranged autonomously. When located on a different autonomous work path P1 on the upstream side or the 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. The route Q can be generated.

  Accordingly, even when the fuel consumption amount is different from the estimation calculated in advance, the refueling start position C (C1) can be corrected as necessary.

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

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

  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 will be omitted.

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

  The processes of step S205 and step S220 are the same as step S106 and step S116 in the first embodiment, so description thereof will be omitted.

  When the calculation of the fuel shortage position K is the first time (step S205, No), the route generation unit 35 uses the fuel shortage position K calculated in step S204 to supply the fuel to the autonomous traveling route P. The provisional refueling start position C2, which is the provisional position of the point deviating from the above, is obtained (step S206). The method of obtaining the provisional fuel supply start position C2 is exactly the same as the method of obtaining the recommended fuel supply start position C1 in step S107 in the first embodiment, and therefore the description thereof will be omitted.

  Then, the route generation unit 35 generates a route from the temporary fuel supply start position C2 to the fuel supply position F2 in the non-work area (step S207). This route is calculated to be the shortest route, as shown by the dashed line in FIG. The route indicated by the broken line should be regarded as a forward route portion of the fuel supply route (provisional fuel supply route) which is a route from the temporary fuel supply start position C2 via the fuel supply position F2 to return to the autonomous traveling route P at an appropriate point. You can

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

  Subsequently, the route generation unit 35 estimates the remaining fuel amount when the traveling vehicle body 2 reaches the provisional refueling start position C2 by calculation, and this estimated value (estimated remaining fuel amount) is equal to or greater than the refueling required fuel amount G. Or not (step S209).

  As a result of the determination in step S209, when the predicted remaining fuel amount when reaching the provisional refueling start position C2 is less than the refueling required fuel amount G (No in step S209), the tractor 1 sets the provisional refueling start position C2. It means that the fuel supply position F2 cannot be reached via the refueling position. Therefore, the route generation unit 35 sets the provisional refueling start position C2 to be one end upstream of the end of the autonomous work path P1 arranged in the headland on the side closer to the refueling position F2. (Step S210). Then, it returns to step S207 and the above-mentioned processing is repeated.

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

  Unlike the above-described first embodiment, the present embodiment recalculates the refueling required fuel amount G while sequentially changing the temporary fuel supply start position C2 from the downstream side to the upstream side, and reaches the fuel supply position F2. Whether or not it is possible is determined, and the provisional fuel supply start position C2 when it is determined that the vehicle can be reached is set as the recommended fuel supply start position C1. For example, the tractor 1 cannot reach the fuel supply position F2 at the temporary fuel supply start position C2 shown in FIG. 21, but reaches the fuel supply position F2 by moving the temporary fuel supply start position C2 to the upstream side as shown in FIG. It is assumed that it is possible. In this case, as shown in FIG. 23, the provisional fuel supply start position C2 of FIG. 22 is set as the recommended fuel supply start position C1, and the fuel supply path Q can be generated as in the first embodiment. With this configuration, it is possible to change the required fuel amount G at the time of replenishment in response to a change in the departure point of the tractor 1 from the autonomous travel route P, and to change the remaining fuel amount at the time of departure. With proper consideration, the refueling route Q can be generated.

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

<Modifications of First Embodiment and Second Embodiment>
In the above embodiment, when it is assumed that the traveling vehicle body 2 continues to travel on the autonomous traveling route P without being refueled, the amount of fuel held by the traveling vehicle body 2 becomes equal to or less than the reference amount. The position on the autonomous traveling route P is specified as the reachable position, and the fuel supply start position C is set at a position on the upstream side of the autonomous traveling route P. However, instead of this, the first distance from the current position of the tractor 1 (or the work start position S) to the fuel supply position F via the fuel supply start position C is the fuel holding of the traveling vehicle body 2. Predetermined distance than the second distance (distance from the current position (or work start position S) of the tractor 1 to the farthest position where autonomous traveling can be maintained) depending on the amount The fuel supply start position C may be set so as to be shorter than the above.

  In that case, it is possible to set the refueling start position C with a certain amount of fuel remaining margin, and to prevent the autonomous traveling from being interrupted due to lack of fuel even if an error occurs in the fuel consumption speed or the like. You can

  Further, in the case of the above-described modified example, the acquisition unit 57 acquires the remaining fuel amount regularly or irregularly during the autonomous traveling of the tractor 1, and calculates the first distance and/or the second distance each time. It may be fixed. In that case, the route generation unit 35 monitors the difference between the first distance and the second distance, and the difference between the first distance and the second distance is greater than the first threshold distance that is longer than the predetermined distance. The fuel replenishment 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 that case, the path generation unit 35 calculates the fuel supply path 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 amount is different from the estimation calculated in advance, the fuel supply start position C can be corrected as necessary, and the fuel replenishment start position C can be appropriately adjusted according to the fuel consumption situation. It is possible to generate a perfect refueling route Q.

  In the first and second embodiments described above, the reachable position specified based on the newly acquired fuel holding amount is located on the upstream side of the autonomous travel route P relative to the previously set reachable position or When the fuel supply start position C and the fuel supply route Q different from those in the past are generated as a result of being arranged on the downstream side, the user is inquired and the fuel supply start position C and/or the fuel supply is replenished. When the consent to change the route Q is obtained, the fuel supply start position C and the fuel supply route Q newly generated this time are changed. That is, the user is inquired about whether or not the fuel can be changed regardless of whether the actual reduction of fuel is faster or slower than expected. However, the present invention is not limited to this, and the user is inquired to change the refueling route Q only when the actual reduction in fuel is faster than expected, and the reduction 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 fuel supply path Q is automatically generated on the headland near the fuel supply position F. However, the present invention is not limited to this, and the user may be allowed to specify on which headland side the fuel supply route Q is generated.

  In the above-described first and second embodiments, after the tractor 1 starts autonomous traveling, the determining unit 58 determines whether or not the autonomous traveling can be completed depending on the current fuel holding amount. And However, the present invention is not limited to this, and whether or not the determining unit 58 can complete the autonomous traveling on the autonomous traveling route P by the maximum fuel amount specified by the model of the tractor 1 before starting the autonomous traveling. The determination may be made (that is, the determination may be made by assuming that a sufficient amount of fuel is held at the start of autonomous traveling). As a result of the determination, when it is clear that the autonomous running cannot be completed only by the maximum fuel amount specified by the model of the tractor 1, the route generation unit 35 performs the autonomous running before starting the autonomous running. The fuel supply path Q may be generated at the same time when the path P is generated. Further, in this case, if it is determined that the actual amount of fuel held by the traveling vehicle body 2 is less than the maximum amount of fuel held after the autonomous traveling is started, then at that time, the user is asked whether the refueling route Q can be changed. You may contact us.

<Third Embodiment>
Next, the route generation system 99 according to the third embodiment of the present invention will be described with reference to FIG. FIG. 24 is a diagram 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, an autonomous traveling route in which necessary fuel is taken into consideration is generated before the autonomous traveling of the tractor 1 is started. It differs from the embodiment.

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

  The work information input screen 95 is provided with a “remaining fuel amount” field. As the initial value, the fuel remaining amount (final detection value of the fuel remaining amount sensor 51) acquired by the acquisition unit 57 when the tractor 1 is operated last time is input to the “fuel remaining amount” field. ing. The user can set a desired value as the remaining fuel amount by directly inputting a numerical value in the field or by selecting "full amount" by pull-down operation. The remaining fuel amount set in this column is accepted 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 fuel replenishment position can be set. When the user finishes setting the work information and the fuel supply position and returns to the input selection screen of FIG. 6 and selects the travel route generation/transfer operation unit 64, the fuel supply route Q is automatically added to the autonomous travel route P of the tractor 1. The corrected autonomous travel route added with is generated, and the corrected autonomous travel route is stored in the storage unit 32.

  The autonomous traveling of the tractor 1 is started by transmitting the modified autonomous traveling route to the tractor 1 and operating the farm work start operation unit 65.

  Immediately after the autonomous traveling of the tractor 1 is started, the acquisition unit 57 acquires the amount of fuel that the traveling vehicle body 2 actually holds by acquiring the detection result of the fuel remaining amount sensor 51.

  Then, the route generation unit 35 deviates from the fuel remaining amount received by the work information setting unit 47 before the autonomous traveling starts and the fuel remaining amount acquired by the acquisition unit 57 after the autonomous traveling starts by a predetermined value or more. Determine whether or not.

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

  On the other hand, if the difference between the remaining fuel amount received by the work information setting unit 47 before the autonomous traveling starts and the remaining fuel amount acquired by the acquisition unit 57 after the autonomous traveling starts is a predetermined value or more, the first embodiment or Similar to the process flow shown in the second embodiment, the fuel supply route Q is newly generated and the user is inquired about whether or not to adopt. When the user consents to setting (adopting) the refueling route Q as the “fuel replenishing route”, the modified autonomous traveling route including the refueling route Q is transmitted to the tractor 1. As a result, the tractor 1 can be automatically driven along the fuel supply path Q set corresponding to the actual remaining amount of fuel, and the risk of running out of fuel during autonomous traveling can be eliminated.

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

<Fourth Embodiment>
Next, a route generation system 99 according to the fourth embodiment of the present invention will be described with reference to FIGS. 25 and 26. 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 both the position for refueling and the position for replenishing fertilizer. This is different from the above embodiment. That is, in the fourth embodiment, the fuel supply position set by the supply position setting unit 56 also serves as the fertilizer supply position.

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

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

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

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

  In addition, the route generation unit 35 specifies a position on the autonomous traveling route P when the amount of fertilizer held by the fertilizer application device 3 is equal to or less than a predetermined value as a fertilizer running-out position, and the autonomous running route is located beyond this fertilizer running-out position. The end points of the autonomous work path P1 arranged on the upstream side of P and on the headland near the supply position F3 are specified as fertilizer supply start positions U1 and U2. FIG. 26 shows a case where two positions U1 and U2 are set as fertilizer supply start positions. 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 shown as a position V1. Further, the fertilizer supply end position corresponding to the fertilizer supply start position U2 arranged on the downstream side of the two positions U1 and U2 is shown as a position V2.

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

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

  On the other hand, focusing on the fuel supply start position C5, the fertilizer supply start positions U1 and U2 are arranged at positions upstream of this. That is, it is specified that the fertilizer deficiency occurs 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 of the fuel supply start position C5. On the other hand, the fertilizer supply start position U1 and the fertilizer supply start position U2 are set. In this case, the route generation unit 35 sets the next fuel supply start position C5 (and the fuel supply at the same position as the farthest fertilizer supply start position U2 (and the fertilizer supply end position V2) from the upstream fuel supply start position C4. The end position D5) is moved (moved). In other words, the next fuel supply start position C5 (and the fuel supply end position D5) is integrated with the fertilizer supply start position U2 (and the fertilizer supply end position V2) farthest from the fuel supply start position C4 related to the previous fuel supply. ..

  Thereby, when the tractor 1 reaches the replenishment position F3 from the fertilizer replenishment start position U2 through the outward route of 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 that the vehicle deviates from the autonomous traveling route P and travels along the route to the replenishment position F3 (that is, the number of times that the autonomous traveling route P deviates to the side). Can be shortened, and fuel and fertilizer can be efficiently supplied.

  As described above, the route generation system 99 of the present embodiment is mounted on the traveling machine body (body part) 2, holds fertilizer (material), and performs a fertilizing device (working machine) for autonomous work in the traveling area. 3 is provided. The acquisition unit 57 can acquire the amount of fertilizer held by the fertilizer application device 3. The determination unit 58 can determine whether or not it is possible to complete the autonomous work in the traveling area based on the amount of the fertilizer possessed. When the determination unit 58 determines that neither the autonomous traveling nor the autonomous work can be completed, and the autonomous traveling route P is short of the fertilizer rather than the fuel, the route generation unit 35 is short. It is possible to complete autonomous traveling and autonomous work up to the fuel supply start position C and autonomous traveling from the fuel supply start position C to the fuel supply position F on the fuel supply route Q based on the amount of fertilizer possessed. Thus, the refueling start position C is set.

  As a result, the fuel supply route (material supply route) Q can be generated earlier depending on the timing when the fertilizer is insufficient and the timing when the fuel is insufficient. In other words, according to the fertilizer replenishment start position U2 (and the fertilizer replenishment end position V2) and the fuel replenishment start position C5 (and the fuel replenishment end position D5), which are arranged on the more upstream side, A supply path Q for supplying both can be generated. Therefore, it is possible to efficiently replenish fuel and fertilizer.

  Further, in the route generation system 99 of the present embodiment, the route generation unit 35 determines by the determination unit 58 that neither autonomous traveling nor autonomous work can be completed, and the previous fuel on the autonomous traveling route P is the same. When the fertilizer is insufficient for a plurality of times between the shortage of fuel and the next shortage of fuel, the fertilizer farthest from the refueling start position C4 which is set with the previous lack of fuel is insufficient. The 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 set to a common position, and the fuel and the fertilizer can be replenished efficiently.

<Modification of Fourth Embodiment>
In the above-described fourth embodiment, the supply position F3 set by the supply position setting unit 56 is the position where both fuel and fertilizer can be supplied. However, instead of this, the fuel supply position and the fertilizer supply position may be set to different positions. In that case, if the fuel replenishment position and the fertilizer replenishment position are arranged on the same side headland, the fuel replenishment start position and the fertilizer replenishment start position are set by the same method as that 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 sides of the headland, 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 separately provided. Can be generated.

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

  After the traveling machine body 2 once stops at the refueling position F1 (F2, F3) to replenish the fuel, the acquisition unit 57 acquires the amount of fuel held in the traveling machine body 2 (check the replenishment amount), and is required. It may be possible to notify that the fuel is insufficient according to the above. For example, after the fuel is replenished at the fuel replenishment position F1 (F2, F3), the amount of fuel less than the maximum capacity of the fuel tank is required before reaching the work end position E. When it is less than the above, it is possible to give a notification such as lighting of a warning lamp or generation of an alarm sound. This can prompt the user to replenish (add) the required amount of fuel.

  In the above-described embodiment, the fuel supply start position C and the fuel supply end position D are the end and the start end of the two autonomous work paths P1 connected to each other via the connection path P2, and are arranged in the headland on the same side. It was supposed to be done. 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 the common autonomous work path P1 or on different headlands.

  In the first embodiment and the second embodiment described above, the determination unit 58 performs the autonomous traveling based on the vehicle speed, the engine speed, the route length of the autonomous traveling route P, and the like set when the autonomous traveling route P is generated. The planned amount of fuel required on route P (planned required amount) is calculated. However, the method of calculating the planned required amount of fuel is not limited to this. For example, instead of this, the engine load is estimated in consideration of the detection value of the load sensor 54, and the engine speed and the engine load are calculated. The planned required amount of fuel may be calculated from the relationship. Alternatively, the relationship between the planned required amount calculated as the estimated amount by the determination unit 58 when the tractor 1 was operated in the past and the actual amount of fuel required is stored in the storage unit 32, and this information is stored. It may be used to calculate the required amount for the next time. In that case, the relationship between the planned required amount on the autonomous work path (straight road) P1 and the actual amount of fuel required, the relationship between the planned required amount on the connection path (turning circuit) P2 and the actual required fuel Alternatively, it may be stored. Specifically, the ratio between the planned required amount and the actual required fuel amount may be stored as a correction coefficient and used for subsequent calculation of the planned required amount.

  Generally, the remaining fuel amount at a position not far from the current position of the tractor 1 can be estimated with relatively high accuracy, but the farther away from the current position of the tractor 1, the remaining fuel amount becomes. It is considered that the accuracy of the estimation of is reduced. Therefore, when the generated autonomous traveling route P is displayed on the display 37 with an image represented by an arrow or a line, the route color is gradation so that the position where the estimation accuracy of the remaining fuel amount is higher becomes darker. It may be expressed. Alternatively, while the tractor 1 is autonomously traveling along the autonomous travel route P, on the monitoring screen 100 (screen that graphically displays the autonomous travel route P) displayed on the display 37, the 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 by one unified color, and the color may be gradually darkened as the tractor 1 travels downstream along the autonomous travel route P. Alternatively, the autonomous work paths P1 arranged side by side may be expressed in different colors according to the accuracy of estimation. Note that FIG. 27 shows an example in which the difference in estimation accuracy for each autonomous work path P1 is represented on the monitoring screen 100 by such a representation method.

  In the above embodiment, the material is fertilizer, but the material is not limited to this, and for example, instead of this, the material may be a herbicide, a drug, a seedling, a seed, or the like. For example, when the material is a herbicide, a herbicide spraying device, a drug spraying device, a seedling transplanting device when seedlings, a seeding device when seeds, and the fertilizer applying device 3 described above. Can be used as a working machine instead of.

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

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

1 Robot tractor (tractor, work vehicle)
2 Traveling aircraft (car body)
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 refueling start position F1 refueling position P autonomous driving route

Claims (8)

A route generation unit capable of generating an autonomous traveling route in which the vehicle body unit autonomously travels within a traveling region that is a preset non-working region and a working region ,
An acquisition unit for acquiring the amount of fuel held by the vehicle body unit;
A determination unit that determines whether or not the autonomous traveling on the autonomous traveling route can be completed by the amount of the fuel held;
A refueling position setting unit that sets a refueling position that is a refueling position in the traveling area;
Equipped with
The path generation unit, wherein when it is determined that it is impossible to complete the autonomous driving by the determination unit, the set fuel supply starting position and fuel replenishment end at the boundary of the working area and the non-working area A fuel supply path from the fuel supply start position to the fuel supply end position via the fuel supply position ,
The route generation unit may complete autonomous traveling to the fuel supply start position and autonomous traveling from the fuel supply start position to the fuel supply position on the fuel supply route based on the amount of fuel held. A route generation system characterized in that the refueling start position is set so as to be able to do so. The route generation system according to claim 1, wherein
The route generation unit, when it is assumed that the vehicle body unit continues to travel on the autonomous traveling route without traveling on the fuel supply route, the amount of fuel held by the vehicle body unit becomes equal to or less than a reference amount. The route generation system is characterized in that the position on the autonomous traveling route at this time is specified as a reachable position, and the fuel supply start position is set on the upstream side of the autonomous traveling route with respect to the reachable position. The route generation system according to claim 2, wherein
The route generation unit determines, based on the assumption that the refueling route has a maximum route length, the maximum required fuel amount at the time of refueling required for traveling from the refueling start position to the refueling position as the reference. A route generation system characterized by being calculated as a quantity. The route generation system according to claim 2 or 3, wherein
The acquisition unit, during autonomous traveling in the autonomous travel route, acquires the holding amount regularly or irregularly,
The route generation unit, when the reachable position specified based on the newly acquired holding amount is located upstream or downstream of the autonomous travel route with respect to the reachable position set previously. A route generation system capable of correcting the fuel supply start position and generating a corrected fuel supply route from the corrected fuel supply start position to the fuel supply position. The route generation system according to claim 1, wherein
In the route generation unit, a first distance from the refueling start position to the refueling position is a predetermined distance or more than a second distance at which autonomous traveling can be maintained by the possession amount. A route generation system, wherein the refueling start position is set to be short. The route generation system according to claim 5,
The acquisition unit, during autonomous traveling in the autonomous traveling route, acquires the possessed amount regularly or irregularly,
When the difference between the first distance and the second distance is longer than a first threshold distance that is longer than the predetermined distance, or the route generation unit is more than a second threshold distance that is shorter than the predetermined distance. A path generation system, wherein when the fuel supply start position becomes short, the fuel supply start position is corrected, and a corrected fuel supply route from the corrected fuel supply start position to the fuel supply position can be generated. The route generation system according to any one of claims 1 to 6,
Equipped with a work machine mounted on the vehicle body section, holding materials, and performing autonomous work in the traveling area;
The acquisition unit can acquire the amount of material held by the working machine,
The determination unit, it is possible to determine whether or not it is possible to complete the autonomous work in the traveling area by the amount of material possessed,
The route generation unit, by the determination unit, if it is determined that neither autonomous traveling nor autonomous work can be completed, and if the material is insufficient before the fuel in the autonomous traveling route, Based on the possessed amount of the material, it is possible to complete autonomous traveling and autonomous work to the refueling start position, and autonomous traveling from the refueling start position to the refueling position in the refueling route. The route generation system, wherein the refueling start position is set to. The route generation system according to claim 7,
The route generation unit determines by the determination unit that neither the autonomous running nor the autonomous work can be completed, and the fuel runs short in the autonomous running route last time, and then the fuel runs short. In the meantime, when the material is insufficient for a plurality of times, a material supply start position set with the shortage of the material farthest from the fuel supply start position set with the previous lack of fuel, and A route generation system characterized in that the next refueling start position is set at a common position.

Images