JP7069087B2 - Travel route generation system - Google Patents

Description

The present invention relates to a travel route generation system that generates a travel route of a field work vehicle traveling in a field while performing preset work.

Conventionally, a technique of traveling in a field has been used. As such a technique, for example, there is an autonomous traveling system described in Patent Document 1 whose source is shown below.

In the autonomous traveling system described in Patent Document 1, when the working vehicle receives positioning signals from a number of positioning satellites capable of positioning, the work vehicle autonomously travels based on the positioning signals and has its own position. When only a number of positioning signals that are difficult to measure are received, the vehicle is switched to straight-ahead driving according to the image taken by the camera to perform autonomous driving.

Japanese Unexamined Patent Publication No. 2017-117257

A field work vehicle (“work vehicle” in Patent Document 1) that travels while performing preset work in the field may temporarily suspend the work and stop at the ridge of the field. The technique described in Patent Document 1 is not supposed to run on such a ridge, and there is room for improvement.

Therefore, there is a need for a travel route generation system that interrupts preset work and generates a travel route that travels to a predetermined stop position in the field.

The characteristic configuration of the travel route generation system according to the present invention is a travel route generation system that generates a travel route of a field work vehicle traveling in a field while performing preset work, and is provided in the field work vehicle. A position detection module that detects the position of the own vehicle of the field work vehicle, and a stop that should be stopped in the field when the field work vehicle performs other work different from the preset work around the field. An index associated with a position, a detection unit that detects the index during the work of the preset work, a specific unit that identifies the stop position based on the detected index, and a field. A field information acquisition unit that acquires field information indicating a state, and a travel route generation unit that generates a travel route that moves to the stop position based on the stop position specified as the own vehicle position and the field information. And, it is in the point that it has.

With such a characteristic configuration, it is possible to generate a traveling route that moves to the stop position based on the index detected by the field work vehicle during the field work. Therefore, it is possible to approach the field work vehicle to the stop position and stop the vehicle.

Further, the traveling route generation system includes a work status information acquisition unit that acquires work status information indicating the preset work status, and the own vehicle position and the work during the work of the preset work. Based on the situation information, the movement timing calculation unit that calculates the movement timing at which the field work vehicle interrupts the preset work and moves to the stop position, and the position of the field work vehicle at the movement timing are determined. It is preferable that the traveling route generation unit is provided with a predicted position calculation unit for calculating as a predicted position, and the traveling route generation unit generates the traveling route from the predicted position to the stop position.

With such a configuration, the timing of moving to the stop position is calculated in advance according to the situation of the field work, and the traveling route from the predicted position to start the movement to the stop position is generated according to the calculation result. be able to. By moving along such a traveling route, the field work vehicle can smoothly move to the stop position.

Further, the detection unit includes a peripheral image acquisition image acquisition unit that acquires a peripheral image image of the surrounding scene of the field work vehicle, and the detection unit performs image recognition processing on the peripheral image image to detect the index. Suitable.

With such a configuration, for example, an index to be detected is registered in advance, and the registered index and the surrounding captured image are subjected to image recognition processing such as pattern matching to perform an image recognition process such as pattern matching to perform an index in the surrounding captured image. Can be easily found. Further, for example, by using a camera that captures a peripheral image in combination with a surveillance camera that monitors the surroundings of a field work vehicle, it can be realized at low cost.

Further, it is preferable that the detection unit performs image recognition processing using a machine-learned neural network.

With such a configuration, even if the index is complicated, it can be easily detected. Therefore, oversight of the index can be suppressed.

Further, it is preferable that the index is provided on a support vehicle parked around the field and supports the other work, and is a display object that can identify the support vehicle.

With such a configuration, while the field work vehicle is working in the field, it is possible to find a support vehicle that supports the work of the field work vehicle, and when support is needed, the field work vehicle can approach and receive support. .. Further, even when a plurality of support vehicles are stopped around the field, it is possible to easily identify and find the support vehicle that supports the field work vehicle from among the plurality of support vehicles.

Further, the field information includes information indicating an existing work area where the field work vehicle has performed the preset work in the field, and the travel route generation unit passes through the existing work area to the stop position. It is preferable to generate a traveling route that travels to.

With such a configuration, when the field work vehicle moves to the stop position, it can move through the existing work area, so that it is possible to prevent the area (unworked area) where the work has not been performed from becoming rough. ..

Further, at the stop position, the work unit that performs the other work in the second posture in which the height from the ground of the field is higher than that in the first posture during the work of the preset work is added to the field work vehicle. The work unit is provided so as to shift from the first posture to the second posture when the distance from the field work vehicle to the stop position is equal to or less than a preset distance. In the field work vehicle, during the transition of the work unit from the first posture to the second posture, the upper captured image acquisition unit that acquires the upper captured image that captures the surrounding scene including the vertical upper portion of the work unit. It is preferable that it is provided.

With such a configuration, even when the posture of the work unit is changed while automatically moving to the stop position, it is possible to prevent the work unit from coming into contact with surrounding objects.

It is a side view of a combine. It is a figure which shows the outline of the automatic traveling of a combine. It is a figure which shows the traveling route in automatic traveling. It is a block diagram which shows the structure of the travel path generation system. It is a figure which shows an example of an index. It is a figure which shows an example of an index and a stop position. It is a figure which shows the traveling route from a present position to a stop position. It is a figure which shows the traveling route from a predicted position to a stop position.

The travel route generation system according to the present invention is configured to generate a travel route of a field work vehicle traveling in a field while performing preset work. Hereinafter, regarding the traveling route generation system 1 of the present embodiment, a combine 10 (an example of a “field work vehicle”) traveling in a field while performing a harvesting operation (an example of a “preset work”) is given as an example. explain.

FIG. 1 is a side view of the combine 10 of the present embodiment. In the following, the combine 10 of the present embodiment will be described by taking a so-called ordinary combine as an example. Of course, the combine 10 may be a head-feeding combine.

Here, in order to facilitate understanding, in the present embodiment, unless otherwise specified, "front" (direction of arrow F shown in FIG. 1) means front in the front-rear direction (traveling direction) of the aircraft, and " "Rear" (direction of arrow B shown in FIG. 1) means rearward in the front-rear direction (traveling direction) of the aircraft. Further, the left-right direction or the lateral direction shall mean the airframe crossing direction (airframe width direction) orthogonal to the airframe front-back direction. Further, "up" (direction of arrow U shown in FIG. 1) and "down" (direction of arrow D shown in FIG. 1) are positional relationships in the vertical direction (vertical direction) of the aircraft, and are relative to the ground height. It shall indicate the relationship.

As shown in FIG. 1, the combine 10 includes a traveling vehicle body 11, a crawler-type traveling device 12, a driving unit 13, a threshing device 14, a grain tank 15, a harvesting unit H, a transport device 16, and a grain discharging device 17 (““ An example of a "working unit") and a position detection module 18.

The traveling device 12 is provided in the lower part of the traveling vehicle body 11 (hereinafter referred to as "vehicle body 11"). The combine 10 is configured to be self-propelled by the traveling device 12. The driving unit 13, the threshing device 14, and the grain tank 15 are provided on the upper side of the traveling device 12 and form the upper part of the vehicle body 11. The driver unit 13 can be boarded by a driver who drives the combine 10 and a monitor who monitors the work of the combine 10. Usually, the driver and the observer are also used. When the driver and the observer are different persons, the observer may monitor the work of the combine 10 from outside the combine harvester 10.

The grain discharge device 17 is connected to the rear lower portion of the grain tank 15. Further, the position detection module 18 is attached to the front upper part of the driving unit 13 and detects the position of the own vehicle of the combine 10. As the position detection module 18, it is possible to use a satellite positioning module configured as a GNSS module. The position detection module 18 has a satellite antenna for receiving GPS signals and GNSS signals (referred to as “GPS signals” in this embodiment) from the artificial satellite GS (see FIG. 2). The position detection module 18 can include an inertial navigation module incorporating a gyro acceleration sensor and a magnetic orientation sensor in order to complement satellite navigation. Of course, the inertial navigation module may be provided at a place different from the position detection module 18. The position detection module 18 detects the position of the own vehicle, which is the position of the combine 10, based on the above-mentioned GPS signal and the detection result of the inertial navigation module. The own vehicle position detected by the position detection module 18 is used for automatic traveling (autonomous traveling) of the combine 10 and for each functional unit described later.

The harvesting section H is provided at the front portion of the combine 10. The transport device 16 is provided on the rear side of the harvesting section H. The harvesting unit H has a cutting mechanism 19 and a reel 20. The cutting mechanism 19 cuts the planted culm in the field. The reel 20 is driven to rotate and scrapes the planted culm to be harvested. With such a configuration, the harvesting unit H can harvest grains (a type of agricultural product) in the field. The combine 10 can perform work traveling by the traveling device 12 while harvesting grains in the field by the harvesting unit H.

The cut grain culm cut by the cutting mechanism 19 is conveyed to the threshing device 14 by the conveying device 16. In the threshing device 14, the harvested culm is threshed. The grains obtained by the threshing treatment are stored in the grain tank 15. The grains stored in the grain tank 15 are discharged to the outside of the machine by the grain discharging device 17 as needed. The combine 10 is provided with a hydraulic tilting mechanism 110 between the vehicle body 11 and the traveling device 12, and tilts the vehicle body 11 in the left-right direction and the front-rear direction with respect to the traveling surface (field scene). It is possible.

FIG. 2 is a diagram showing an outline of automatic traveling of the combine 10. As shown in FIG. 2, the combine 10 automatically travels along a travel route set in the field. For this automatic traveling, information indicating the own vehicle position (own vehicle position information) acquired by the above-mentioned position detection module 18 is used.

The combine 10 of the present embodiment is harvested in the field according to the following procedure.

First, the driver / observer manually operates the combine 10 and, as shown in FIG. 2, performs a harvesting run so as to orbit along the boundary line of the field in the outer peripheral portion of the field. As a result, the area that has become the already cut land (already worked area) is set as the outer peripheral area SA. The area left as uncut land (unworked land) inside the outer peripheral area SA is set as the work target area CA.

At this time, in order to secure a certain width of the outer peripheral region SA, the driver causes the combine 10 to travel two or three laps. In this traveling, the width of the outer peripheral region SA is expanded by the working width of the combine 10 each time the combine 10 makes one round. For example, after the first two to three laps have been completed, the width of the outer peripheral region SA becomes about two to three times the working width of the combine 10. The first lap run by the driver is not 2 to 3 laps, but may be more (4 laps or more) or 1 lap.

The outer peripheral region SA is used as a space for the combine 10 to change direction when performing a harvesting run in the work target region CA. Further, the outer peripheral region SA is also used as a space for movement such as when moving to a grain discharge place or when moving to a refueling place after the harvesting run is finished.

FIG. 2 also shows a transport vehicle CV in which the grains harvested by the combine 10 are discharged and transported. When discharging the grains, the combine 10 moves to the vicinity of the transport vehicle CV (an example of the "support vehicle") and discharges the grains to the transport vehicle CV via the grain discharge device 17.

When the outer peripheral area SA and the work target area CA are set by the above-mentioned manual operation, the travel route in the work target area CA is calculated as shown in FIG. The calculated travel route is sequentially set based on the work travel pattern, and the combine 10 is automatically controlled to travel along the set travel route.

FIG. 4 is a block diagram showing the configuration of the travel route generation system 1 of the present embodiment. As shown in FIG. 4, in addition to the position detection module 18 described above, the travel route generation system 1 includes an index 2, a detection unit 30, a specific unit 32, a field information acquisition unit 34, a travel route generation unit 36, and work status information. Each functional unit of the acquisition unit 40, the movement timing calculation unit 42, the predicted position calculation unit 44, and the surrounding image capture image acquisition unit 50 is provided. Each of these functional units is constructed by hardware, software, or both with a CPU as a core member in order to perform processing related to generation of a traveling route.

The index 2 is provided in a state associated with a stop position to be stopped in the field when the combine 10 performs other work different from the harvesting work around the field. The other work different from the harvesting work is a work other than the work performed mainly by interrupting the work performed by the combine 10, and in the present embodiment, for example, the grain stored in the grain tank 15 of the combine 10 is used. The discharge work of discharging the grains to the outside of the machine by the grain discharge device 17 corresponds to this. Further, the other work may be, for example, a refueling work for refueling the combine 10. Such other work is performed in a state where the combine 10 is stopped at a preset stop position in the field. The index 2 is provided in a state of being associated with the stop position so that the combine 10 can grasp such a stop position. Such an index 2 is provided on a ridge surrounding the field, a road surrounding the field, or the like, and a section in the field adjacent to the index 2 provided on any of these corresponds to a stop position.

In the present embodiment, the index 2 is provided on the transport vehicle CV parked around the field to support the discharge work, and corresponds to a display object that can identify the transport vehicle CV. As described above, the transport vehicle CV is parked in the ridges and roads around the field, and the grains stored in the grain tank 15 of the combine 10 are discharged. The index 2 corresponds to a display that makes it possible to identify the transport vehicle CV to which the combine 10 discharges grains. As such a display object, for example, the transport vehicle CV itself as shown in FIG. 5 is provided with a QR code (registered trademark) or characters (for example, "○○ farm") that identifies the transport vehicle CV. It is possible to do. Alternatively, as shown in FIG. 6, a signboard with a QR code (registered trademark) or characters may be built on a ridge or a road adjacent to the stop position. Further, although not shown, it is also possible to use the number written on the license plate of the transport vehicle CV as the index 2.

The detection unit 30 detects the index 2 described above during the harvesting operation. The harvesting work is in progress while the combine 10 is running while harvesting in the field. Therefore, the detection unit 30 detects the index 2 while the combine 10 is running while harvesting in the field. By detecting the index 2 during the work in this way, it is not necessary to interrupt the harvesting work in order to detect the index 2. Therefore, it is possible to prevent the work efficiency from deteriorating.

Here, depending on the positional relationship between the combine 10 and the index 2, it is assumed that the detection unit 30 cannot detect the index 2 while the combine 10 is running while harvesting in the field. Therefore, as shown in FIG. 3, when the harvesting work is performed in the work target area CA, every other area defined by the work width is traveled, and when the every other travel is completed, the operation is completed. It is good to drive in the remaining area. As a result, when the combine 10 makes a turning run in the outer peripheral region SA, not only the turning toward one end of the work target area CA (the lower end in FIG. 3) but also the work target area Since the turning toward the other end of the CA (the upper end in FIG. 3) is also performed, the detection unit 30 can easily detect the index 2.

Here, when a QR code (registered trademark), characters, or the like as described above is used as the index 2, it is preferable that the camera provided in the combine 10 is configured to capture the scene around the combine 10. It is preferable that the peripheral image acquisition unit 50 acquires the peripheral image obtained by the image taken while the combine 10 is running.

In such a configuration, the detection unit 30 can perform image recognition processing on the surrounding captured image to detect the index 2. In this image recognition process, for example, an index 2 associated with the stop position of the combine 10 is registered in advance in the detection unit 30 (or a storage unit (not shown)), and whether or not the registered index 2 is included in the surrounding captured image. It is possible to detect this by pattern matching, for example.

Alternatively, the detection unit 30 can be configured to perform image recognition processing using a machine-learned neural network. Neural networks are algorithms that model nerve cells in the brain of living organisms, and are one of machine learning. Machine learning includes, for example, deep learning, which is an algorithm that deepens the hierarchy of neural networks. Of course, it is also possible to apply machine learning other than deep learning.

The identification unit 32 identifies the stop position based on the detected index 2. As described above, the detection unit 30 detects the index 2 associated with the stop position of the combine 10. The detection result is transmitted to the specific unit 32. As shown in FIG. 6, for example, the specifying unit 32 may specify a place of separation from a ridge or a road provided with the index 2 in the field as a stop position. Of course, the index 2 may include information indicating a stop position set with the index 2 as a reference. To specify the stop position based on the index 2, for example, the surrounding image is associated with the position information (position information based on the GPS signal) from which the peripheral image is obtained, and the surroundings obtained from a plurality of different locations. It can be performed by a known triangulation method using an captured image.

The field information acquisition unit 34 acquires field information indicating the state of the field. The state of the field is information indicating whether or not the work was performed by the combine 10 and information indicating obstacles that hinder the running of the combine 10 in the field. In the present embodiment, the field information includes information indicating an existing work area where the combine 10 has harvested in the field. Such information may be generated in association with the position of the own vehicle when the combine 10 travels while performing the harvesting work.

The travel route generation unit 36 generates a travel route in which the combine 10 moves to the stop position based on the own vehicle position, the specified stop position, and the field information. The own vehicle position is detected by the position detection module 18, and is transmitted as information indicating the own vehicle position. The field information is acquired and transmitted by the field information acquisition unit 34. In the present embodiment, the field information includes information indicating an existing work area where the combine 10 has harvested in the field. The stop position is specified based on the index 2 detected by the detection unit 30 by the identification unit 32. Therefore, the travel route generation unit 36 generates a travel route that moves from the current position of the combine 10 to the stop position associated with the index 2 through the existing work area.

FIG. 7 shows an example of a traveling route that moves from the current position of the combine 10 to the stop position. By traveling along the travel path generated by the travel route generation unit 36 as shown in FIG. 7, the combine 10 can appropriately move to the stop position and discharge the grains to the transport vehicle CV. Will be.

Here, FIG. 7 shows a traveling route that moves from the current position of the combine 10 to the stop position, but instead of the current position of the combine 10, it moves from the predicted position according to the harvesting work situation to the stop position. It is also possible to generate a travel route in advance and configure the vehicle to travel from that position to the stop position when the predicted position is reached.

In such a case, the work status information acquisition unit 40 may acquire the work status information indicating the status of the harvesting work. The work status information indicating the status of the harvesting work is, for example, information indicating the amount of grains stored in the grain tank 15 and the storage degree of the grain tank 15. It is preferable to obtain such information as a detection result of a sensor provided in the grain tank 15.

Further, it is preferable that the movement timing calculation unit 42 calculates the movement timing in which the combine 10 interrupts the harvesting work and moves to the stop position based on the own vehicle position and the work status information during the harvesting work. The own vehicle position (information indicating the own vehicle position) is transmitted from the position detection module 18. The work status information is transmitted from the work status information acquisition unit 40. From this information, the movement timing calculation unit 42 may calculate, for example, the timing when the grain tank 15 is full, and set the movement timing to start the movement to the stop position before this timing. Such a movement timing is, for example, one of the outer peripheral region SA that travels immediately before the grain tank 15 is full, or the stop position of the outer peripheral region SA that travels before the grain tank 15 is full. It is preferable to use the outer peripheral region SA on the side closer to.

Further, it is preferable that the predicted position calculation unit 44 calculates the position of the combine 10 at the movement timing as the predicted position. The movement timing is transmitted from the movement timing calculation unit 42 as information indicating the movement timing. The predicted position calculation unit 44 calculates the position of the combine 10 at such a movement timing as the predicted position.

The travel route generation unit 36 generates a travel route from the predicted position to the stop position. FIG. 8 shows an example of a traveling route that moves from the predicted position of the combine 10 to the stop position. The combine 10 appropriately moves from the predicted position to the stop position by traveling along the travel path generated by the travel route generation unit 36 as shown in FIG. 8, and discharges the grains to the transport vehicle CV. It becomes possible.

[Other embodiments]
In the above embodiment, the field work vehicle has been described as the combine 10, but the field work vehicle may be different from the combine 10. When the field work vehicle is, for example, a rice transplanter, the stop position can be set to a place adjacent to a ridge or a road where spare seedlings are temporarily placed, or when the field work vehicle is a tractor. It is also possible to set the work unit mounted on the tractor in a place adjacent to the temporarily placed ridge or road. Of course, vehicles other than these may be used.

In the above embodiment, the work status information acquisition unit 40 acquires the work status information, and the movement timing calculation unit 42 calculates the movement timing to move to the stop position based on the own vehicle position and the work status information, and calculates the predicted position. It was explained that the unit 44 calculates the predicted position of the combine 10 at the movement timing. However, the travel route generation system 1 can be configured without the work status information acquisition unit 40, the movement timing calculation unit 42, and the predicted position calculation unit 44. In such a case, the travel route generation unit 36 may be configured to calculate the travel route that moves from the current position of the combine 10 to the stop position.

In the above embodiment, the peripheral image acquisition unit 50 acquires the peripheral image obtained by capturing the surrounding scene of the combine 10, and the detection unit 30 performs image recognition processing on the peripheral image to detect the index 2. explained. However, it is also possible to configure the peripheral image acquisition unit 50 without the peripheral image acquisition unit 50. In such a case, for example, the detection unit 30 may detect the index 2 by a laser or other method.

In the above embodiment, the detection unit 30 has been described as performing image recognition processing using a machine-learned neural network, but it is also possible to use a neural network that does not perform machine learning.

In the above embodiment, the index 2 is described as being configured by using a QR code (registered trademark) or characters, but the index 2 may be configured by painting another display object on the body of the support vehicle. It may be configured by using a flag or a banner. Further, it is also possible to use the vehicle type, color, shape, etc. of the support vehicle that can identify the support vehicle as the index 2.

In the above embodiment, the travel route generation unit 36 has been described as generating a travel route that moves to the stop position through the existing work area, but the travel route generation unit 36 moves to the stop position through the unworked area. It may be configured to generate a traveling route to be carried out. In such a case, it is preferable to travel while performing harvesting work when passing through unworked land.

In the above embodiment, it has been described that the combine 10 is provided with the grain discharging device 17. The grain discharge device 17 is held in the first posture in which the combine 10 is located above the grain tank 15 during the harvesting operation. On the other hand, when the grains stored in the grain tank 15 are discharged to the transport vehicle CV, the height of the grain discharge device 17 (the unloader of the grain discharge device 17) from the ground of the field is the first posture. It is held in a higher second position (ie, it rotates and ascends from the first position to move to the second position). The transition from the first posture to the second posture is performed after the combine 10 has stopped at the stop position, and when the distance from the combine 10 to the stop position is equal to or less than a preset distance. It may be configured to shift from one posture to a second posture.

In the former case, there is no problem, but in the latter case, the height from the ground gradually increases while traveling to the stop position, so be careful of contact with surrounding objects (for example, utility poles and electric wires). There is a need. Therefore, the combine 10 acquires an upper captured image of the surrounding scene including the vertical upper portion of the grain discharging device 17 during the transition of the grain discharging device 17 from the first posture to the second posture. It is preferable to have an acquisition unit. With such a configuration, for example, an image recognition process is performed on the upper captured image to detect an object at a position higher than the grain ejection device 17, and when the object at the higher position is detected, a traveling route is generated. It is preferable to generate a traveling route again so that the unit 36 can avoid contact with the object. Therefore, it is preferable that the position detection module 18 detects the position where the upper captured image is acquired, performs image recognition processing, and calculates the position of the object at a position higher than the grain discharge device 17. This makes it possible to appropriately avoid the object. The upper captured image acquisition unit may be provided in the grain discharging device 17, or the optical axis of the camera that captures the above-mentioned surrounding captured image may be changed and used.

INDUSTRIAL APPLICABILITY The present invention can be used in a travel route generation system that generates a travel route of a field work vehicle traveling in a field while performing preset work.

1: Travel route generation system 2: Index 10: Combine (field work vehicle)
17: Grain discharge device (working unit)
18: Position detection module 30: Detection unit 32: Specific unit 34: Field information acquisition unit 36: Travel route generation unit 40: Work status information acquisition unit 42: Movement timing calculation unit 44: Predicted position calculation unit 50: Surrounding image acquisition Department CV: Transport vehicle (support vehicle)

Claims (7)

It is a travel route generation system that generates a travel route of a field work vehicle that travels in a field while performing preset work.
A position detection module provided in the field work vehicle to detect the position of the own vehicle of the field work vehicle, and
An index associated with a stop position to be stopped in the field when the field work vehicle performs other work different from the preset work around the field.
A detection unit that detects the index during the work of the preset work,
Based on the detected index, the specific unit that identifies the stop position and
A field information acquisition unit that acquires field information indicating the state of the field, and
A travel route generation unit that generates the travel route that moves to the vehicle stop position based on the vehicle position, the vehicle stop position specified, and the field information.
Travel route generation system. A work status information acquisition unit that acquires work status information indicating the preset work status, and
During the work of the preset work, the movement timing in which the field work vehicle interrupts the preset work and moves to the stop position is calculated based on the own vehicle position and the work status information. Movement timing calculation unit and
It is equipped with a predicted position calculation unit that calculates the position of the field work vehicle as a predicted position at the movement timing.
The travel route generation system according to claim 1, wherein the travel route generation unit generates the travel route from the predicted position to the stop position. A peripheral image acquisition unit for acquiring a peripheral image that captures a scene around the field work vehicle is provided.
The travel route generation system according to claim 1 or 2, wherein the detection unit performs image recognition processing on the surrounding captured image to detect the index. The traveling route generation system according to claim 3, wherein the detection unit performs image recognition processing using a machine-learned neural network. The traveling according to any one of claims 1 to 4, wherein the index is provided on a support vehicle parked around the field and supports the other work, and is a display that can identify the support vehicle. Route generation system. The field information includes information indicating an existing work site where the field work vehicle has performed the preset work in the field.
The travel route generation system according to any one of claims 1 to 5, wherein the travel route generation unit generates a travel route that moves to the stop position through the existing work area. At the stop position, the field work vehicle is provided with a work unit that performs the other work in the second posture in which the height from the ground of the field is higher than the first posture during the work of the preset work. ,
The work unit is configured to shift from the first posture to the second posture when the distance from the field work vehicle to the stop position is equal to or less than a preset distance.
The field work vehicle is an upper captured image acquisition unit that acquires an upper captured image of an surrounding scene including a vertical upper portion of the working unit during the transition of the working unit from the first posture to the second posture. The traveling route generation system according to any one of claims 1 to 6, wherein the traveling route generation system is provided.

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