WO2018055922A1

WO2018055922A1 - Path creation system

Info

Publication number: WO2018055922A1
Application number: PCT/JP2017/027905
Authority: WO
Inventors: 敏史平松
Original assignee: ヤンマー株式会社
Priority date: 2016-09-26
Filing date: 2017-08-01
Publication date: 2018-03-29
Also published as: CN109714946B; JP6674877B2; CN109714946A; JP2018050491A

Abstract

In this path creation system (99), a path creation unit (35) is capable of creating an autonomous work path (P1S) where autonomous work is performed by a tractor (1) within a work region that has been set in advance. A necessary material amount calculation unit (51) calculates an estimated amount of fertilizer to be used by the tractor 1 in the autonomous work path (P1S). A supply position setting unit (58) sets a fertilizer supply position A1 at a position outside the work region and designated by a user. A fertilizer remaining amount acquisition unit (specifying unit) (54) acquires a remaining amount of fertilizer that can be used by the tractor. On the basis of said estimated amount and said remaining amount of fertilizer, a departure position setting unit (59) sets a departure position C to suspend the autonomous work and a return position D to resume the same. The path creation unit is capable of creating a supply path Q from the departure position C to the return position D via the supply position A1.

Description

Route generation system

The present invention relates to a route generation system. Specifically, the present invention relates to a route generation system that generates a route on which a work vehicle travels autonomously.

Conventionally, a route generation system that generates a route on which a work vehicle autonomously travels is known. Patent Document 1 discloses a field work machine that autonomously travels by this type of route generation system. The field work machine of this patent document 1 includes a route calculating unit that calculates a route along which the own device travels autonomously, and a driving support unit that supports driving of the own device based on the route calculated by the route calculating unit. It is the structure provided with.

In the field work machine of this patent document 1, when the remaining material amount mounted in the own machine falls below a threshold level, the driving support unit notifies that and sends an operation control signal for stopping automatic running. Output to the control unit. In addition, the route calculation unit is capable of calculating an emergency travel route for automatically traveling the vehicle to a nearby fence in order to supply necessary materials.

JP 2015-112071

However, the above Patent Document 1 does not disclose how to calculate the emergency travel route specifically. Further, in the configuration of Patent Document 1, even if the field work machine can be automatically moved to a nearby paddle for replenishing necessary materials, if the position is far from the material replenishment position, the user himself The self-machine must be moved to the replenishment position, for example, by steering the field work machine. Therefore, there is room for improvement in that the burden on the user at the time of replenishing materials is still large.

The present invention has been made in view of the above circumstances, and an object thereof is to reduce the burden on the user when replenishing materials.

Means and effects for solving the problems

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

According to an aspect of the present invention, a route generation system having the following configuration is provided. That is, the route generation system includes a route generation unit, a calculation unit, a replenishment position setting unit, a specifying unit, and an interruption start position setting unit. The route generation unit can generate an autonomous work route in which autonomous work is performed by a work vehicle within a preset work area. The calculation unit calculates a planned amount of material used by the work vehicle on the autonomous work route. The replenishment position setting unit sets a material replenishment position at a position designated outside the work area. The specifying unit specifies the amount of material that can be used by the work vehicle. The suspension start position setting unit sets a suspension position and a resume position for autonomous work based on the scheduled amount and the retained amount. The route generation unit can generate a supply route from the interruption position to the restart position via the supply position.

As a result, the work vehicle can automatically stop the autonomous work and go to the replenishment position of the material, and after the replenishment can automatically go to the restart position of the autonomous work and resume the autonomous work. Materials can be replenished easily. Therefore, the burden on the user can be reduced.

In the above route generation system, the following configuration is preferable. That is, the autonomous work path is composed of a plurality of autonomous work paths connected via a connection path. The interruption start position setting unit sets the interruption position and the resumption position to different autonomous work paths connected by the connection path.

This makes it possible to resume the work after the interruption of the autonomous work smoothly from the resume position, thereby improving work efficiency.

In the route generation system, the interruption start position setting unit is configured to stop the interruption so that a route length of the replenishment route is shorter than a route length from the restart position to an autonomous work end position in the autonomous work route. It is preferable to set the position and the restart position.

This makes it possible to suppress the generation of a supply route whose route length is too long, and to efficiently supply materials. In addition, the user's psychological burden is reduced.

In the above route generation system, the following configuration is preferable. That is, the replenishment position setting unit is configured to be able to accept a change in the replenishment position after the replenishment route is generated by the route generation unit. When the change of the replenishment position is accepted by the replenishment position setting unit after the replenishment route is generated, the route generation unit renews the resumption position from the interruption position via the replenishment position after the change. A supply route can be generated.

This enables the user to change the replenishment position to a desired position after the replenishment route is generated, and it is possible to generate a replenishment route that more matches the user's intention.

In the route generation system, the calculation unit includes a route length of the autonomous work route, a moving speed of the work vehicle on the autonomous work route, a material usage amount per unit time on the autonomous work route, a work vehicle It is preferable to calculate the scheduled amount based on at least one of a width for performing work and a usage amount of material per unit length in the autonomous work route.

As a result, the planned amount of materials required for autonomous work is calculated using the preset route length of the autonomous work route, etc., so the estimated amount is calculated more accurately than when calculated based on the field area alone can do.

1 is a side view showing an overall configuration of a robot tractor that autonomously travels along a route generated by a route generation system according to an embodiment of the present invention. The top view of a robot tractor. The figure which shows the radio | wireless communication terminal which can be operated by the user and can perform radio | wireless communication with a robot tractor. The block diagram which shows the main electrical structures of a robot tractor and a radio | wireless communication terminal. The schematic diagram which shows the example of the driving route which a route generation system produces | generates. The figure which shows the example of a display of the input selection screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the work vehicle information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the agricultural field information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the work information input screen in the display of a radio | wireless communication terminal. The figure which shows the example of a display of the material replenishment position setting window for setting the replenishment position of the material in the display of a radio | wireless communication terminal. The flowchart which shows the process performed in a path | route production | generation part etc. when producing | generating the replenishment path | route of material. 12 is a flowchart showing the continuation of the process of FIG. The figure which shows the example of the replenishment position of the set material in a certain driving | running route, and the calculated out-of-material occurrence position. The figure which shows the example which determined the replacement target connection path and produced | generated the temporary supply path | route in the example shown in FIG. The figure which shows the example which changed the replacement object connection path from the case of FIG. 14, and produced | generated the temporary supply path | route. The figure which shows the example of the temporary supply path | route produced | generated in connection with this, when the supply position of material is changed after determining the temporary supply path | route of FIG. 15 as a supply path | route. The figure which shows the example of the temporary supply path | route produced | generated in connection with this, when the replenishment position of material is further changed from FIG.

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

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

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

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing an overall configuration of a robot tractor 1 that autonomously travels along a route generated by a route generation system 99 according to an embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a diagram illustrating a wireless communication terminal 46 that is operated by a user and can wirelessly communicate with the robot tractor 1. FIG. 4 is a block diagram showing main electrical configurations of the robot tractor 1 and the wireless communication terminal 46. FIG. 5 is a schematic diagram illustrating an example of a travel route P generated by the route generation system 99.

The route generation system 99 according to an embodiment of the present invention generates an autonomous work route that travels when the robot tractor 1 shown in FIG. Each configuration of the route generation system 99 of the present embodiment is mainly provided in the wireless communication terminal 46 that wirelessly communicates with the robot tractor 1.

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

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

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

front wheels

7 and 7 and at its rear part by a pair of left and right

rear wheels

8 and 8.

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

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

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

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

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

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

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

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

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

The engine controller controls the rotational speed of the engine 10 and the like. Specifically, the engine 10 is provided with a governor device 41 including an unillustrated actuator that changes the rotational speed of the engine 10. The engine controller can control the rotational speed of the engine 10 by controlling the governor device 41. Further, the engine 10 is provided with a fuel injection device 52 that adjusts the injection timing / injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10. The engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the fuel injection device 52, 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 movable swash plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 and change to the desired vehicle speed by changing the angle of the swash plate of the transmission 42 with an actuator (not shown).

The steering controller controls the turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12. With this configuration, when the tractor 1 travels (as an unmanned tractor) on a predetermined route, the control unit 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. Then, a control signal is output to the steering controller so that the obtained rotation angle is obtained. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12.

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

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

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

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

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, a storage unit 55, and the like. In addition to these, the tractor 1 is provided with an unillustrated inertial measurement unit (IMU) that can specify the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

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

In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems can be used as long as high-precision 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 or transmits a signal to the wireless communication terminal 46. As shown in FIG. 1, the radio communication antenna 48 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. A signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in FIG. 4 and input to the control unit 4. The signal transmitted from the control unit 4 to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

The front camera 57 captures the front of the tractor 1. The rear camera 56 photographs the rear of the tractor 1. The moving image data captured by the front camera 57 and the rear camera 56 is signal-processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display a moving image based on the received moving image data on the display 37.

The vehicle speed sensor 53 detects the vehicle speed of the tractor 1 and is provided on the axle between the

front wheels

7 and 7, for example.

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

The detection results obtained by the vehicle speed sensor 53 and the fertilizer remaining amount sensor 30 are signal-processed by the wireless communication unit 40 and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection result on the display 37. Further, the wireless communication terminal 46 can generate a route on which the tractor 1 travels in consideration of the received detection result.

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

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

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

The tractor 1 configured as described above is fertilized by the fertilizer application device (work machine) 3 while autonomously traveling along a route on the field created in advance based on an instruction of a user using the wireless communication terminal 46. Work (agricultural work) can be performed.

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

An example of the travel route P is shown in FIG. 5, and the travel route P is generated so as to connect the work start position S and the work end position E designated in advance. As shown in FIG. 5, in creating the travel route P, a headland and a non-cultivated land (side margin), which are non-work areas where work by the fertilizer application device 3 is not performed, are set in the farm field (travel area). The portion excluding the non-working area is a work area. The autonomous work paths P1, P1,... Are generated so that a plurality of the autonomous work paths P1, P1,. A set of a plurality of autonomous work paths P1 corresponds to an autonomous work path P1S in which autonomous work is performed by the tractor 1 in the work area.

By inputting (transferring) the information on the travel route P to the control unit 4 and performing a predetermined operation, the control unit 4 controls the tractor 1 and makes the tractor 1 autonomous along the travel route P. It is possible to perform the farm work by the fertilizer application device 3 along the autonomous work path P1.

Hereinafter, the configuration of the wireless 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 with reference mainly to FIG.

As shown in FIGS. 3 and 4, the wireless communication terminal 46 of the present embodiment includes a display control unit 31, a field shape acquisition unit 33 as main components, in addition to the display 37, the hardware key 38, and the touch panel 39. , Route generation unit 35, work vehicle information setting unit 36, field information setting unit 45, work information setting unit 47, fertilizer required amount calculation unit (calculation unit) 51, fertilizer remaining amount acquisition unit (specification unit) 54, supply position setting Unit 58, a separation return position setting unit (interruption start position setting unit) 59, a storage unit 32, and the like.

The display control unit 31 creates display data to be displayed on the display 37, and performs control to switch the display screen appropriately. The display control unit 31 can generate an input selection screen 60 as an initial screen (menu screen) shown in FIG. 6 and display it on the display 37. In addition, when a predetermined operation is performed on the input selection screen 60, the display control unit 31 generates each

input screen

70, 80, 90 (see FIGS. 7 to 10) described later, and displays the display screen on the display 37. Can be switched to 70, 80, 90.

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

The route generation unit 35 generates a route to be input (transferred) to the tractor 1. The route generated by the route generation unit 35 of the present embodiment includes a travel route P for autonomously traveling the tractor 1 and the tractor 1 when replenishing materials (fertilizer in this embodiment) to the tractor 1. Is a supply route Q for automatically traveling (autonomous traveling). The route generation unit 35 automatically generates (calculates) a travel route P and a supply route Q when input of work vehicle information, farm field information, and work information, which will be described later, and when a predetermined operation is performed. The generated travel route P and supply 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 70 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 field information set by the field information setting unit 45 is stored in the storage unit 32.

The work information setting unit 47 receives work information (information on work mode etc.) input on the work information input screen 90 or the like. The work information set by the work information setting unit 47 is stored in the storage unit 32.

The fertilizer required amount calculation unit 51 calculates a planned amount of fertilizer (material) used by the tractor 1 in the autonomous work route P1S. The fertilizer requirement calculation unit 51 includes the route length of the autonomous work route P1S obtained when the travel route P is generated by the route generation unit 35, and the amount of fertilizer used per unit length in the autonomous work route P1. , The planned amount (the amount of fertilizer required) is calculated.

The fertilizer remaining amount acquisition unit 54 acquires (specifies) the remaining amount of fertilizer in the fertilizer application device 3, in other words, the amount of fertilizer that can be used by the tractor 1, based on the detection value received from the fertilizer remaining amount sensor 30. .

The replenishment position setting unit 58 receives information on the designated replenishment position when the user displays a material replenishment position setting window 91 to be described later on the display 37 of the wireless communication terminal 46 and designates the fertilizer replenishment position. It is.

When it is determined that the fertilizer runs out during the autonomous work path P1S, the detachment return position setting unit 59 causes the tractor 1 to interrupt the autonomous work for replenishing the fertilizer based on the position where the fertilizer runs out. Then, a separation position (interruption position) where the traveling route P is separated and a return position (resume position) where the autonomous work is resumed by returning to the traveling route P after fertilizer replenishment are set. Details of the disengagement position and the return position will be described later.

The storage unit 32 includes a non-volatile memory (for example, a flash ROM), and includes work vehicle information set by the work vehicle information setting unit 36, field information set by the field information setting unit 45, and The work information set by the work information setting unit 47 can be stored. The storage unit 32 can store information on the generated travel route P and supply route Q, and the like.

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

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

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

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

In the work vehicle information input screen 70, work vehicle information related to the traveling machine body 2 and the work machine (fertilizer application device 3) attached to the traveling machine body 2 can be input. Specifically, on the work vehicle information input screen 70, as the work vehicle information, the model of the tractor 1, the mounting position of the positioning antenna 6 with respect to the traveling machine body 2, the lateral width of the tractor 1, the lateral width of the fertilizer 3 (work width) ) Distance from the rear end of the three-point link mechanism (rear end of the lower link) to the rear end of the fertilizer application device 3, fertilizer feed amount per unit length (fertilizer use amount) in the fertilizer application device, during work in the forward path Vehicle speed, vehicle speed on the return road, vehicle speed on the headland (when turning), engine speed on the outward path, engine speed on the return path, engine on the headland (when turning) A column for designating the number of rotations is arranged. Although only a part of the above-described fields are displayed on the work vehicle information input screen 70 shown in FIG. 7, the remaining fields can be displayed by performing an operation of scrolling the screen downward from the state of FIG. Can do.

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

When the user returns to the input selection screen 60 in FIG. 6 after setting the work vehicle information 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.

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

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

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

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

When the settings for all items on the field information input screen 80 are completed, a “Register” button is displayed. When the content designated by the user is confirmed on the flat display unit 81 or the like and the “register” button is operated, the content of the set field information is stored in the storage unit 32, and the setting of the field information is completed.

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

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

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

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

The column of “overlap width” of the work information input screen 90 sets a width (overlap amount) that overlaps the widths through which the work implement (fertilizer 3) passes in the adjacent autonomous work paths P1 and P1. It is a column. The overlap amount can be set by directly entering a numerical value in this field. In the present embodiment, the overlap amount can be set to a negative value. In this case, there is a gap between the widths through which the work implement (fertilizer 3) passes in the adjacent autonomous work paths P1 and P1. Will be formed.

The column “number of skips” on the work information input screen 90 includes an arbitrary autonomous work path P1 on the travel route P on which the tractor 1 travels, and an autonomous work path P1 on which the tractor 1 travels next to the arbitrary autonomous work path P1. And a column for selecting the number of autonomous work paths (the number of rows skipped). In the present embodiment, the number of skips can be set to “0”, “1”, or “2” by performing a pull-down operation in this field.

The column of “headland width” on the work information input screen 90 is a column for setting the width of an area where the tractor 1 turns and turns back (that is, the headland). In this column, the recommended width calculated based on the work width, overlap width, etc. set by the user before this is initially displayed, but by performing a pull-down operation, for example, the work width You can select an integer multiple and set it as the headland width. However, the present invention is not limited to this, and the user can directly input a numerical value of a desired width as the headland width.

The column of “non-cultivated land width” of the work information input screen 90 sets the width of the non-work area (that is, non-cultivated land) arranged at both ends of the traveling area in the direction in which the autonomous work path P1 of the tractor 1 is arranged. It is a column. In this column, the recommended width calculated based on the work width, overlap width, etc. set by the user before this is initially displayed, but by performing a pull-down operation, for example, the work width An integer multiple value can be set as the non-cultivated land width. However, the present invention is not limited to this, and the user can directly input a numerical value of a desired width.

The work content set above (in this embodiment, the content entered in the top column of the work information input screen 90) includes a work that consumes materials (specifically, for example, the work content) In the case of “fertilization”, “seeding”, “medicine spraying”, “herbicide spraying”, or “fertilization while plowing”), the user inputs all the fields on the work information input screen 90 When the abbreviated “confirm” button is operated, a material supply position setting window 91 is displayed over the work information input screen 90 as shown in FIG.

In the material replenishment position setting window 91, for example, the message “Please specify the replenishment position of material.” And the shape of the traveling area (farm field) and the work area (area where the autonomous work path P1 is arranged side by side) are displayed. A plane display unit 92 that graphically represents this as a graphic is displayed. The user touches the position specified as the material supply position with the finger on the flat display unit 92 and displays an appropriate mark (supply position mark 93) at the position, and displays “ Operate the “Register” button. Thereby, the setting of the replenishment position of the material is accepted by the replenishment position setting unit 58. In the present embodiment, the material replenishment position can be set only in the travel area and outside the work area.

When the user finishes setting the work information and returns to the input selection screen 60 in FIG. 6 and selects the travel route generation / transfer operation unit 64, the travel route P of the tractor 1 is automatically generated. Stored in the storage unit 32. When the travel route P is generated, a “path simulation” button is displayed on the display screen of the display 37 so as to be selectable. By selecting (manipulating) this “path simulation” button, an image expressing the generated travel route P with arrows, lines, or the like is displayed. In addition, the animation display which the icon of a tractor moves along the driving | running route P may be performed.

Furthermore, on the display screen of the display 37, a “transfer data” button and a “return to input selection screen” button are displayed in a selectable manner. When “transfer data” is selected, an instruction to transfer the information on the travel route P to the control unit 4 of the tractor 1 can be issued. When the “return to input selection screen” button is selected, the display screen is switched to the input selection screen 60.

Thus, in the route generation system 99 of the present embodiment, information on the travel 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 travel route P received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4.

Next, specific processing when the route generation unit 35 generates the supply route Q will be described with reference to FIGS. The supply route Q is automatically generated in consideration of the travel route P after the travel route P is generated by the route generation unit 35. FIG. 11 is a flowchart showing processing performed by the route generation unit 35 and the like when generating the fertilizer supply route Q. FIG. 12 is a flowchart showing the continuation of the process of FIG.

First, the fertilizer required amount calculation unit 51 sets the route length of the autonomous work route P1S that is set or calculated when the travel route P is generated (added the route lengths of all the autonomous work routes P1). Information and information on the amount of fertilizer used per unit length (feed amount) in the autonomous work path P1 are acquired. Then, by multiplying the above, the planned amount of fertilizer required in the autonomous work route P1S is calculated (step S101).

Subsequently, the fertilizer remaining amount acquiring unit 54 acquires the remaining amount of fertilizer in the fertilizer tank 29 based on the detection result of the fertilizer remaining amount sensor 30 (step S102).

Subsequently, when it is assumed that the fertilizer is not replenished, the route generation unit 35 determines whether or not the fertilizer runs out while the tractor 1 is traveling along the travel route P and being autonomously operated ( Step S103). This determination can be made by comparing the scheduled amount of fertilizer acquired in step S101 with the remaining amount of fertilizer acquired in step S102.

If the result of determination in step S103 is that the fertilizer does not run out in the middle of autonomous work (No in step S103), it is not necessary to replenish the fertilizer in the middle, so there is no need to generate the replenishment route Q. Thus, the process ends.

On the other hand, if the result of determination in step S103 is that the fertilizer runs out during the autonomous work (step S103, Yes), it means that it is necessary to replenish the fertilizer during the operation. Therefore, in order to generate the supply route Q for supplying fertilizer, the route generation unit 35 first obtains the fertilizer shortage occurrence position B where the fertilizer runs out on the autonomous work route P1S by calculation (step S104). Specifically, the path generation unit 35 divides the remaining amount of fertilizer obtained in step S102 by the amount of fertilizer used per unit length described in step S101, and the distance that the fertilizer lasts (fertilizer duration distance). ) Thereafter, the autonomous work route P1S is traced from the upstream end while counting the distance, and the point where the distance count value becomes equal to the fertilizer duration is obtained as the fertilizer shortage occurrence position B. FIG. 13 shows an example of the fertilizer shortage occurrence position B identified by the above method in a certain travel route P.

Subsequently, the path generation unit 35 replaces a predetermined number (three in the present embodiment) of the fertilizer shortage occurrence positions B on the upstream side connection path P2 with a supply path (hereinafter referred to as a replacement target connection path). (S105). In FIG. 13, the circled numbers attached to the connection path P <b> 2 indicate how many are upstream from the material outbreak occurrence position B. Therefore, in the example of FIG. 13, the connection path denoted by reference symbol P2R is the replacement target connection path. Next, the path generation unit 35 sets the starting end position C1 of the replacement target connection path P2R as a temporary leaving position (temporary interruption position) (step S106), and sets the end position D1 of the replacement target connection path P2R as a temporary return position. It is set as (temporary restart position) (step S107). FIG. 13 shows an example of the set provisional detachment position C1 and provisional return position D1.

Note that, as shown in FIG. 13, the temporary detachment position C1 can be rephrased as the position of the end (downstream end) of the autonomous work path P1 connected to the start end of the replacement target connection path P2R. The provisional return position D1 can be rephrased as the position of the start end (upstream end) of the autonomous work path P1 connected to the end of the connection path P2 of the replacement target connection path P2R.

Subsequently, the route generation unit 35 generates a provisional supply route Q1 by calculation (step S108). Specifically, the route generation unit 35 acquires information on the fertilizer supply position A <b> 1 set by the supply position setting unit 58. Then, the route generation unit 35 calculates the shortest route connecting the provisional disengagement position C1 and the provisional return position D1 via the fertilizer replenishment position A1 in the non-working area, and calculates this as the provisional replenishment route Q1. To do. FIG. 14 shows a provisional replenishment route Q1 generated for replenishment at the replenishment position A1 when the provisional separation position C1 and provisional return position D1 are set at the positions shown in FIG. The provisional supply route Q1 reaches the fertilizer supply position A1 from the temporary disengagement position C1, which is the starting point, through the headland or the non-cultivated area, and the headland or the non-cultivated area from the supply position A1. It can be obtained by calculating the route group that reaches the provisional return position D1 that is the end point while passing through and selects the shortest route.

Subsequently, the route generation unit 35 determines whether or not the route length of the provisional supply route Q1 is shorter than the route length from the provisional return position D1 to the work end position E in the travel route P (step S109). .

As a result of the determination in step S109, when the route length of the temporary supply route Q1 is shorter than the route length from the temporary return position D1 to the work end position E in the travel route P (step S109, Yes), the route generation unit 35 Uses the provisional supply route Q1 as the supply route Q (step S110). That is, the temporary disengagement position C1 and the provisional return position D1 set in steps S106 and S107 are adopted as the disengagement position (interruption position) C and the return position (resumption position) D, respectively, and the provisional replenishment route Q1 generated in step S108 is used. It will be adopted as the supply route Q. Thereafter, the series of processing is terminated. Note that the replacement target connection path P2R is replaced by the obtained supply path Q, whereby the travel path P and the supply path Q are connected, and the entire travel path of the tractor 1 is completed.

On the other hand, as a result of the determination in step S109, when the route length of the temporary supply route Q1 is equal to or longer than the route length from the temporary return position D1 to the work end position E in the travel route P (No in step S109). ), The provisional supply route Q1 is too long to be adopted as the supply route Q, and the balance is not good. Therefore, the path generation unit 35 moves the replacement target connection path P2R to one more upstream connection path P2 (step S111), returns to step S106, and repeats the above processing. FIG. 15 shows an example of the newly set replacement target connection path P2R (temporary leaving position C1 and provisional return position D1) and the regenerated provisional supply path Q1.

The processing from step S106 to step S109 and step S111 is performed until the route length of the new temporary supply route Q1 becomes shorter than the route length from the temporary return position D1 to the work end position E in the travel route P. Repeatedly. As a result, in the example of FIG. 13, the temporary supply route Q1 of FIG. 15 is adopted as the supply route Q instead of the temporary supply route Q1 of FIG.

Thus, the route generation unit 35 can generate the supply route Q whose route length is not too long. The information on the replenishment route Q generated in this way is displayed on the display screen of the display 37 as an image expressed by an arrow, a line, etc. together with the information on the travel route P when the above-mentioned “path simulation” button is operated. Is displayed.

After the display of “pass simulation” is finished, the display screen of the display 37 has a “transfer data” button, a “return to input selection screen” button, and a “change fertilizer replenishment position”. Buttons are displayed in a selectable manner. However, the “change fertilizer supply position” button is displayed only when the supply route Q is generated. When “transfer data” is selected, an instruction for transferring information of the supply route Q to the control unit 4 of the tractor 1 can be issued. When “return to input selection screen” is selected, the display screen is switched to the input selection screen 60.

When “Change fertilizer replenishment position” is selected, the material replenishment position setting window 91 is displayed on the display screen of the display 37 again. The user moves the replenishment position mark 93 displayed on the plane display unit 92 to a position to be designated as a new material replenishment position (changed material replenishment position) by, for example, a drag operation to set the material replenishment position. When the “Register” button at the bottom of the window 91 is pressed, the material supply position is set (registered) at the position designated by the user on the flat display unit 92. This setting content is received by the replenishment position setting unit 58.

In this case, processing for regenerating the supply route Q is performed. Although details of this processing will not be described, the processing after step S105 in FIG. FIG. 16 shows an example of the replenishment position A2 after the change and the provisional replenishment route Q2 generated in accordance with the change of the replenishment position (this provisional replenishment route Q2 is adopted as the replenishment route Q). Have been).

By inputting (transferring) information on the supply route Q in addition to the information on the travel route P to the control unit 4 and transmitting a start signal of autonomous travel / autonomous work from the wireless communication terminal 46 to the control unit 4, The control unit 4 controls the tractor 1 so that the tractor 1 can autonomously travel along the travel route P. In addition, while the vehicle is traveling autonomously along the travel route P, the tractor 1 is temporarily deviated from the travel route P and automatically traveled along the replenishment route Q. The fertilizer can be replenished by temporarily stopping at the fertilizer replenishment position A1 (A2). Thereby, it is possible to run the tractor 1 from the work start position to the work end position E and perform farm work on the autonomous work route without running out of fertilizer.

Further, in the present embodiment, the supply path Q is generated with the start end and the end of the connection path P2 that are three or more before the fertilizer shortage occurrence position B as the separation position C and the return position D, respectively. Therefore, since the separation position C and the return position D are set with a margin for the fertilizer shortage occurrence position B, it is possible to reliably prevent the fertilizer shortage from occurring during the autonomous work.

Hereinafter, the supply route Q generated in various situations will be described with reference mainly to FIGS. 14 to 17.

In the examples shown in FIGS. 13 to 16, the width of the non-cultivated land is not wide enough to change the direction of the tractor 1 by 180 degrees (the direction is reversed). Therefore, for example, the provisional supply route Q1 shown in FIG. 14 is generated so that the tractor 1 does not need to be turned 180 degrees. Specifically, the forward route of the temporary supply route Q1 (the route toward the supply position A1) is turned immediately after the tractor 1 departs from the temporary release position C1 so as to reach the supply position A1 while moving backward. Generated. Then, on the return path of the temporary supply path Q2 (path away from the supply position A1), the tractor 1 departs from the supply position A1 while moving forward to the return position D. The provisional supply routes Q1 and Q2 shown in FIGS. 15 and 16 are the same. With this configuration, even when the headland width or the non-cultivated land width is narrow, the tractor 1 can reach the return position D from the separation position C via the supply position A1.

However, the path from which the tractor 1 reaches the return position D via the replenishment position A1 via the replenishment position C arrives at the replenishment position A1 while moving forward, contrary to the replenishment path Q shown in FIG. However, it is also possible to perform the turn-over operation from the supply position A1. In addition, after the tractor 1 reaches the replenishment position A1 while moving forward from the separation position C, it departs from the replenishment position A1 while moving forward without switching the advancing direction, and circulates on the non-working area (non-cultivated land and headland). In this manner, the return position D may be reached. Alternatively, in addition to or instead of making a detour on a non-working area (non-cultivated land and headland), a dummy running may be performed on an unworked land.

In the examples from FIG. 14 to FIG. 16, the work progress direction of the tractor 1 (the direction in which the autonomous work path P1 is arranged from the work start position S to the work end position E) with reference to the temporary disengagement position C1. When viewed, the replenishment position A1 (A2) is arranged on the already working side (the side already carrying out the farming work). In this case, the tractor 1 arrives at the supply position A1 (A2) while moving backward on the forward path of the temporary supply paths Q1 and Q2, and departs from the supply position A1 (A2) while moving forward on the return path. The tractor 1 can reach the provisional return position D1 from the provisional disengagement position C1 via the supply position A1 (A2).

FIG. 17 shows an example in which the replenishment position is changed again from FIG. 16 and the new replenishment position A3 is designated, so that the provisional replenishment path Q3 is generated and this provisional replenishment path Q3 is adopted as the replenishment path Q. ing. In this example, the replenishment position A3 is arranged on the unworked side (side on which farm work has not yet been performed) when viewed in the work advance direction with reference to the temporary disengagement position C1. In this case, the tractor 1 arrives at the replenishment position A3 while moving forward on the forward path of the provisional replenishment route Q3, and departs from the replenishment position A3 while moving backward on the return path. The temporary return position D1 can be reached via the supply position A3. More specifically, the tractor 1 is moved forward from the provisional disengagement position C1 to arrive at the replenishment position A3, the retreating position A3 is started while switching the advancing direction, and the return is performed at a position slightly past the provisional return position D1. To reach the temporary return position D1 while moving forward.

However, in the case shown in FIG. 17, the replenishment route Q may be generated so as to pass through the unworked area in the work area. In this case, the degree of freedom of the replenishment route Q can be increased. However, even in this case, it is desirable that the portion that passes through the unworked land is generated so as to be as parallel as possible with the autonomous work path P1, because it is easy to process the trace of the unworked land.

As described above, the route generation system 99 of the present embodiment includes the route generation unit 35, the fertilizer required amount calculation unit (calculation unit) 51, the replenishment position setting unit 58, and the fertilizer remaining amount acquisition unit (specification unit). ) 54 and a detachment return position setting unit (interruption start position setting unit) 59. The route generation unit 35 can generate an autonomous work route P1S in which autonomous work is performed by the tractor (work vehicle) 1 within a preset work area. The fertilizer required amount calculation unit 51 calculates a planned amount of fertilizer (material) used by the tractor 1 in the autonomous work route P1S. The replenishment position setting unit 58 sets the fertilizer replenishment position A1 at a position designated by the user outside the work area. The fertilizer remaining amount acquisition unit 54 specifies the amount of fertilizer that can be used by the tractor 1. Based on the scheduled amount and the retained amount, the separation return position setting unit 59 suspends the autonomous work and leaves the travel route P, and returns after returning to the travel route P to resume the work. Position D is set. The route generation unit 35 can generate a supply route Q from the separation position C to the return position D via the supply position A1.

As a result, the tractor 1 is automatically suspended before it runs out of fertilizer and is directed to the fertilizer replenishment position A1, and after the replenishment is completed, it is automatically directed to an appropriate location to resume the autonomous work. Can be easily replenished with fertilizer. Therefore, the burden on the user can be reduced.

Further, in the route generation system 99 of the present embodiment, the autonomous work route P1S is composed of a plurality of autonomous work routes P1 connected via the connection route P2. The detachment return position setting unit 59 sets the detachment position C and the return position D to different autonomous work paths P1 and P1 connected by the connection path P2.

This makes it possible to smoothly resume the autonomous work after the interruption from the return position D, thereby improving work efficiency. In particular, since the disengagement position C and the return position D are arranged on different autonomous work paths P1, when the work is resumed after the autonomous work is interrupted, it is turned back to align the tractor 1 with the return position D. There is no need to use a lot of work, and work can be suspended and resumed smoothly.

Further, in the route generation system 99 of the present embodiment, the leaving position C is set at the end of the autonomous work path P1 connected to the start end of the connection path P2. Further, the return position D is set at the start end of the autonomous work path P1 connected to the end of the connection path P2.

Thereby, the replenishment work can be performed with little influence on the autonomous work route P1S.

Further, in the route generation system 99 of the present embodiment, the separation return position setting unit 59 has a route length of the supply route Q from the return position D to the work end position (autonomous work end position) E in the autonomous work path P1S. The separation position C and the return position D are set so as to be shorter than the path length.

This makes it possible to suppress the generation of a supply route Q having a path length that is too long, and to efficiently supply fertilizer. In addition, the user's psychological burden due to the route length of the supply route Q being too long is also reduced.

Further, in the route generation system 99 of the present embodiment, the replenishment position setting unit 58 is configured to be able to accept a change in replenishment position after the replenishment route Q is generated by the route generation unit 35. When the supply position A1 is changed to the new supply position A2 by the supply position setting section 58 after the supply path Q is generated, the path generation section 35 changes the position from the separation position C as shown in FIG. A new supply route Q that reaches the restart position D via the supply position A2 can be generated.

This enables the user to change the replenishment position A1 to the desired replenishment position A2 after the replenishment route Q is generated, thereby further improving flexibility.

Further, in the route generation system 99 of the present embodiment, the fertilizer requirement calculation unit 51 determines the planned amount based on the route length of the autonomous work route P1S and the amount of fertilizer used per unit length in P1. Calculate the amount of fertilizer required.

Thereby, since the route length of the autonomous work route P1S set in advance is used, the required amount of fertilizer required can be calculated more accurately than when calculating based only on the field area.

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

In the above embodiment, the fertilizer application device 3 is detachably attached to the traveling machine body 2. However, instead of this, the fertilizer application device 3 may be fixed to the traveling machine body 2 so as not to be removable. Further, the fertilizer application device 3 may be additionally provided in another working machine attached to the traveling machine body 2.

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

In the above embodiment, the fertilizer remaining amount acquisition unit 54 acquires the remaining amount of fertilizer based on the detection value obtained from the fertilizer remaining amount sensor 30. However, the fertilizer remaining amount acquisition unit 54 acquires the remaining amount of fertilizer by inputting, for example, the remaining amount of fertilizer visually measured by the user using a scale attached to the fertilizer tank 29 to the wireless communication terminal. You may comprise as follows.

In the above-described embodiment, the path generation unit 35 sets the separation position / return position based on the connection path P2 (the replacement target connection path P2R) on the three upstream sides of the fertilizer shortage occurrence position B. This is because the replenishment route Q is generated with a margin in order to reliably prevent the occurrence of running out of fertilizer. That is, how many upstream connection paths P2 from the fertilizer runout occurrence position B are set as a reference is arbitrary and can be determined as appropriate.

In the above-described embodiment, the fertilizer requirement calculation unit 51 is based on the planned amount (necessary) based on the route length of the autonomous work route P1S and the amount of fertilizer used per unit length in the autonomous work route P1. The amount of fertilizer is calculated. However, the scheduled amount may be calculated taking into consideration other factors. For example, in the fertilizer applicator 3, instead of driving the feeding unit 25 with the pressure reducing wheel 26, the feeding unit 25 can be driven with an electric motor so that the feeding speed can be controlled. In this case, the fertilizer required amount calculation unit 51 uses the moving speed of the tractor 1 in the autonomous work route P1S and the amount of feeding per unit time of the feeding unit 25 (total value of the plurality of feeding units 25). Can be calculated. Further, in a working machine capable of changing the working width, the expected usage amount can be calculated in consideration of the working width.

In the above embodiment, the tractor 1 does not perform fertilization (supply of materials) on the connection path P2 in the travel route P. However, the present invention is not limited to this, and also applies fertilization on the connection path P2. It is good. In that case, the fertilizer required amount calculation unit 51 calculates the required amount of fertilizer required based on the sum of the route lengths of the autonomous work paths P1, P1,... And the connection paths P2, P2,. What is necessary is just to calculate. In this case, it is desirable to calculate by excluding the length of the travel route at the time of fish tail turn where fertilization is not performed.

In the above configuration, the route generation unit 35, the fertilizer required amount calculation unit (calculation unit) 51, the fertilizer remaining amount acquisition unit 54, the replenishment position setting unit 58, and the withdrawal return position setting unit 59 are provided in the wireless communication terminal 46. Although the fertilizer possession amount sensor (specific part) 54 is provided in the tractor 1, it is not limited to which of the tractor 1 and the wireless communication terminal 46 these configurations are provided. Further, other components may be included in either the tractor 1 or the wireless communication terminal 46.

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

1 Tractor (work vehicle)
35 Route generator 51 Fertilizer requirement calculator (calculator)
54 Fertilizer holding sensor (specific part)
58 Supply position setting section 59 Departure return position setting section (interruption start position setting section)
99 Route generation system A1, A2 (Material) replenishment position B Fertilizer outbreak occurrence position C Removal position (interruption position)
D Return position (restart position)
P1 Autonomous work path P1S Autonomous work path Q Supply path

Claims

A route generation unit capable of generating an autonomous work route in which autonomous work is performed by a work vehicle within a preset work area;
A calculation unit for calculating a planned amount of material used by the work vehicle in the autonomous work route;
A replenishment position setting unit that sets a replenishment position of the material at a position designated outside the work area;
A specific unit that identifies the amount of material that the work vehicle can use;
An interruption start position setting unit that sets an interruption position and a resume position of autonomous work based on the scheduled amount and the possessed amount;
With
The route generation system, wherein the route generation unit can generate a supply route from the interruption position to the restart position via the supply position.
The route generation system according to claim 1,
The autonomous work path is composed of a plurality of autonomous work paths connected through a connection path,
The interruption start position setting unit sets the interruption position and the resumption position to different autonomous work paths connected by the connection path.
The route generation system according to claim 1,
The interruption start position setting unit sets the interruption position and the resumption position so that a route length of the replenishment route is shorter than a route length from the resumption position to an autonomous work end position on the autonomous work route. A route generation system characterized by that.
The route generation system according to claim 1,
The replenishment position setting unit is configured to be able to accept a change in the replenishment position after the replenishment route is generated by the route generation unit.
When the change of the replenishment position is accepted by the replenishment position setting unit after the replenishment route is generated, the route generation unit renews the resumption position from the interruption position via the replenishment position after the change. A route generation system capable of generating a supply route.
The route generation system according to claim 1,
The calculation unit includes a route length of the autonomous work route, a moving speed of the work vehicle in the autonomous work route, a usage amount of material per unit time in the autonomous work route, a width in which the work vehicle performs work, and the autonomous A route generation system, wherein the planned amount is calculated based on at least one of the amount of material used per unit length in a work route.