Granular material supply system

Abstract

To provide a granular material supply system capable of efficiently supplying granular materials from a transport vehicle to a container mounted on a work machine.SOLUTION: A granular material supply device includes a transport vehicle for transporting granular materials to be supplied to a granular material storage container provided in a work machine for spreading the granular materials to a field, a granular material supply device mounted on the transport vehicle, having a discharge port and discharging the granular materials from the discharge port to the container of the work machine, and a granular material supply control part for controlling the granular material supply device. The granular material supply control part controls the granular material supply device to dispose the discharge port at a target discharge port position for discharging the granular materials toward the container, and then discharge the granular materials from the discharge port to the container.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a granular material supplying system for supplying granular material to a granular material storage container provided in a work machine that spreads granular material on a farm field. [Background technology]

[0002] For example, the transport vehicle disclosed in Patent Document 1 transports granular material to be supplied to a container for storing fertilizer (granular material) equipped in a rice transplanter (working machine). This transport vehicle is equipped with a fertilizer supplying device. The transport vehicle stops near the rice transplanter, and the fertilizer supplying device is used to supply the granular material, which is fertilizer, from the transport vehicle to the container equipped in the rice transplanter.

[0003] The fertilizer supplying device has a lifting conveying device that extends vertically to convey fertilizer upward from a hopper installed on a transport vehicle, a horizontal conveying device that extends horizontally from the upper end of the lifting conveying device, and a discharge chute provided at the terminal end of the horizontal conveying body. A discharge port opens at the lower end of the discharge chute, and the fertilizer is discharged from the discharge port and supplied to a container.

[0004] Furthermore, for example, in the agricultural work support system disclosed in Patent Document 2, an agricultural worker can obtain information on the planned amount of spraying agent to be applied to a field, which is included in the work plan, by receiving information on the work plan created by an administrator on his / her own communication terminal. The agricultural worker transmits the obtained information on the planned amount to be applied to an agricultural work vehicle, such as a tractor, which will be performing the work of spraying the spraying agent. The agricultural work vehicle (its calculation unit) counts the distance traveled while driving to calculate how much spraying agent has actually been applied, and can grasp the amount of spraying agent remaining in the on-board container, so that it can also determine whether the planned amount can be applied, etc. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 3938713 [Patent Document 2] JP 2022-161972 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the fertilizer supplying device of Patent Document 1, the horizontal conveying device can rotate up and down relative to the lifting conveying device, so that the vertical position of the discharge outlet can be adjusted, but the length of the conveying path formed by the lifting conveying device and the horizontal conveying device is fixed (except that the horizontal conveying device can be folded when stored). Therefore, it seems that the rice transplanter or the carrier must be moved when aligning the discharge outlet with the container.

[0007] In addition, neither the rice transplanter nor the transport vehicle are autonomous or remotely controlled, and the transport of fertilizer by the fertilizer supplying device is performed by an operator who switches the motor while observing the fertilizer discharged from the discharge outlet and the condition of the container.

[0008] Furthermore, in the agricultural work support system of Patent Document 2, agricultural workers etc. can grasp the relationship between the remaining amount of spray agent in a container mounted on an agricultural work vehicle and the planned spray amount, and can therefore determine, for example, at what point the remaining amount will reach zero and how much more spray agent needs to be replenished before the spraying work is completed. However, no consideration is given to the control of the movement of the transport vehicle that transports the spray agent to be replenished in the container of the agricultural work vehicle.

[0009] The present invention provides a granular material supplying system configured to eliminate the burden on an operator of operation and monitoring the supply of granular material from a transport vehicle to a container provided on a work machine. [Means for solving the problem]

[0010] The granular material supply system according to the present invention includes a transport vehicle for transporting granular material to be supplied to a granular material storage container provided on a working machine for spreading the granular material on a field, a granular material supply device mounted on the transport vehicle, having an outlet, and discharging the granular material from the outlet into the container of the working machine, and a granular material supply control unit for controlling the granular material supply device. The granular material supply control unit controls the granular material supply device to position the outlet at a target outlet position for discharging the granular material toward the container, and then discharge the granular material from the outlet into the container.

[0011] The granular material supply control unit may be capable of acquiring container position information indicating the position of the container of the work machine, and may determine the target discharge outlet position based on the acquired container position information.

[0012] The granular material supply device may be configured to be able to extend or retract a granular material conveying path to the discharge port. The granular material supply control unit may extend or retract the granular material conveying path to position the discharge port at the target discharge port position.

[0013] When multiple containers are arranged side by side in the work machine, the granular material supply control unit may determine the target discharge outlet position for each of the containers and extend or contract the granular material conveying path to position the discharge outlet at each of the target discharge outlet positions.

[0014] The granular material supply control unit is capable of acquiring work plan information regarding the spreading of granular material onto the field by the work machine, and may determine a target supply amount of granular material from the granular material supplying device to the container based on the work plan information.

[0015] At least one of the work machine, the transport vehicle, and the granular material supplying device may be capable of measuring the amount of granular material discharged from the discharge port. The granular material supply control unit may be capable of acquiring the measured discharge amount, and may stop the discharge of the granular material from the discharge port when the discharge amount reaches the target supply amount while the granular material supplying device is discharging the granular material into the container of the work machine.

[0016] The granular material supply system may include a support device for automatic or remotely controlled travel of at least one of the transport vehicle and the work machine. The support device may include the granular material supply control unit.

[0017] The granular material supply system may include a vehicle control unit that executes processing related to the movement of the vehicle. The vehicle control unit may determine a granular material supply position at which the vehicle should stop in order to supply granular material to the container of the work machine by the granular material supply device.

[0018] When the transport vehicle control unit determines the granular material supply position, the transport vehicle control unit may execute a process for moving the transport vehicle to the granular material supply position.

[0019] The work machine may be capable of measuring the amount of granular material remaining in the container over time while performing a granular material spreading operation on a field. The transporter control unit may be capable of acquiring remaining amount information indicating the remaining amount of granular material in the container of the work machine measured over time, and may determine the granular material supply position based on the acquired remaining amount information.

[0020] The transport vehicle control unit may determine a transport vehicle arrival time at which the transport vehicle should arrive at the granular material supply position based on the acquired remaining amount information.

[0021] The transport vehicle control unit may execute processing to move the transport vehicle so as to arrive at the granular material supply position at the transport vehicle arrival time or within a specified time period including the transport vehicle arrival time.

[0022] A headland area for the working machine to turn may be provided at an end of the field. The transport vehicle control unit may determine the granular material supply position of the transport vehicle so that the working machine can receive the granular material supplied to the container in the headland area.

[0023] The granular material assistance system may include an assistance device for automatic or remotely controlled travel of the transport vehicle. The assistance device may include the transport vehicle control unit.

[0024] The granular material support system may include a work machine control unit that executes processing related to the granular material spreading operation of the work machine. The work machine may be capable of measuring the remaining amount of granular material in the container over time while performing the work of spreading granular material on a farm field. The work machine control unit may acquire remaining amount information indicating the remaining amount of granular material in the container of the work machine measured over time, and may determine a granular material receiving position at which the work machine should stop to receive the supply of granular material from the granular material supply device of the transport vehicle to the container based on the remaining amount information. The transport vehicle control unit may acquire the granular material receiving position determined by the work machine control unit, and may determine the granular material supplying position so as to correspond to the granular material receiving position.

[0025] The work machine control unit may predict a work machine arrival time at which the work machine will arrive at the granular material receiving position based on the acquired remaining amount information. The transport vehicle control unit may acquire the work machine arrival time predicted by the work machine control unit and determine a transport vehicle arrival time at which the transport vehicle should arrive at the granular material supplying position so as to correspond to the work machine arrival time.

[0026] The transport vehicle control unit may execute processing to move the transport vehicle so as to arrive at the granular material supply position at the transport vehicle arrival time or within a specified time period including the transport vehicle arrival time.

[0027] A headland area for the work machine to turn may be provided at an end of the field. The work machine control unit may determine the granular material receiving position so that the work machine can receive the granular material supplied to the container in the headland area.

[0028] The granular material supply system may include a support device for automatic or remotely controlled travel of at least one of the transport vehicle and the work machine. The support device may include at least one of the transport vehicle control unit and the work machine control unit. Effect of the Invention

[0029] The granular material supply system according to the present invention reduces the burden on the worker of operating and monitoring the supply of granular material from the transport vehicle to a container provided on the work machine. [Brief description of the drawings]

[0030] [Figure 1] FIG. 2 is a diagram of the granular material feeding system showing the transport vehicle and the implement during granular material feeding. [Diagram 2] FIG. [Diagram 3] 1 is a schematic plan view showing a transport vehicle at a granular material supply position and a work implement at a granular material receiving position; [Figure 4] 10 is a flow chart showing the process steps from making the transport vehicle reach the granular material supply position to making the work machine reach the granular material receiving position. FIG. [Diagram 5] FIG. 1 is a flow chart illustrating process steps for feeding granular material to a receptacle of a work machine. [Figure 6] FIG. 6 is a flowchart continuing from FIG. 5. [Figure 7] FIG. 13 is a diagram showing a screen for inputting items related to a work plan. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Fig. 1 is a diagram of a granular material supply system 60 showing a transport vehicle 1 and a working machine 20 during supply of granular material. The structure of the working machine 20, the structure of the transport vehicle 1, and the manner in which granular material is supplied from the transport vehicle 1 to the working machine 20 will be described with reference to Fig. 1 and other figures.

[0032] First, the structure of the work machine 20 will be described with reference to Figures 1 and 2. Figure 2 is a side view of the work machine 20. The work machine 20 performs the task of scattering (sowing) granular materials such as seeds and fertilizer in a farm field.

[0033] The working machine 20 according to this embodiment has a traveling vehicle 21, a seedling planting device 22, and a spraying device 30. The seedling planting device 22, which includes a seedling carrier 22a and a planting mechanism 22b, is attached to a coupling device 25 provided on the traveling vehicle 21, and the seedling planting device 22 is attached to a spraying device 30, which serves as a fertilizer device, a sowing device, a chemical spraying device, or the like.

[0034] In addition, the working machine 20 is usually configured as a rice transplanter, that is, a structure combining a traveling vehicle 21 and a seedling planting device 22, and in this embodiment, a spraying device 30 is attached to the seedling planting device 22.

[0035] However, the work machine 20 that performs the work of spreading (sowing) granular material in a field is not limited to this structure. For example, instead of the seedling planting device 22, the spreader 30 may be directly attached to the coupling device 25 of the traveling vehicle 21. Alternatively, the work machine 20 that spreads (sows) granular material in a field may be configured by connecting a spreader such as a fertilizer applicator, a seeding device, or a chemical spreader to a tractor.

[0036] In addition, hereinafter, the structure of the spreading device 30 will be described on the assumption that the spreading device 30 is configured as a device that spreads (sows) granular material in a plurality of parallel stripes (lines) extending along the traveling direction of the working machine 20, i.e., as a row sowing device, but the configuration of the spreading device 30 is not limited to a configuration as a row sowing device that spreads granular material in such stripes. For example, the spreading device 30 may be configured to spread and distribute the granular material over the entire width of the seedling planting device 22 in the left-right direction.

[0037] The spraying device 30 is equipped with a container (hopper) 31 for storing granular materials such as seeds and fertilizer, a granular material dispenser 32 that sequentially dispenses the granular materials one by one from the container 31, and a chute 33 that guides the granular material dispensed by the granular material dispenser 32 and discharges it into the field.

[0038] A combination of one container 31, one granular material dispenser 32, and one chute 33 constitutes one row of spraying unit 30a. The spraying device 30 has multiple (eight in this embodiment) spraying units 30a arranged side by side, and is configured so that the spraying device 30 can simultaneously perform multiple rows of spraying (eight rows in this embodiment) while the traveling vehicle 21 travels along a single traveling road.

[0039] In the embodiment shown in FIG. 1, the spraying device 30 has eight spraying units 30a arranged in a row, so that eight rows of seeding can be performed simultaneously. Furthermore, two containers 31 are connected to each of the spraying units 30a, Each of the two mutually connected containers 31 is provided with a common lid 31a.

[0040] A prime mover 23 is provided on the traveling vehicle 21 of the work machine 20. Power of the prime mover 23 is transmitted to wheels 24 of the traveling vehicle 21, causing the traveling vehicle 21 to travel.

[0041] On the other hand, the traveling vehicle 21 has a power take-off (PTO) shaft (not shown), and the power of the prime mover 23 is transmitted to the spraying device 30 via the PTO shaft. The traveling vehicle 21 also has a PTO clutch that switches the PTO shaft between drive and non-drive. The traveling vehicle 21 may further have a PTO speed change mechanism that switches the rotational speed stage of the PTO shaft.

[0042] The granular material dispensers 32 of all the spraying units 30a of the spraying device 30 are driven simultaneously by a single common drive shaft 34. This drive shaft 34 is driven by the power of the prime mover 23 transmitted via the PTO shaft. Therefore, by disengaging the PTO clutch, the drive of the drive shaft 34 is stopped, and the drive of the granular material dispensers 32 of all the spraying units 30a is stopped simultaneously, and the spraying (spreading) of granular material from all the chutes 33 can be stopped.

[0043] In this way, the power of the prime mover 23 is distributed to the wheels 24 of the traveling vehicle 21 and the drive shaft 34 of the spraying device 30, so that the traveling speed (vehicle speed) of the traveling vehicle 21 and the speed at which the granular material is dispensed by the granular material dispenser 32 are synchronized. Therefore, by detecting the traveling speed (vehicle speed) over time, it is also possible to predict the change over time in the remaining amount of granular material in the container 31.

[0044] In addition, if the moving vehicle 21 is equipped with a PTO transmission mechanism, the payout speed of the granular material can be changed by switching the rotational speed stage of the PTO shaft using the PTO transmission mechanism. However, regardless of which speed stage the rotational speed stage of the PTO shaft is set to, the payout speed of the granular material will be synchronized with the traveling speed of the moving vehicle 21, that is, changes in the payout speed of the granular material will follow changes in the traveling speed of the moving vehicle 21.

[0045] Also, an opening / closing mechanism may be provided for each chute 33 of the spraying device 30. This opening / closing mechanism may be structured to open and close the granular material discharge ports of all the chutes 33 simultaneously, or may be structured to open and close them individually. This opening / closing mechanism is provided in the seedling planting device 22, but may be electrically connected to the control device 28 provided in the traveling vehicle 21. In other words, the opening and closing operation of this opening / closing mechanism may be controlled independently of the on / off of the PTO clutch.

[0046] The traveling vehicle 21 is provided with a driver's seat 21a. An operator sitting in the driver's seat 21a can decide the starting and stopping of the traveling vehicle 21, the traveling direction, traveling speed, turning direction, turning on and off of the clutch for transmitting power to the PTO shaft, opening and closing of the chute 33 of the spraying device 30, etc., and can control the traveling of the traveling vehicle 21 and the operation of the spraying device 30 by operating operating members such as a steering handle 21b near the driver's seat 21a.

[0047] The traveling vehicle 21 is also provided with a communication device 27 and a control device 28. The communication device 27 is capable of communicating with the transporter 1 via a wireless communication network 40 such as the Internet.

[0048] The traveling vehicle 21 is also provided with a positioning device 29 such as an antenna that detects the position of the traveling vehicle 21 itself (the traveling vehicle 21) based on position information received from an artificial satellite 50. Based on the detection results of the positioning device 29, the control device 28 can also control the traveling vehicle 21 to travel along a travel route (see travel route 80 in FIG. 3) set in advance in the field, i.e., to travel in an automatic manner.

[0049] Furthermore, the work machine 20 can be operated by a worker who is not riding on the traveling vehicle 21, for example, by operating a portable worker communication terminal 43 (hereinafter, simply "communication terminal 43") as shown in FIG. It is also possible to run the vehicle by remote control via a wireless communication network 40 or the like.

[0050] Next, a description will be given of a transport vehicle 1 that supplies granular material to a working machine 20 with reference to Fig. 1. The transport vehicle 1 may be any vehicle that is equipped with a granular material supplying device 10 and is capable of transporting granular material to be supplied to the container 31 equipped in the working machine 20.

[0051] For example, as shown in FIG. 1, the transport vehicle 1 is a truck, a utility vehicle (UTV), or the like, and the granular material supplying device 10 may be mounted on the bed 9 of the vehicle.

[0052] Alternatively, a loader (compact track loader, skid steer loader, etc.) may be used as the transport vehicle 1, in which case the granular material supplying device 10 may be provided as an attachment mounted on the tip of the arm.

[0053] The following description is based on the assumption that the transporter 1 is a truck equipped with a wheel-type traveling device (wheels 3) as shown in Fig. 1. The transporter 1 is equipped with a prime mover 2 such as an internal combustion engine or an electric motor, and is configured to travel by transmitting the power of the prime mover 2 to the wheels 3.

[0054] The transport vehicle 1 is equipped with a driver's seat 4. An operator sitting in the driver's seat 4 can determine the starting and stopping of the transport vehicle 1, the traveling direction, the traveling speed, the direction in which the transport vehicle 1 should be pointed by steering, etc., and can control the traveling of the transport vehicle 1 by operating operating members near the driver's seat 4.

[0055] The transporter 1 is also equipped with a communication device 5 and a control device 6. The communication device 5 is capable of communicating with the work machine 20 (i.e., the communication device 27 provided in the traveling vehicle 21) via a wireless communication network 40 such as the Internet.

[0056] The transporter 1 is also provided with a positioning device 7 such as an antenna that detects its own position (the transporter 1) based on position information received from an artificial satellite 50 (see FIG. 1). The control device 6 determines the starting and stopping of the transporter 1, the traveling direction, the traveling speed, the direction in which the transporter 1 should be steered, and the like, based on its own position detected by the positioning device 7, information on the destination point to be reached transmitted from the work machine 20 as described below, and map information on roads outside the field, etc., obtained via a wireless communication network 40 (which may be map information stored in a storage device provided in the transporter 1), and controls the prime mover 2 and a transmission (speed change) mechanism (not shown) interposed between the prime mover 2 and the wheels 3, thereby controlling the traveling of the transporter 1. In other words, the transporter 1 can move by automatic traveling.

[0057] Furthermore, the transport vehicle 1 can also be driven by remote control via a wireless communication network 40, for example, by a worker who is not on board the transport vehicle 1, operating a portable communication terminal 43 as shown in Figure 1.

[0058] The transport vehicle 1 is equipped with a granular material supplying device 10 as shown in Fig. 1. As described above, in this embodiment, the transport vehicle 1 is a truck, and the granular material supplying device 10 is mounted on the loading platform 9.

[0059] The granular material supplying device 10 has a tank 11 for storing granular material, a grain lifting tube 12 connected to the tank 11 and extending vertically, a horizontal conveying tube 13 extending horizontally from the upper end of the grain lifting tube 12, an accumulator 14 provided at the tip of the horizontal conveying tube 13, and a grain discharge tube 15 extending downward from the accumulator 14.

[0060] The lower end of the lifting tube 12 is open as an inlet end, and this inlet end is connected to the bottom or a portion near the bottom of the tank 11, so that the granular material stored in the tank 11 can be received into the lifting tube 12. An openable shutter may be provided at the inlet end of the lifting tube 12, and this shutter may be closed when the granular material supplying device 10 is not in use.

[0061] An unillustrated conveying auger (screw) having an upper and lower shaft is provided inside the grain lifting tube 12. The granular material flowing from the tank 11 into the grain lifting tube 12 through the inlet end is conveyed upward inside the grain lifting tube 12 by the conveying auger.

[0062] A blower 16 configured to blow air into the horizontal conveying tube 13 is provided at the upper end of the lifting tube 12. When the granular material transported upward by the conveying auger in the lifting tube 12 reaches the upper end of the lifting tube 12, it is blown into the horizontal conveying tube 13 by the blower 16.

[0063] The granular material blown by the blower 16 passes through the horizontal conveying tube 13 and reaches the accumulator 14. The accumulator 14 allows the granular material blown through the horizontal conveying tube 13 to remain there.

[0064] The upper end of the grain discharge tube 15 is connected to the accumulator 14. A vertically axially centered conveying auger (screw) (not shown) is provided inside the grain discharge tube 15. Granular material retained in the accumulator 14 is conveyed downward inside the grain discharge tube 15 by the conveying auger, and discharged (dropped) outward from a discharge port 15a at the lower end of the grain discharge tube 15.

[0065] In addition, the discharge port 15a may be provided with a shutter or the like so that the discharge port 15a can be opened and closed. For example, when the container 31 to which the granular material is supplied is nearly full and it is desired to immediately stop the discharge of the granular material from the discharge port 15a, it is possible to close the discharge port 15a with a shutter or the like.

[0066] As described above, the granular material blown by the blower 16 accumulates in the accumulator 14, and is transported in the particle discharge tube 15 by the transport auger which rotates at a set speed.

[0067] Therefore, the granular material is not blown by the blower 16 and discharged in large quantities at high speed from the discharge outlet 15a all at once; rather, the granular material is discharged at a speed and amount regulated by the accumulator 14 and the conveying auger in the granular discharge tube 15, making it easier to control the operation of supplying the granular material from the discharge outlet 15a to the container 31 of the work machine 20 (for example, turning a switch on and off to start and stop supply).

[0068] Here, when the granular material supplying device 10 of the transporter 1 supplies granular material to the container 31 of the work machine 20, it is important to align the discharge port 15a with the container 31.

[0069] As mentioned above, the transport vehicle 1 has a positioning device 7 and can measure its own position (the body of the transport vehicle 1).Therefore, the control device 6 can correct the measured own position taking into account the distance and direction from the point measured as its own position by the positioning device 7 to the discharge outlet 15a, and obtain the position of the discharge outlet 15a.

[0070] On the other hand, as mentioned above, the running vehicle 21 of the work machine 20 also has a positioning device 29 and can measure its own position (the body of the running vehicle 21), so the control device 28 can correct the measured own position taking into account the distance and direction from the point measured as its own position by the positioning device 7 to the container 31 (the container 31 that should receive the supply of granular material) and obtain the position of the container 31.

[0071] Furthermore, since the communication device 5 of the transporter 1 and the communication device 27 of the work machine 20 are capable of communicating with each other, the control device 6 of the transporter 1 can obtain information regarding the position of the container 31 obtained by the control device 28 of the work machine 20.

[0072] Furthermore, as described below, the transport vehicle 1, the granular material supplying device 10 mounted on the transport vehicle 1, and the working machine 20 can also be controlled by a support device 44, which will be described later, as shown in FIG.

[0073] In this way, the control device 6 of the transport vehicle 1 can obtain information indicating the current position of the discharge outlet 15a of the granular material supplying device 10 (current position Pa described below) and information indicating the current position of the container 31 of the work machine 20, and can acquire the target position of the discharge outlet 15a for supplying granular material to the container 31 (target discharge outlet position Pt described below).

[0074] Furthermore, in order to improve the accuracy of alignment between the discharge port 15a and the container 31, a supply destination detection device 18 is provided in the grain discharge tube 15 near the discharge port 15a. The supply destination detection device 18 may be an imaging device, a sensing device capable of measuring distance (LiDAR sensor, camera, etc.), or the like.

[0075] In addition, instead of or in addition to the supply destination detection device 18, a detection device (sensing device) for aligning the container 31 with the discharge outlet 15a may be provided in the work machine 20 (the seedling planting device 22 or the spraying device 30).

[0076] In addition, the supply destination detection device 18 for the alignment or a detection device provided on the work machine 20 may be used to detect the amount of granular material supplied to the container 31 (which may be the amount of granular material discharged from the discharge outlet 15a, or the remaining amount of granular material in the container 31).

[0077] As described above, the control device 6 can obtain information indicating the target position of the discharge outlet 15a through communication with the work machine 20, the detection results of the supply destination detection device 18, etc., and can move the discharge outlet 15a to the target position.

[0078] To move this discharge outlet 15a, for example, the control device 6 may control the prime mover 2, thereby moving the transport vehicle 1 until the current position of the discharge outlet 15a (current position Pa) coincides with the target position (target discharge outlet position Pt).

[0079] Furthermore, in this embodiment, the granular material supplying device 10 provided on the transport vehicle 1 has a structure for moving the discharge port 15a as described below.

[0080] That is, in the granular material supplying device 10, the horizontal conveying cylinder 13 is extendable in its longitudinal direction.

[0081] In this embodiment, the horizontal conveying cylinder 13 has a small diameter cylinder 13a and a large diameter cylinder 13b, which are nested together, and this allows the horizontal conveying cylinder 13 to be extendable and retractable.

[0082] However, the structure for making the horizontal conveying tube 13 extendable is not limited to this. For example, the horizontal conveying tube 13 may be a bellows-shaped tube.

[0083] Along the outer surface of the horizontal conveying cylinder 13, a hydraulic cylinder 17 which is an actuator for extending and contracting the horizontal conveying cylinder 13 is provided.

[0084] One end of the hydraulic cylinder 17 is connected to the small diameter cylinder 13a, and the other end is connected to the large diameter cylinder 13b, so that the horizontal conveying cylinder 13 expands and contracts as the hydraulic cylinder 17 expands and contracts.

[0085] In order to allow the hydraulic cylinder 17 to expand and contract, the transport vehicle 1 is provided with a hydraulic circuit (not shown) including a hydraulic pump driven by the power of the prime mover 2, and a control valve included in the hydraulic circuit It is considered that the amount and direction of hydraulic oil supplied to the hydraulic cylinder 17 may be controlled by the control.

[0086] The actuator that expands and contracts the horizontal conveying cylinder 13 is not limited to the hydraulic cylinder 17. For example, an air cylinder that expands and contracts by supplying air from a compressor driven by an electric motor may be used as the actuator.

[0087] Alternatively, it is also possible to form screw threads on the small diameter tube 13a and the large diameter tube 13b of the horizontal conveying tube 13 and screw these threads together, and use an electric motor as an actuator to rotate one of the small diameter tube 13a and the large diameter tube 13b relative to the other, thereby extending and retracting the horizontal conveying tube 13.

[0088] As described above, the spraying device 30 of the work machine 20 has a number of containers 31 aligned in a row, the number of containers 31 corresponding to the number of spraying units 30a. To supply granular material to these containers in sequence, the target position of the discharge port 15a is changed in response to each container 31 in turn.

[0089] In order to sequentially supply granular material to each of the multiple containers 31 lined up in a row in this manner, the control device 6 of the transport vehicle 1 extends and retracts the horizontal conveying cylinder 13 of the granular material supplying device 10 to move the discharge outlet 15a to the target position, which is changed successively, while keeping the transport vehicle 1 parked.

[0090] Furthermore, the horizontal conveying tube 13 may be rotatable, for example, around the central axis in the up-down direction of the grain lifting tube 12. This makes it possible to align the container 31 and the discharge port 15a by rotating the horizontal conveying tube 13 when there is a positional deviation between them in a direction different from the extension / contraction direction of the horizontal conveying tube 13.

[0091] Furthermore, when the horizontal conveying cylinder 13 has a rotatable structure as described above, an actuator (such as an electric motor) for rotating the horizontal conveying cylinder 13 can be provided on the transport vehicle 1 or the granular material supplying device 10, and the actuator can be controlled by the control device 6 or operated by an operator.

[0092] With the above-described structure, the control device 6 of the transport vehicle 1 controls the granular material supplying device 10 to discharge the granular material from the discharge outlet 15a once it has completed aligning the discharge outlet 15a with the container 31 as the destination for the granular material.

[0093] That is, in order to drive the conveying auger in the grain lifting tube 12, the conveying auger in the grain discharge tube 15, and the blower 16, actuators (electric motors, etc.) for driving these are operated.

[0094] In addition, when a shutter is provided at the discharge outlet 15a as described above, for example, while the discharge outlet 15a is moving (from the container 31 of one spraying unit 30a to the container 31 of the other spraying unit 30a), the shutter can be closed while at least one of the conveying auger and blower 16 is maintained in operation, so that discharge of granular material begins as soon as the discharge outlet 15a reaches the next target position and receives the shutter.

[0095] As described above, the transport vehicle 1 communicates with the work machine 20, etc., to control the position of the discharge outlet 15a in the granular material supplying device 10 for supplying granular material.

[0096] In addition, preferably, the lid 31a of the container 31 of the working machine 20 (specifically, the lid 31a provided for each pair of the spraying units 30a) is structured to be automatically openable and closable, and is located at a position for receiving the supply of granular material from the granular material supplying device 10 of the transport vehicle 1 (hereinafter referred to as the "granular material receiving position P2"). After the work machine 20 arrives at the container 31, the lids 31a are opened in order in the order in which the granular material is supplied, or all of the lids 31a are opened before the granular material is supplied to the "first container 31" described below, and all of the lids 31a are closed after the granular material is supplied to the "last container 31" described below.

[0097] Furthermore, as shown in FIG. 1, the wireless communication network 40 to which the transport vehicle 1 and the work machine 20 are connected has multiple computers connected thereto, including a server 41, an administrator computer 42, the aforementioned communication terminal 43, etc., as shown in FIG. 1, and these computers are configured as a support device 44 that performs and manages automatic driving and remote control of the transport vehicle 1 and / or the work machine 20.

[0098] The support device 44 consisting of these computers 41, 42, 43 functions as a support device for controlling and monitoring the movement of the transport vehicle 1 and the work machine 20 to positions for supplying granular material from the granular material supplying device 10 to the container 31 (the "granular material supplying position P1" and the "granular material receiving position P2" described below) by automatic driving or remote control, etc., and also for controlling and monitoring the granular material supplying device 10 and the spraying device 30, etc. when supplying the granular material.

[0099] Hereinafter, the structure and / or function of each computer serving as the support device 44 will be described.

[0100] The server (production management computer) 41 is, for example, a cloud application server, and includes a work plan creation management unit 41a, a work machine control unit 41b, a transport vehicle control unit 41c, and a granular material supply control unit 41d.

[0101] The work plan creation and management unit 41a stores a program for creating a work plan for agricultural work using the work machine 20, etc., and a program for managing the created work plan. The work machine control unit 41b stores a program for controlling the automatic travel or remotely controlled travel of the work machine 20 based on the work plan. The transport vehicle control unit 41c stores a program for controlling the automatic travel or remotely controlled travel of the transport vehicle 1. The granular material supply control unit 41d stores a program for controlling the supply of granular material from the granular material supply device 10 mounted on the transport vehicle 1 to the container 31 mounted on the work machine 20.

[0102] The work plan creation management unit 41a, the work machine control unit 41b, the transport vehicle control unit 41c, and the granular material supply control unit 41d may be structurally integrated into one unit or may be distributed. For example, multiple servers may be used as the server 41, and in this case, the work plan creation management unit 41a, the work machine control unit 41b, the transport vehicle control unit 41c, and the granular material supply control unit 41d may be distributed among the multiple servers.

[0103] In addition, software having the same functions as at least one of the work plan creation management unit 41a, work machine control unit 41b, transport vehicle control unit 41c, and granular material supply control unit 41d may be provided in the administrator's computer 42 or the worker's communication terminal 43 included in the support device 44.

[0104] That is, the support device 44 may be provided with a work plan creation management unit 41a, a work machine control unit 41b, a transport vehicle control unit 41c, and a granular material supply control unit 41d.

[0105] In addition, for example, software having the same function as the work machine control unit 41b or software corresponding to the work machine control unit 41b provided in the support device 44 may be implemented in the control device 28 of the work machine 20, and software having the same function as the transport vehicle control unit 41c or software corresponding to the transport vehicle control unit 41c provided in the support device 44 may be implemented in the control device 28 of the transport vehicle 1. It may be implemented in 6.

[0106] The administrator's computer 42 is a computer operated by the administrator to create various work plans by communicating with the work plan creation and management section 41a of the server 41, and to manage work results inputted from the communication terminal 43, the communication device 5 of the transport vehicle 1, the communication device 27 of the work machine 20, etc.

[0107] The worker communication terminal 43 is operated by the worker for purposes such as checking the contents of the work plan, automatic driving and remote control of the work machine 20, automatic driving and remote control of the transport vehicle 1, and remote control of the granular material supplying device 10 when supplying granular material to the container 31.

[0108] Here, an embodiment of the creation and management of a work plan will be described. The work plan creation management unit 41a of the server 41 provides the administrator's computer 42 with a work plan creation form requested by the administrator using the administrator's computer 42. The work plan creation management unit 41a also stores a work plan created by the administrator using the work plan creation form called up on the screen of the administrator's computer 42, and in response to a call from a worker using the communication terminal 43, selects a corresponding work plan from among the stored work plans, and causes the communication terminal 43 to display a screen showing the work plan.

[0109] Here, a work plan is a plan for agricultural work to be carried out in a field, and work items for agricultural work to be carried out in a field include, for example, preparing bed soil, filling ridges, plowing, planting rice, plowing, digging furrows, weeding, harvesting, sowing, fertilizing, and spraying pesticides.

[0110] The work plan creation management unit 41a of the server 41 stores these work items so that they can be provided as options when the manager performs a selection operation using the manager's computer 42. The work plan creation management unit 41a also stores what parameters need to be input to create a work plan for each work item.

[0111] Among the above work items, "seeding," "fertilization," and "chemical spraying" may refer to the spraying (sowing) of granular materials in a field. That is, "seeding" may refer to the spraying of granular seeds in a field, "fertilization" may refer to the spraying of granular fertilizer in a field, and "chemical spraying" may refer to the spraying of granular chemicals in a field.

[0112] The work plan is created by an administrator, who logs in to the administrator's computer 42 and connects it to the server 41 (either via wireless communication network 40 or via a wired LAN, etc.), thereby being able to call up the above-mentioned work plan form from the server 41 on the display screen of the administrator's computer 42.

[0113] When creating a work plan for the work of spreading (sowing) granular material in a farm field, for example, a work plan form 90 for spreading (sowing) granular material as shown in FIG.

[0114] The administrator can operate the administrator computer 42 to call up a work plan form 90 from the server 41, and use the work plan form 90 displayed on the administrator computer 42 to input numerical values ​​and the like required for creating a work plan.

[0115] The work plan form 90 for spreading (sowing) granular material includes a date input field 91, a work plan selection field 92, a map display field 93 for selecting a work area, a work item (agricultural work) selection field 94, a worker selection field 95, a work time input field 96, a machine selection field 97, a field 98 for inputting the name of the material to be spread, a field 99 for setting the amount of spreading (sowing), and a registration button 100.

[0116] The date input field 91 is a field for inputting the date on which the target farm work will be performed. The manager can input, for example, in the date input field 91, a numerical value that specifies the date.

[0117] The work site selection map display field 93 is a field that displays a map of the field to select the field (work site) on which work is to be performed. For example, the manager may select one of a plurality of fields included in the map displayed in the work site selection map display field 93 by placing the pointer over that field and clicking the field.

[0118] The work item selection field 94 displays a plurality of work items (e.g., "seeding," "fertilization," "chemical spraying," etc.) stored in the server 41 as options for selecting a work item related to the above-mentioned agricultural work. The manager can select one work item from the plurality of work items displayed as options in the work item selection field 94. Note that the manager may be able to directly write characters or the like corresponding to the target work item in the work item selection field 94.

[0119] A list of workers registered in the server 41 as workers who will execute the work plan is displayed in the worker selection field 95. The administrator can select a worker who will be in charge of executing the work plan being created, for example by clicking on the "◯" mark displayed in the worker selection field 95.

[0120] The work time input field 96 is a field for inputting the work time for performing the target agricultural work. For example, the manager can input, in the work time input field 96, numerical values ​​that specify the work start time and the work end time.

[0121] The machine selection field 97 displays the model number, etc. of each machine stored in the server 41. The worker can select one model number from multiple model numbers displayed as options in the machine selection field 97. Note that the manager may be able to directly write a numerical value, etc. corresponding to the model number, etc. in the machine selection field 97. In the granular material name input field 98, the worker can input characters, etc. indicating the name of the granular material, such as a seed, fertilizer, or drug.

[0122] The spray amount setting field 99 is a field for setting the amount of granular material to be sprayed (sown) on the field. The manager can input a numerical value as the spray amount (sown) amount in the spray amount setting field 99. Note that the spray amount setting field 99 may be configured to display a list of candidate numerical values, allowing the worker to select the numerical value that he or she wishes to input from the displayed list of numerical values.

[0123] In this embodiment, the spray amount setting field 99 is configured to set the spray (sow) amount per unit area ("1 are" in this embodiment). Therefore, the planned spray amount for the field is calculated by multiplying the numerical value as the spray (sow) amount input in the spray amount setting field 99 by the area of ​​the field selected in the work field selection map display field 93.

[0124] Alternatively, the application rate setting field 99 may be configured as a numerical input field for setting the planned total application (seeding) rate for the field selected as the work field.

[0125] A register button 100 is displayed near the bottom of the work plan form 90. When the worker presses the register button 100 after inputting numerical values ​​and the like in the above-described input fields 91, 93 to 99, the contents inputted into the work plan form 90 are registered as one work plan in the server 41, and the server 41 stores the work plan thus registered.

[0126] In other words, a new work plan form 90 in which no input (writing) has been made in each of the input fields 91, 93 to 99 is registered in the server 41 as a single work plan by inputting (writing) information in each of the input fields 91, 93 to 99 and pressing the registration button 100. .

[0127] Furthermore, the manager can call up each work plan form 90 that has been registered in the server 41 as a work plan (that is, each entry field 91, 93 to 99 has been filled in) on the display screen of the manager's computer .

[0128] The work plan form 90 (work plan) thus called up (displayed on the administrator's computer 42) has a work plan selection field 92, as shown in Fig. 7. In the work plan selection field 92, a list of work plans (inputted work plan forms 90) registered and stored in the server 41, including the called up work plan, is displayed.

[0129] When the administrator selects a work plan from the list other than the currently called up work plan, the displayed contents of each input field 91, 93 to 99 of the work plan form 90 as the displayed work plan document are switched to those of the newly selected work plan.

[0130] In addition, if the work item (farm work) for the newly selected work plan is not related to granular material spreading (sowing) work, such as "plowing," a work plan form other than the work plan form 90 for granular material spreading (sowing) work shown in Figure 7 is displayed, and the displayed content is different from that of the work plan form 90.

[0131] For example, in the case of a work planning form for "plowing" or "plowing," instead of the application amount setting field 99, it is conceivable to have a field for setting the work width (plowing width or plowing width) (for example, where a numerical value in units of "mm" can be entered).

[0132] In addition, when the administrator performs a writing operation or the like to change the display content of any of the input fields 91, 93 to 99 of the work plan form 90 serving as a work plan selected and displayed on the administrator computer 42, and presses the registration button 100, the content of the work plan is updated, and the updated work plan is stored in the work plan creation management unit 41a.

[0133] As described above, the administrator can create a work plan using the administrator computer 42, register and store the created work plan in the work plan creation management section 41a of the server 41, and also modify and update a work plan already registered in the work plan creation management section 41a and store it in the work plan creation management section 41a.

[0134] In addition, for a registered work plan stored in the work plan creation and management unit 41a, the worker can check its contents by calling up the work plan form corresponding to the work plan (for example, work plan form 90 for spreading (spreading) granular material) on the display screen of the communication terminal 43.

[0135] The contents of the work plan written in the work plan form displayed on the communication terminal 43 may be updateable by the worker, or may not be updateable by the worker.

[0136] The worker can operate the work machine 20 and / or the transport vehicle 1 automatically or remotely based on the plan contents written in a work plan form (such as a work plan form 90 for spreading (spreading) granular material) called up on the display screen of the communication terminal 43.

[0137] In addition, when the work of spreading granular materials is performed by the automatic travel of the work machine 20, for example, referring to FIG. 3, the manager uses the manager's computer 42 to control the travel direction of the work machine 20 in the field 70 as the work site based on the work plan (work plan form 90 for spreading (seeding) granular materials). A route 80 may be created, and the created travel route 80 may be stored in the work machine control unit 41b of the server 41 in association with the corresponding work plan.

[0138] Alternatively, when the administrator registers the created work plan (work plan form 90 for spreading (spreading) granular material) in the work machine control unit 41b of the server 41, the work machine control unit 41b of the server 41 automatically creates and stores a driving route 80 corresponding to the work plan.

[0139] Furthermore, as described above, when granular material spreading work is performed by the automatic driving of the work machine 20, the start, end, interruption, and resumption of the automatic driving of the work machine 20, driving and turning along a set automatic driving path, and even stopping at the granular material receiving position P2 described below may be controlled by the control device 28 of the work machine 20 based on setting information from the work machine control unit 41b of the server 41 acquired by the communication device 27, positioning information from the artificial satellite 50 acquired by the positioning device 29, etc.

[0140] Alternatively, any of these (e.g., starting automatic driving) may be executed by an operator (e.g., after checking the work start time) performing a corresponding operation using the communication terminal 43. The work machine control unit 41b of the server 41 may be provided with a program for processing to be executed in response to an operation on the communication terminal 43.

[0141] Furthermore, the current position of the work machine 20 during automatic travel (spraying work) may be displayed on the communication terminal 43, allowing the worker to confirm the current position of the work machine 20.

[0142] In addition, when the work machine 20 is automatically traveling to spread granular material, the positions where such switching operations and opening / closing operations are performed, such as switching between driving and non-driving the granular material dispenser 32 of the spreader 30 (turning the PTO clutch on and off) and opening / closing operations of the opening / closing mechanisms when each chute 33 of the spreader 30 is provided with an opening / closing mechanism as described above, are set on the travel route 80 (usually positions corresponding to the start and end of a straight path 80a on the boundary between the spreader area 70a and the headland area 70b) in the manager's computer 42 or the work machine control unit 41b of the server 41 when creating a travel route 80 as shown in Fig. 3. The work machine control unit 41b of the server 41 stores the travel route 80 in a state where the positions where the PTO clutch switching operations and the opening / closing operations of the chute 33 are performed are set.

[0143] In addition, when granular material is spread by the automatic travel of the work machine 20, if the total capacity of all containers 31 of the spreader 30 is less than the total amount to be spread (sown) in the field 70 serving as the work area, the work machine 20 must interrupt the spreader operation somewhere on the travel route 80 and receive a supply of granular material from the granular material supplying device 10 of the transport vehicle 1.

[0144] Therefore, when creating the travel route 80, it is possible to set a granular material receiving position P2 (see Figure 3) where the work machine 20 should wait to receive granular material from the granular material supplying device 10 of the transport vehicle 1 in the work machine control unit 41b of the administrator's computer 42 or the server 41.

[0145] This granular material receiving position P2 may be automatically set by the administrator computer 42 or the work machine control unit 41b of the server 41 based on the set spray amount included in the work plan (a numerical value entered in the spray amount setting field 99 of the work plan form 90), etc.

[0146] In addition, when the manager's computer 42 or the work machine control unit 41b of the server 41 sets the granular material receiving position P2 in this manner, the manager's computer 42 or the transport vehicle control unit 41c of the server 41 controls the transport vehicle 1 to supply granular material from the granular material supply device 10 mounted on the transport vehicle 1 to the container 31 of the spraying device 30 of the work machine 20 in accordance with the set granular material receiving position P2. A granular material supply position P1 where the carrier 1 should stop may be set.

[0147] In addition, when granular material spreading work is performed by remotely controlling the work machine 20 to travel, for example, the worker can check the contents of the work plan displayed on the communication terminal 43, and then switch the screen displayed on the communication terminal 43 to a screen showing an image captured by an imaging device attached to the work machine 20. While watching the image displayed on the screen, the worker can remotely control the travel, stopping, rotation, etc. of the work machine 20 by pressing the remote control operation button displayed on the communication terminal 43 or by operating a remote control operation device that the worker has other than the communication terminal 43.

[0148] In this way, when the work machine 20 is operated under remote control, if it is known how much granular material the granular material dispenser 32 is set to dispense per unit distance traveled, the actual amount of granular material spread can be calculated by counting the distance traveled during remote control travel, and the amount of granular material remaining in the container 31 can also be determined. Alternatively, a sensing device (detection device) in the spreader 30 or the like may detect the actual amount remaining in the container 31.

[0149] Therefore, the control device 28 of the work machine 20 acquires remaining amount information, which is information regarding the remaining amount of granular material in the container 31, and vehicle speed information, which is information regarding the vehicle speed of the running vehicle 21 of the work machine 20, etc., or the server 41 or communication terminal 43 of the support device 44, etc., or the control device 6 of the transport vehicle 1 acquires the remaining amount information through communication via a wireless communication network 40, and can predict changes in the remaining amount of granular material in the container 31 from the relationship between the remaining amount and the running speed of the work machine 20, and predict the position at which the remaining amount will become zero.

[0150] At least one of the control device 28 of the work machine 20, the support device 44 (the work machine control unit 41b and the transport vehicle control unit 41c), and the control device 6 of the transport vehicle 1 can predict changes in the remaining amount and the position of the work machine 20 where the remaining amount will become zero, based on the acquired remaining amount information, as described above, and therefore determines, by calculation, etc., at least one of the granular material supply position P1 where the transport vehicle 1 should stop and the granular material receiving position P2 where the work machine 20 should stop in order to supply granular material from the granular material supply device 10 to the container 31.

[0151] In addition, when determining the granular material supply position P1, at least one of the control device 28 of the work machine 20, the support device 44 (the transport vehicle control unit 41c) and the control device 6 of the transport vehicle 1 determines the transport vehicle arrival time or time zone at which the transport vehicle 1 should arrive at the granular material supply position P1, and, for example, instructs the control device 6 of the transport vehicle 1 to start automatic driving from the server 41 of the support device 44, or the worker operates the communication terminal 43 of the support device 44 to cause the control device 6 of the transport vehicle 1 to start driving by remote control so that the transport vehicle 1 can arrive at the granular material supply position P1 at the transport vehicle arrival time or within the transport vehicle arrival time zone.

[0152] In addition, when at least one of the control device 28, the support device 44 (the transport vehicle control unit 41c), and the control device 6 determines the granular material supply position P1, at least one of the control device 28, the support device 44 (the work machine control unit 41b), and the control device 6 may determine the granular material receiving position P2 so as to correspond to the determined granular material supply position P1.

[0153] In addition, when at least one of the control device 28, the support device 44 (the work machine control unit 41b), and the control device 6 determines the granular material receiving position P2 and predicts the work machine arrival time or work machine time zone when the work machine 20 will arrive at the granular material receiving position P2, at least one of the control device 28, the support device 44 (the transport vehicle control unit 41c), and the control device 6 may determine the granular material supply position P1 and the transport vehicle arrival time or transport vehicle arrival time zone so as to correspond to the determined granular material receiving position P2 and the predicted work machine arrival time or work machine arrival time zone.

[0154] As described above, whether the granular material supply position P1 is set by the administrator computer 42 or the server 41, or whether the control device 28 or the communication terminal 43 sets the granular material supply position P1, the transport vehicle 1 may move to the granular material supply position P1 by automatic driving or by remote control.

[0155] Alternatively, the communication device 5 of the transport vehicle 1 receives the granular material supply position P1 set by any of the server 41, the administrator computer 42 or the communication terminal 43 as the support device 44, and the control device 28, and the display device of the transport vehicle 1 displays this granular material supply position P1, and a worker riding in the transport vehicle 1 drives the transport vehicle 1 with the granular material supply position P1 displayed on the display device as his / her destination.

[0156] As described above, with regard to the supply of granular material from the transport vehicle 1 to the work machine 20, the transport vehicle 1, the work machine 20, and computers 41, 42, 43 as support devices 44 are linked to exchange information via a wireless communication network 40 or the like to form a granular material supply system 60 that controls the supply of the granular material (start and end of supply, etc.).

[0157] In other words, the granular material supply system 60 is configured to determine a granular material supply position P1 and a granular material receiving position P2 based on information regarding changes in the amount of granular material remaining in the container 31 during actual spraying work by the work machine 20, information recorded on the work plan form 90, etc., and to control the supply of granular material from the granular material supplying device 10 mounted on the transport vehicle 1 stopped at the granular material supply position P1 to the container 31 mounted on the work machine 20 stopped at the granular material receiving position P2.

[0158] The manner in which the supply of granular material from the transport vehicle 1 to the work machine 20 is controlled (executed) by the granular material supply system 60 configured as above will be described with reference to FIG. 3 etc.

[0159] In the following description, at least one of the server 41, the administrator computer 42, and the communication terminal 43 may be referred to simply as the "support device 44".

[0160] First, the working environment of the working machine 20 shown in Fig. 3 will be described. A farm field 70 is provided as a place where the working machine 20 performs spreading (seeding) work, and a ridge (farm road) 71 is provided along the perimeter of the farm field 70. A hangar 72 is provided along the ridge (farm road) 71 as a waiting area for the transport vehicle 1.

[0161] The work machine 20 spreads (sows) the granular material by repeatedly traveling and turning along a travel route 80 as shown in Fig. 3 in the field 70. Note that, when the work machine 20 (traveling vehicle 21) travels automatically, this travel route 80 is set in advance, and the work machine 20 can be considered to be controlled to travel along this route.

[0162] On the other hand, when an operator sitting in the driver's seat 26 manually drives the traveling vehicle 21, or when an operator not in the traveling vehicle 21 drives the traveling vehicle 21 by remote control, the traveling route 80 shown in FIG. 3 may be interpreted as a target traveling route for the work machine 20 to travel for work in the field 70, or as a trace (trajectory) of the work travel, etc.

[0163] For example, when a worker drives the work machine 20 directly while riding on the traveling vehicle 21, or when the worker operates the communication terminal 43 to remotely control the work machine 20, the travel route 80 may be displayed as a target travel route or travel trajectory on a display device provided on the traveling vehicle 21 or on the communication terminal 43 for remote control. When the travel route 80 is displayed as a target travel route, the worker can drive the work machine 20 directly or by remote control while checking whether the current position of the work machine 20 is on the travel route 80, and can also check whether the travel route 80 is on the travel route 80. When displayed as a line trace, the work record can be confirmed by looking at this display.

[0164] As described above, the travel route 80 can be interpreted as either an automatic travel route of the automatically traveling work machine 20, or as a target travel route or travel trajectory of the work machine 20 operated directly or remotely by an operator. However, in the following explanation, for the sake of convenience, the work machine 20 is described as simply traveling along the travel route 80.

[0165] The field 70 includes a spreading area 70a where the work machine 20 spreads (sows) granular material, and a headland area 70b that extends along the perimeter of the field 70 (along the ridge 71) so as to surround the spreading area 70a.

[0166] The travel route 80 is made up of a number of parallel straight paths 80a within the spraying area 70a. When the work machine 20 travels along these straight paths 80a of the travel route 80, the work machine 20 transmits the power of the prime mover 23 to the spraying device 30 via the PTO shaft as described above to drive the granular material dispenser 32 and spread the granular material in the field.

[0167] As mentioned above, the spraying device 30 has multiple spraying units 30a, so while traveling along a single straight road 80a, spraying (row sowing) is carried out in parallel at one time for the number of rows corresponding to the number of spraying units 30a (8 rows in this embodiment).

[0168] The start and end of each straight path 80a is located at the boundary between the spraying area 70a and the headland area 70b. When the work machine 20 reaches the end of the straight path 80a, the work machine 20 stops the rotation of the PTO shaft by disengaging the PTO clutch of the traveling vehicle 21, for example, to stop the delivery drive of the granular material delivery device 32, and operates the lifting actuator provided on the connecting device 25 to lift the spraying device 30.

[0169] In this manner, with the work by the spraying device 30 stopped and the spraying device 30 raised, the working machine 20 turns along a turning path 80b that extends in a semicircular or semielliptical curve from the end of one straight path 80a to the start of another adjacent straight path 80a in the headland area 70b. When the working machine 20 turns and reaches the start of the next straight path 80a, the spraying device 30 is lowered and the rotation of the PTO shaft is resumed to start spraying (row sowing) the granular material along the straight path 80a.

[0170] The work machine 20 is equipped with a detection device that detects the remaining amount of granular material in at least one container 31, for example by sensing, so that the amount of granular material remaining in at least one container 31 can be detected while traveling or turning in the field 70.

[0171] Alternatively, as mentioned above, since the driving speed of the granular material dispenser 32 of the spraying device 30 is synchronized with the traveling speed of the traveling vehicle 21, the control device 28 of the work machine 20 can be equipped with a speed detection device that detects the traveling speed of the work machine 20, for example, by detecting the rotational speed of the wheels 24, and the remaining amount of granular material in at least one container 31 can be calculated based on the detected traveling speed.

[0172] The control device 28 of the work machine 20 may determine the granular material receiving position P2 based on remaining amount information indicating the current remaining amount of granular material in at least one container 31 thus obtained by detection, calculation, etc. Alternatively, the work machine 20 may transmit the remaining amount information to the support device 44 (the work machine control unit 41b) using the communication device 27 and the wireless communication network 40, and obtain the granular material receiving position P2 by receiving, via the communication device 27, information regarding the granular material receiving position P2 determined by the support device 44 (the work machine control unit 41b) based on the remaining amount information.

[0173] Furthermore, when the support device 44 (the transport vehicle control unit 41c) acquires the remaining amount information from the work machine 20, it may determine a granular material supply position P1 based on this remaining amount information, and transmit information about the determined granular material supply position P1 to the communication device 5 of the transport vehicle 1 via the wireless communication network 40, causing the control device 6 of the transport vehicle 1 to acquire the granular material supply position P1. Alternatively, the control device 6 of the transport vehicle 1 may determine the granular material supply position P1 based on the remaining amount information received by the communication device 5 of the transport vehicle 1 from the work machine 20 or the support device 44 (the transport vehicle control unit 41c).

[0174] Alternatively, before the work machine 20 starts spreading (scattering) granular material, the support device 44 (its work plan creation management section 41a) may determine the granular material supply position P1 and the granular material receiving position P2 based on the spreading amount entered in the spreading amount setting field 99 in the stored created work plan form 90, and transmit this information to the communication device 27 of the work machine 20 and the communication device 5 of the transport vehicle 1.

[0175] Alternatively, at least one of the support device 44, the control device 28 of the work machine 20, and the control device 6 of the transport vehicle 1 may determine the granular material supply position P1 and / or the granular material receiving position P2 based on the application amount already written in the work plan form 90 and the remaining amount information obtained by the work machine 20 through detection and calculation as described above, and may transmit this information to the communication device 27 of the work machine 20 and / or the communication device 5 of the transport vehicle 1.

[0176] Here, as shown in Figure 3, the granular material supply position P1, which is the stopping position of the transport vehicle 1, is set outside the field 70, on the driving path for the transport vehicle 1 (including the ridge 71), while the granular material receiving position P2, which is the stopping position of the work machine 20, is set within the field 70, since it is not efficient for the work machine 20 to go outside the field 70 to receive a supply of granular material in the middle of a spraying operation.

[0177] Therefore, in order to make the granular material supply position P1 and the granular material receiving position P2 correspond to each other, the granular material receiving position P2, which is the stopping position of the work implement 20, is set within the field 70, preferably within the headland region 70b, so as to easily receive the supply of granular material from the transport vehicle 1 on the ridge 71. On the other hand, the granular material supply position P1, which is the stopping position of the transport vehicle 1, is preferably set along the edge (outer border) of the field 70 where the work implement 20 works, in other words, on the ridge 71 or the like, near the headland region 70b in the field 70.

[0178] 4 shows a flowchart of steps executed to make the work machine 20 reach the granular material receiving position P2 and the transporter 1 reach the granular material supplying position P1 until the start of supplying granular material from the granular material supplying device 10 on the transporter 1 to the container 31 of the work machine 20. This flowchart will now be described.

[0179] In Fig. 4, the work machine 20 performs the work of spreading granular material (spraying travel) by traveling automatically or by remote control, and the control process of the spreading travel of the work machine 20 is executed by the work machine control unit 41b of the support device 44. On the other hand, in Fig. 4, the transport vehicle 1 runs automatically or by remote control, and the process of moving to the granular material supply position P1 is executed by the transport vehicle control unit 41c of the support device 44.

[0180] First, the work machine control unit 41b starts granular material scattering travel of the work machine 20, which is automatic travel or remote controlled travel (S01).

[0181] Regarding the start of the work machine 20's granular material spraying run, for example, if the work machine 20's spraying run is automatic, the work machine control unit 41b may instruct the control device 28 of the work machine 20 to start granular material spraying run via the wireless communication network 40 and communication device 27, etc., based on the schedule described in the corresponding work plan form 90.

[0182] In addition, when the spraying drive of the work machine 20 is a remotely controlled drive, the worker operates the communication terminal 43 to start the granular material spraying drive based on the schedule described in the corresponding work plan form 90 displayed on the communication terminal 43, and the work machine control unit 41b will then instruct the control device 28 of the work machine 20 to start the granular material spraying drive in response.

[0183] While the work machine 20 is spraying, position information, which is information regarding the current position Pw of the work machine 20 measured over time by the positioning device 7 of the work machine 20, and remaining amount information, which is information regarding the remaining amount of granular material in the container 31 measured over time by a sensing device or the like, are transmitted from the communication device 5 to the support device 44, and the support device 44 (server 41, etc.) acquires the position information and remaining amount information (S02).

[0184] The transport vehicle control unit 41c determines the granular material supply position P1 at which the transport vehicle 1 should stop to supply granular material based on the position information and remaining amount information acquired by the support device 44, and determines the transport vehicle arrival time (or transport vehicle arrival time zone) T1 (hereinafter simply referred to as ``time (hour) T1'') at which the transport vehicle 1 should arrive at the granular material supply position P1 (S03).

[0185] Meanwhile, the work machine control unit 41b determines the granular material receiving position P2 where the work machine 20 should stop to receive granular material from the transport vehicle 1 based on the position information and remaining amount information acquired by the support device 44, and predicts the work machine arrival time (or work machine arrival time zone) T2 (hereinafter simply referred to as "time (hour) T2") when the work machine 20 will arrive at the granular material receiving position P2 (S07).

[0186] In addition, the work machine control unit 41b may determine the granular material receiving position P2 (and predict the time (hour) T2) so as to correspond to the granular material supply position P1 (and time (hour) T1) (S03) determined by the transport vehicle control unit 41c based on the position information and remaining amount information acquired by the support device 44 (S07). Also, the transport vehicle control unit 41c may determine the granular material receiving position P1 (and time (hour) T1) so as to correspond to the granular material receiving position P2 (and predicted time (hour) T2) (S07) determined by the work machine control unit 41b based on the position information and remaining amount information acquired by the support device 44 (S03).

[0187] When the transport vehicle control unit 41c determines the granular material supply position P1 and the time (hour) T1, it begins executing processing for moving the transport vehicle 1, which is automatic or remotely controlled, so that the transport vehicle 1 can reach the granular material supply position P1 at the determined time (hour) T1 (S01).

[0188] In executing the movement process of the transport vehicle 1, for example, when the transport vehicle 1 moves by automatic driving from a waiting area such as a hangar, the transport vehicle control unit 41c takes into consideration the distance to travel from the waiting area to the granular material supply position P1 and the time required for the movement, based on the contents of the work plan form 90 for the work plan stored in the work plan creation management unit 41a, and obtains the time (time zone) at which the transport vehicle 1 should depart from the waiting area by calculation, etc., and when the time (time zone) at which it should depart arrives, it can instruct the control device 6 of the transport vehicle 1 to start moving to the granular material supply position P1 via the wireless communication network 40 and communication device 5, etc.

[0189] In addition, when the transport vehicle 1 moves by remote control from a waiting area such as a hangar, the worker checks the granular material supply position P1, the time (hour) T1, and the time (hour) when the transport vehicle 1 should depart from the waiting area, etc., displayed on the communication terminal 43, and operates the transport vehicle 1 to start moving on the communication terminal 43, and the transport vehicle control unit 41c will then instruct the control device 6 of the transport vehicle 1 to start moving to the granular material supply position P1.

[0190] During the movement of the transport vehicle 1, the transport vehicle control unit 41c recognizes the current position Pc of the transport vehicle 1 measured over time by the positioning device 7 through a signal transmitted from the communication device 5, and determines whether the current position Pc is on the side of the road 7. The transport vehicle 1 continues moving until it reaches the granular material supply position P1 set at 1 (S05: NO), and when it is confirmed that the current position Pc has reached the granular material supply position P1 (S05: YES), the transport vehicle 1 is stopped at the granular material supply position P1 that has been reached (S06).

[0191] Strictly speaking, when the transport vehicle control unit 41c determines that the transport vehicle 1 is about to reach the granular material supply position P1, it starts decelerating the transport vehicle 1 so that the vehicle speed becomes 0 when the transport vehicle 1 reaches the granular material supply position P1. However, for simplicity of expression, it is expressed as "the transport vehicle 1 stops when it reaches the granular material supply position P1."

[0192] Regarding stopping of the transport vehicle 1, when the transport vehicle 1 is automatically traveling, the transport vehicle control unit 41c can confirm that the transport vehicle 1 has reached the granular material supply position P1, and send a stop driving command to the control device 6 of the transport vehicle 1, thereby stopping the transport vehicle 1.

[0193] When the transport vehicle 1 is moving by remote control driving, when the worker confirms on the display of the communication terminal 43 that the transport vehicle 1 has reached the granular material supply position P1 and operates to stop the transport vehicle 1, in response to this operation, the transport vehicle control unit 41c may send a stop driving command to the control device 6 of the transport vehicle 1, thereby stopping the transport vehicle 1.

[0194] When the transport vehicle 1 is moving by remote control driving, when the worker confirms on the display of the communication terminal 43 that the transport vehicle 1 has reached the granular material supply position P1 and operates to stop the transport vehicle 1, in response to this operation, the transport vehicle control unit 41c may send a stop driving command to the control device 6 of the transport vehicle 1, thereby stopping the transport vehicle 1.

[0195] Meanwhile, while the work machine 20 is traveling to spread granular material, the work machine control unit 41b recognizes the current position Pw of the work machine 20, which is measured over time by the positioning device 29, from a signal transmitted from the communication device 27, and maintains the spreading travel of the work machine 20 until the current position Pw reaches the granular material receiving position P2 (S08: NO). Once it is confirmed that the current position Pw has reached the granular material receiving position P2 (S08: YES), the work machine 20 is stopped at the granular material receiving position P2 that has been reached (S09).

[0196] Strictly speaking, when the work machine control unit 41b determines that the work machine 20 is about to reach the granular material receiving position P2, it starts to decelerate the work machine 20 so that the vehicle speed becomes 0 when the work machine 20 reaches the granular material receiving position P2. However, for the sake of simplicity, it is expressed as "the work machine 20 stops when it reaches the granular material receiving position P2."

[0197] Regarding stopping of the work machine 20, when the work machine 20 is automatically traveling, the work machine control unit 41b can confirm that the work machine 20 has reached the granular material receiving position P2 within the pillow area 70b, and send a stop traveling command to the control device 28 of the work machine 20 to stop the transport vehicle 1.

[0198] When the work machine 20 is moving by remote control driving, when the worker confirms on the display of the communication terminal 43 that the work machine 20 has reached the granular material receiving position P2 and operates to stop the work machine 20, in response to this operation, the work machine control unit 41b may send a driving stop command to the control device 28 of the work machine 20, thereby stopping the work machine 20.

[0199] When the transport vehicle 1 is moving by remote control driving, when the worker confirms on the display of the communication terminal 43 that the transport vehicle 1 has reached the granular material supply position P1 and operates to stop the transport vehicle 1, in response to this operation, the transport vehicle control unit 41c may send a stop driving command to the control device 6 of the transport vehicle 1, thereby stopping the transport vehicle 1.

[0200] Fig. 5A shows a flowchart of the steps executed to make the transport vehicle 1 carrying the granular material supplying device 10 reach the granular material receiving position P2. This flowchart will be described. Note that the "transport vehicle 1" in Fig. 5A refers to the communication device 5 and the control device 6 of the transport vehicle 1.

[0201] The process of supplying granular material from the transport vehicle 1 to the work machine 20 starts when the transport vehicle 1 reaches and stops at the granular material supply position P1 and the work machine 20 reaches and stops at the granular material receiving position P2. This process will be described with reference to the flow charts of Figs. 5 and 6.

[0202] This flowchart is a control flowchart by the granular material supply control unit 41d of the support device 44. "A" in Fig. 5 corresponds to "A" in Fig. 4, "B" in Fig. 5 corresponds to "B" in Fig. 6, and "C" in Fig. 5 corresponds to "C" in Fig. 6.

[0203] When the transport vehicle 1 completes stopping at the granular material supply position P1 (S06) and the work machine 20 completes stopping at the granular material receiving position P2 (S09), the granular material supply control unit 41d obtains the current position Pa of the discharge outlet 15a by calculation, etc. from the current position Pc of the transport vehicle 1 detected by the positioning device 7 (S22).

[0204] Furthermore, the granular material supply control unit 41d acquires position information indicating the position Pb of the "first container 31" to which granular material should be supplied first among the multiple containers 31 arranged in a row in the work machine 20, by communication between the support device 44 and the communication device 27 or the like (S12). Based on this, a target outlet position Pt of the outlet 15a suitable for supplying granular material to the "first container 31" is determined by calculation or the like (S13).

[0205] It should be noted that it is up to the discretion of the individual containers 31 arranged in a row to be designated as the "first container 31" to which granular material should be supplied first, and to be designated as the "last container 31" to which granular material should be supplied last.

[0206] However, by designating the container at one end of the row as the "first container 31" and the container at the other end of the row as the "last container 31," the direction in which the horizontal conveying tube 13 extends and retracts becomes constant, making it easier to control.

[0207] Next, the granular material supply control unit 41d compares the acquired target discharge port position Pt with the current position Pa (S14), and if the current position Pa does not match the target discharge port position Pt (S14: NO), moves the discharge port 15a to the target discharge port position Pt by, for example, extending or contracting the hydraulic cylinder 17 until they match (S15). At this time, the movement may be performed while checking the detection result of the supply destination detection device 18.

[0208] When the current position Pa of the discharge outlet 15a coincides with the target discharge outlet position Pt (S14: YES), the granular material supply control unit 41d drives the granular material supplying device 10 (the conveying auger of the grain lifting tube 12 and the grain discharge tube 15, the blower 16, etc.) (S21) and discharges the granular material from the discharge outlet 15a to the first container 31, which is the target supply destination (S22).

[0209] The granular material supply control unit 41d has previously grasped the target supply amount Qs of granular material based on the granular material spreading work plan of the work machine 20 from the work plan creation management unit 41a, and while the granular material is being discharged from the discharge outlet 15a, measures the discharge amount Qd (i.e., the actual supply amount to the container 31) over time (S23) and compares it with the target supply amount Qs (S24).

[0210] Here, the target supply amount Qs is not necessarily the supply amount that fills the container 31, that is, "the full amount of the container 31 - the initial remaining amount of the container 31", but is determined by the work plan. This amount is derived from the amount of granular material applied (sown) to the field.

[0211] When the discharge amount Qd reaches the target supply amount Qs (S24: YES), the granular material supply control unit 41d stops driving the granular material supplying device 10 (the conveying auger of the grain lifting tube 12 and the grain discharge tube 15, the blower 16, etc.) (or closes the shutter of the discharge outlet 15a) (S25), and stops the discharge of granular material into the "first container 31" (S26).

[0212] Next, the granular material supply control unit 41d judges whether or not the "next container 31 (adjacent container 31)" exists (S37). If the "next container 31" exists (S27: YES), position information indicating the position Pb of the "next container 31 (adjacent container 31)" is obtained (S28), and a new target outlet position Pt of the outlet 15a suitable for supplying granular material to that container 31 is determined by calculation or the like (S29).

[0213] At this point, the current position Pa of the discharge outlet 15a should match the target discharge outlet position Pt for the container 31 that was the previous supply destination, and this is compared with the new target discharge outlet position Pt (return to S14), and the hydraulic cylinder 17 is extended or retracted, for example, to move the discharge outlet 15a to the new target discharge outlet position Pt until the current position Pa matches the new target discharge outlet position Pt (S15).

[0214] When the discharge outlet 15a reaches the new target discharge outlet position Pt (S14: YES), the process of supplying granular material to the container 31 is performed (S14, S21 to S26) until the discharge amount Qd from the discharge outlet 15a to the container 31 reaches the target supply amount Qs to the container 31 (S14: YES).

[0215] When the supply of granular material to the container 31 is completed (S36), it is determined whether or not there is another container 31 (S37). If there is no another container 31 (S37: NO), the supply of granular material to the "last container 31" is completed, and the process of supplying granular material from the transport vehicle 1 to the work machine 20 is terminated.

[0216] The above describes the granular material supply control flowchart shown in Figures 5 and 6, with the main control being the granular material supply control unit 41d provided in the support device 44 (e.g., the server 41). However, the supply of granular material from the granular material supply device 10 mounted on the transport vehicle 1 to the container 31 of the work machine 20 is not limited to the above description.

[0217] For example, a program with the same function as the granular material supply control unit 41d of the support device 44 could be installed in the control device 6 of the transport vehicle 1 or the control device 28 of the work machine 20, and a worker could get on the transport vehicle 1 or the work machine 20 and look at the operation screen displayed on each display device in response to instructions from the respective control devices 6, 28, and perform operations, i.e., supply of granular material could be performed without receiving any support from the support device 44.

[0218] As described above, the granular material supply system 60 includes the transport vehicle 1 that transports granular material to be supplied to the container 31 for storing granular material that is equipped on the work machine 20 that spreads (sows) the granular material in the field 70, the granular material supply device 10 that is mounted on the transport vehicle 1 and has a discharge port 15a and discharges the granular material from the discharge port 15a into the container 31 of the work machine 20, and the granular material supply control unit 41d that controls the granular material supply device 10. The granular material supply control unit 41d controls the granular material supply device 10 to position the discharge port 15a at a target discharge port position Pt for discharging the granular material toward the container 31, and then discharge the granular material from the discharge port 15a into the container 31.

[0219] In this way, the discharge port 15a of the granular material supplying device 10 provided on the transport vehicle 1 is aligned with the container 31 provided on the working machine 20, and the granular material supplying device 10 actually supplies the granular material from the discharge port 15a. The granular material supply control unit 41d controls the granular material supplying device 10 from discharging the granular material to supplying it to the container 31, thereby reducing the burden on the worker of operating and monitoring the supply of granular material from the transport vehicle 1 to the container 31 of the work machine 20.

[0220] The granular material supply control unit 41d can acquire container position information (position Pb) indicating the position of the container 31 of the work machine 20, and may determine the target discharge outlet position Pt based on the acquired container position information (position Pb).

[0221] In this way, the granular material supply control unit 41d can grasp the position of the container 31 by obtaining container position information from the work machine 20, and thereby can position the discharge outlet 15a in the optimal position for supplying granular material to the container 31.

[0222] The granular material supplying device 10 may be configured so that the horizontal conveying cylinder 13 can be extended and retracted up to the discharge port 15a. The control device 6 may extend and retract the horizontal conveying cylinder 13 to position the discharge port 15a at the target discharge port position Pt.

[0223] By telescoping and retracting the horizontal conveying cylinder 13 in this manner, the discharge outlet 15a can be moved to align it with the container 31 without the worker having to move the transport vehicle 1.

[0224] When multiple containers 31 are arranged side by side in the work machine 20, the control device 6 may determine a target discharge outlet position Pt for each container 31 and extend or retract the horizontal conveying cylinder 13, which is a granular material conveying body, to position the discharge outlet 15a at each target discharge outlet position Pt.

[0225] In this way, in response to a state in which a plurality of containers 31 are arranged side by side in the work machine 20, the horizontal conveying cylinder 13, which is a granular material conveying body, can be position-controlled to each of the target discharge outlet positions Pt.

[0226] The granular material supply control unit 41d can acquire work plan information regarding the application of granular material to a field by the work machine 20, and may determine a target supply amount Qs of granular material from the granular material supplying device 10 to the container 31 based on the work plan information.

[0227] This avoids an excess or deficiency in the supply of granular material to the container 31, and reduces the occurrence of problems due to an insufficient supply, such as a shortage of granular material in the container 31 again when the work machine 20 travels to spread the granular material after the granular material has been supplied, and problems due to an excess supply, such as a large amount of granular material remaining in the container 31 when work is completed. Also, by keeping the amount of granular material transported by the transport vehicle 1 to a necessary minimum, the number of times the transport vehicle 1 moves can be reduced, improving the operating efficiency of the transport vehicle 1.

[0228] At least one of the work machine 20, the transport vehicle 1, and the granular material supplying device 10 may be capable of measuring the amount Qd of granular material discharged from the discharge port 15a. The granular material supply control unit 41d may be capable of acquiring the measured amount Qd of discharge, and may stop the discharge of granular material from the discharge port 15a when the amount Qd of discharge reaches the target supply amount Qs while the granular material supplying device 10 is discharging granular material into the container 31 of the work machine 20.

[0229] This ensures that the target supply amount Qs of granular material is supplied to the container 31.

[0230] The granular material supply system 60 may include a support device 44 for automatic or remotely controlled travel of at least one of the transport vehicle 1 and the work machine 20. The support device 44 may include a granular material supply control unit 41d.

[0231] As a result, when the transport vehicle 1 and the work machine 20 are traveling automatically or remotely controlled by the support device 44, there is no need for an operator to go to the site and directly operate the granular material supplying device 10 only when supplying granular material; the support device 44 also controls the supply of granular material from the transport vehicle 1 to the work machine 20, reducing the human burden associated with supplying granular material.

[0232] The granular material supply system 60 may include a transport vehicle control unit 41c that executes processing related to the movement of the transport vehicle 1. The transport vehicle control unit 41c may determine a granular material supply position P1 at which the transport vehicle 1 should stop in order to supply granular material to the container 31 of the work machine 20 by the granular material supplying device 10.

[0233] This enables the transporter 1 to stop at a position suitable for supplying granular material to a container 31 mounted on a work machine 20 in the field, as a granular material supply position P1.

[0234] When the transport vehicle control unit 41c determines the granular material supply position P1, it may execute a process for moving the transport vehicle 1 to the granular material supply position P1.

[0235] This allows the transport vehicle 1 to reliably move to the granular material supply position P1 by, for example, automatically driving based on instructions from the transport vehicle control unit 41c, driving based on instructions from the transport vehicle control unit 41c based on remote control by an operator, or driving based on direct operation by an operator riding in the transport vehicle 1 looking at information displayed from the transport vehicle control unit 41c.

[0236] The work machine 20 may be capable of measuring the remaining amount of granular material in the container 31 over time while performing the work of spreading granular material on the field 70. The transporter control unit 41c may acquire remaining amount information indicating the remaining amount of granular material in the container 31 of the work machine 20 measured over time, and may determine the granular material supply position P1 based on the acquired remaining amount information.

[0237] As a result, the granular material supply position P1 determined by the transporter control unit 41c accurately corresponds to the remaining amount information of the work machine 20, improving the efficiency of granular material supply.

[0238] The vehicle control unit 41c may determine a vehicle arrival time T1 or a vehicle arrival time zone T1 when the vehicle 1 should arrive at the granular material supply position P1, based on the acquired remaining amount information.

[0239] This allows the transport vehicle 1 to arrive at a time or period that is favorable for supplying granular material to the container 31 of the work machine 20, thereby enabling efficient supply of granular material in relation to the work machine 20, thereby improving the efficiency of granular material supply.

[0240] The transport vehicle control unit 41c may execute a process for moving the transport vehicle 1 so as to arrive at the granular material supply position P1 at the transport vehicle arrival time T1 or during the transport vehicle arrival time zone T1.

[0241] This allows the transport vehicle 1 to reliably arrive at the granular material supply position P1 at the transport vehicle arrival time T1 or during the transport vehicle arrival time zone T1 by, for example, automatically driving based on instructions from the transport vehicle control unit 41c, driving based on instructions from the transport vehicle control unit 41c based on remote control by an operator, or driving based on direct operation by an operator riding in the transport vehicle 1 looking at the information displayed from the transport vehicle control unit 41c.

[0242] A headland area 70b for turning of the work machine 20 may be provided at the end of the field 70. The transporter control unit 41c determines a granular material supply position P1 of the transporter 1 so that the work machine 20 can receive the supply of granular material to the container 31 in the headland area 70b.

[0243] As a result, the work machine 20 is in a turning position in the headland region 70b of the field 70. While the granular material can be supplied from the transport vehicle 1 at a position close to the ridge 71 that defines the outer boundary of the field 70, the transport vehicle 1 can also determine a granular material supply position P1, such as on the ridge 71 close to the headland area 70b, without entering the field 70, and can efficiently supply granular material to the container 31 of the work implement 20 in the field 70 from this position.

[0244] The granular material supply system 60 may include an assistance device 44 for automatic or remotely controlled travel of the transport vehicle 1. The assistance device 44 may include a transport vehicle control unit 41c.

[0245] As a result, using the support device 44, the movement of the transport vehicle 1 to the granular material supply position P1 can be made automatic or remotely controlled, thereby reducing the human burden, etc., associated with transporting the granular material.

[0246] The granular material supply system 60 may include a work machine control unit 41b that executes processing related to the granular material spreading operation of the work machine 20. The work machine 20 may be capable of measuring the remaining amount of granular material in the container 31 over time while performing the work of spreading granular material on the field. The work machine control unit 41b may acquire remaining amount information indicating the remaining amount of granular material in the container 31 of the work machine 20 measured over time, and may determine a granular material receiving position P2 at which the work machine 20 should stop to receive the supply of granular material from the granular material supply position P1 of the transport vehicle 1 to the container 31 based on the remaining amount information. The transport vehicle control unit 41c may acquire the granular material receiving position P2 determined by the work machine control unit 41b, and determine the granular material supply position P1 to correspond to the granular material receiving position P2.

[0247] This ensures that the granular material receiving position P2 at which the work machine 20 should stop corresponds to the actual amount of granular material remaining in the container 31 of the work machine 20, and by determining the granular material supply position P1 to correspond to this granular material receiving position P2, efficient supply of granular material from the transport vehicle 1 to the work machine 20 becomes possible.

[0248] The work machine control unit 41b may predict the work machine arrival time T2 or the work machine arrival time zone T2 at which the work machine 20 will arrive at the granular material receiving position P2 based on the acquired remaining amount information. The transport vehicle control unit 41c may acquire the work machine arrival time T2 or the work machine arrival time zone T2 predicted by the work machine control unit 41b, and determine the transport vehicle arrival time T1 or the transport vehicle arrival time zone T1 at which the transport vehicle 1 should arrive at the granular material supplying position P1 so as to correspond to the work machine arrival time T2 or the work machine arrival time zone T2.

[0249] This ensures that the time or time period when the transport vehicle 1 reaches the granular material supply position P1 corresponds to the time or time period when the work machine 20 is expected to reach the granular material receiving position P2, enabling efficient supply of granular material from the transport vehicle 1 to the work machine 20.

[0250] The transport vehicle control unit 41c may execute a process for moving the transport vehicle 1 so as to arrive at the granular material supply position P1 at the transport vehicle arrival time T1 or during the transport vehicle arrival time zone T1.

[0251] This allows the transport vehicle 1 to reliably arrive at the granular material supply position P1 at the transport vehicle arrival time T1 or during the transport vehicle arrival time zone T1 by, for example, automatically driving based on instructions from the transport vehicle control unit 41c, driving based on instructions from the transport vehicle control unit 41c based on remote control by an operator, or driving based on direct operation by an operator riding in the transport vehicle 1 looking at the information displayed from the transport vehicle control unit 41c.

[0252] A headland area 70b for turning of the work machine 20 may be provided at an end of the field 70. The work machine control unit 41b may determine a granular material receiving position P2 so that the work machine 20 can receive the supply of granular material to the container 31 in the headland area 70b.

[0253] As a result, the work machine 20 can receive granular material from the transport vehicle 1 at granular material receiving position P2 adjacent to the ridge 71 that defines the outer boundary of the field 70 while in a turning position within the headland region 70b of the field 70, while the transport vehicle 1 can also supply granular material to the container 31 of the work machine 20 stopped at granular material receiving position P2 in the field 70 efficiently from above the ridge 71 adjacent to the headland region 70b, without entering the field 70.

[0254] The granular material supply system 60 may include a support device 44 for automatic or remotely controlled travel of at least one of the transport vehicle 1 and the work machine 20. The support device 44 may include at least one of a transport vehicle control unit 41c and a work machine control unit 41b.

[0255] As a result, by using the support device 44, at least one of the granular material spreading movements of the work machine 20, including the movement of the transport vehicle 1 to the granular material supply position P1 and the movement to reach the granular material receiving position P2, can be performed automatically or by remote control, thereby reducing the human burden associated with the spreading and transportation of granular material.

[0256] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0257] 1 Transport vehicle 10 Granule feeding device 13 Horizontal conveying tube (expandable granular material conveying path) 15a Outlet 20 Work vehicles 31 Container 41 Server 41a Work Planning and Management Department 41b Work machine control unit 41c Transport vehicle control unit 41d Granular material supply control unit 44 Support equipment 60 Granular Material Supply System 70 Field 70b Headland area 80 Running Route 80b line circuit 90 Work Plan Form P1 Granule supply position P2 Granular material receiving position Pa (current position of outlet 15a) Location of Pb container 31 Pt (Outlet 15a) Target Position Current position of Pc (transport vehicle 1) Pw (of work implement 20) current position Qd Discharge (from outlet 15a) Qs (target supply volume to vessel 31)

Claims

1. A transport vehicle that transports granular material to be supplied to a container for storing granular material that is provided in a work machine that spreads the granular material on a farm field; a granular material supplying device mounted on the transport vehicle, having a discharge port, and discharging granular material from the discharge port into the container of the work machine; A granular material supply control unit that controls the granular material supply device, The granular material supply control unit controls the granular material supply device to position the discharge outlet at a target discharge outlet position for discharging the granular material toward the container, and then discharge the granular material from the discharge outlet into the container.

2. The granular material supply system of claim 1, wherein the granular material supply control unit is capable of acquiring container position information indicating the position of the container of the work machine, and determines the target discharge outlet position based on the acquired container position information.

3. The granular material supplying device is configured so that a granular material conveying path to the discharge port can be extended and retracted, The granular material supply system according to claim 1 or 2, wherein the granular material supply control section extends or contracts the granular material transport path to position the discharge outlet at the target discharge outlet position.

4. A granular material supply system as described in claim 3, wherein when multiple containers are arranged side by side in the work machine, the granular material supply control unit determines the target discharge outlet position for each container and extends or contracts the granular material conveying path to position the discharge outlet at each of the target discharge outlet positions.

5. A granular material supply system as described in claim 1 or 2, wherein the granular material supply control unit is capable of acquiring work plan information regarding the application of granular material to the field by the work machine, and determines a target supply amount of granular material from the granular material supply device to the container based on the work plan information.

6. At least one of the work machine, the transport vehicle, and the granular material supplying device is capable of measuring the amount of granular material discharged from the discharge outlet; The granular material supply system of claim 5, wherein the granular material supply control unit is capable of acquiring the measured discharge amount, and when the granular material supply device is discharging granular material into the container of the work machine, when the discharge amount reaches the target supply amount, the discharge of granular material from the discharge outlet is stopped.

7. A support device for automatic or remotely controlled travel of at least one of the transport vehicle and the work machine is provided, The granular material supply system according to claim 1 or 2, wherein the support device includes the granular material supply control unit.

8. a transport vehicle control unit that executes processing related to the movement of the transport vehicle; The granular material supplying system according to claim 1 or 2, wherein the transport vehicle control unit determines a granular material supplying position at which the transport vehicle should stop in order for the granular material supplying device to supply granular material to the container of the work machine.

9. The granular material supply system according to claim 8 , wherein the transport vehicle control unit, upon determining the granular material supply position, executes a process for moving the transport vehicle to the granular material supply position.

10. The working machine is capable of measuring the amount of granular material remaining in the container over time while performing a granular material spreading operation on a field, The transport vehicle control unit indicates the amount of granular material remaining in the container of the work machine measured over time. The granular material supply system according to claim 8, further comprising: a remaining amount information acquisition unit that acquires remaining amount information; and the granular material supply position is determined based on the acquired remaining amount information.

11. The granular material supply system according to claim 8 , wherein the transport vehicle control unit determines a transport vehicle arrival time or a transport vehicle arrival time zone when the transport vehicle should arrive at the granular material supply position based on the acquired remaining amount information.

12. The granular material supply system of claim 8 , wherein the transport vehicle control unit executes processing for moving the transport vehicle so that it arrives at the granular material supply position at the transport vehicle arrival time or during the transport vehicle arrival time zone.

13. A headland area for turning the work machine is provided at the end of the field, The granular material supply system according to claim 8 , wherein the transporter control unit determines the granular material supply position of the transporter so that the work machine can receive the supply of granular material to the container in the headland area.

14. A support device for automatic or remotely controlled driving of the transport vehicle is provided, The granular material supply system according to claim 8 , wherein the support device includes the transport vehicle control unit.

15. A work machine control unit that executes processing related to the granular material scattering work of the work machine, The working machine is capable of measuring the amount of granular material remaining in the container over time while performing a granular material spreading operation on a field, The work machine control unit acquires remaining amount information indicating the remaining amount of granular material in the container of the work machine measured over time, and determines a granular material receiving position at which the work machine should stop in order to receive granular material from the granular material supply device of the transport vehicle to the container based on the remaining amount information, The granular material supply system according to claim 8 , wherein the transport vehicle control unit acquires the granular material receiving position determined by the work machine control unit, and determines the granular material supply position so as to correspond to the granular material receiving position.

16. The work machine control unit predicts a work machine arrival time or a work machine arrival time zone when the work machine will arrive at the granular material receiving position based on the acquired remaining amount information, The granular material supply system of claim 15, wherein the transport vehicle control unit acquires the work machine arrival time or the work machine arrival time zone predicted by the work machine control unit, and determines the transport vehicle arrival time or the transport vehicle arrival time zone at which the transport vehicle should arrive at the granular material supply position so as to correspond to the work machine arrival time or the work machine arrival time zone.

17. The granular material supply system of claim 16, wherein the transport vehicle control unit executes processing to move the transport vehicle so as to arrive at the granular material supply position at the transport vehicle arrival time or during the transport vehicle arrival time zone.

18. A headland area for turning the work machine is provided at the end of the field, The granular material supplying system according to claim 15 , wherein the work machine control unit determines the granular material receiving position so that the work machine can receive the supply of granular material to the container in the headland region.

19. A support device for automatic or remotely controlled travel of at least one of the transport vehicle and the work machine is provided, The granular material supplying system according to claim 15 , wherein the support device includes at least one of the transporter control unit and the work machine control unit.

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