Autonomous driving system and method

Abstract

To provide an automatic traveling system and an automatic traveling method capable of generating a route taking supply of fuel or a material into consideration.SOLUTION: An automatic traveling system includes a display control unit. The display control unit performs control to cause a display unit (a display 37) to display a display screen related to automatic traveling of a work vehicle. The display control unit displays, as the display screen, a setting screen (a supply-position setting window 91) capable of receiving a user operation for setting related to supply of a supply target including at least one of fuel for the work vehicle and a material used for a work.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to an automated driving system and an automated driving method. [Background technology]

[0002] Conventionally, there has been known a route generation system for a work vehicle that generates a route along which a vehicle body unit will autonomously travel in advance and controls the vehicle body unit to travel autonomously along the route. Patent Document 1 discloses this type of route generation system.

[0003] In the route generation method for an automatic traveling machine disclosed in Patent Document 1, the automatic traveling machine (body unit) is equipped with a controller (control unit), a GPS receiver (positioning system), and various sensors, and has the function of autonomous traveling. The automatic traveling machine is manually driven within a work area (travel area) and at the same time, the position is measured using GPS, and the positioning data is captured in a storage medium. This positioning data is processed by an offline personal computer to create topographical data and obstacle data, and map data is obtained. Based on this map data, a travel route path (travel route) and operation data for the automatic traveling machine are created, and supplied to the controller of the automatic traveling machine via a storage medium. Patent Document 1 claims that this configuration makes it possible to cause the automatic traveling machine to autonomously travel along a travel route path generated in advance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 9-128045 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the configuration of Patent Document 1, fuel replenishment is not taken into consideration when creating a travel route path. Therefore, if an automatic traveling machine autonomously travels along this travel route path, there is a risk that the machine will run out of fuel along the way, and there is room for improvement.

[0006] The present invention has been made in consideration of the above circumstances, and its purpose is to provide an automatic driving system and an automatic driving method that are capable of generating a route that takes into account the replenishment of fuel or materials. [Means for solving the problem]

[0007] An automatic driving system according to one aspect of the present invention includes a display control unit. The display control unit controls a display unit to display a display screen related to automatic driving of a work vehicle. The display control unit displays, as the display screen, a setting screen capable of receiving a user operation for setting a supply of a supply target consisting of at least one of fuel for the work vehicle and materials used for work.

[0008] An autonomous driving method according to one embodiment of the present invention displays a display screen related to the autonomous driving of a work vehicle on a display unit, and displays, as the display screen, a setting screen capable of accepting user operations for setting the replenishment of a replenishment target consisting of at least one of fuel for the work vehicle and materials used for work. [Brief description of the drawings]

[0009] [Figure 1] 1 is a side view showing the overall configuration of a robot tractor that autonomously travels along a path generated by a path generation system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view of the robot tractor. [Diagram 3] FIG. 13 is a diagram showing a wireless communication terminal that is operated by a user and can wirelessly communicate with the robot tractor. [Figure 4] FIG. 2 is a block diagram showing the main electrical configuration of the robot tractor and the wireless communication terminal. [Diagram 5]FIG. 2 is a schematic diagram showing an example of an autonomous driving route generated by the route generation system. [Figure 6] 11A and 11B are diagrams illustrating an example of an input selection screen displayed on a display of the wireless communication terminal. [Figure 7] FIG. 13 is a diagram showing an example of a work vehicle information input screen displayed on the display of the wireless communication terminal. [Figure 8] FIG. 13 is a diagram showing an example of a farm field information input screen displayed on the display of the wireless communication terminal. [Figure 9] 11 is a diagram showing an example of a work information input screen displayed on a display of the wireless communication terminal. [Figure 10] FIG. 13 is a diagram showing an example of a refill location setting window for setting a refueling location, which is displayed on the display of the wireless communication terminal; [Figure 11] 5 is a flowchart showing processing performed by a route generating unit and the like when generating a refueling route in the first embodiment. [Figure 12] 12 is a flowchart showing a continuation of the process in FIG. 11 . [Figure 13] 13 is a flowchart showing a continuation of the process in FIG. 12 . [Figure 14] FIG. 13 is a diagram showing an example of a refueling route and a refueling start position when it is assumed that the route length from the refueling start position to the refueling position is the longest. [Figure 15] FIG. 13 is a diagram showing an example of identifying a fuel shortage position on an autonomous driving route where the amount of fuel held is equal to or less than a reference amount. [Figure 16] FIG. 16 is a diagram showing an example of a refueling route generated based on the fuel shortage location identified in FIG. 15 . [Figure 17] FIG. 13 is a diagram showing an example of a refueling route corrected in response to a change in a fuel shortage position. [Figure 18] 10 is a flowchart showing processing performed by a route generating unit and the like when generating a refueling route in the second embodiment. [Figure 19] 19 is a flowchart showing a continuation of the process in FIG. 18 . [Figure 20] 20 is a flowchart showing a continuation of the process in FIG. 19 . [Figure 21]FIG. 13 is a diagram showing an example of a tentative refueling start position that has been set. [Figure 22] FIG. 22 is a diagram showing an example in which it is determined that the tractor cannot reach the refueling position from the tentative refueling start position in FIG. 21 , and the tentative refueling start position is changed to the upstream side. [Figure 23] FIG. 4 is a diagram showing an example of a generated refueling route. [Figure 24] FIG. 13 is a diagram showing a display example of a work information input screen in the third embodiment. [Diagram 25] 13A to 13C are diagrams illustrating the intermediate progress of the processing performed by the route generating unit when generating a supply route for fuel and materials in the fourth embodiment. [Figure 26] FIG. 13 is a diagram for explaining how the refueling start position and the refueling end position of the refueling route are integrated with the material supply start position and the material supply end position of the material supply route, respectively, in the fourth embodiment. [Figure 27] FIG. 13 is a diagram showing an example of a monitoring screen displayed on the display of the wireless communication terminal while the robot tractor is autonomously traveling. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same components in each drawing are given the same reference numerals, and duplicated explanations may be omitted. In addition, the names of components, etc. corresponding to the same reference numerals may be rephrased in a simplified manner, or rephrased with names of higher or lower concepts.

[0011] The present invention relates to a route generation system that generates a travel route for one or more work vehicles to travel in a predetermined field when the work vehicles travel in the field to perform all or part of the agricultural work in the field. In this embodiment, a tractor is used as an example of the work vehicle, but the work vehicle includes not only tractors but also walk-behind work machines in addition to riding-type work machines such as rice transplanters, combine harvesters, civil engineering and construction work equipment, and snowplows. In this specification, autonomous travel means that the tractor travels along a predetermined route by controlling the configuration related to travel of the tractor by a control unit (ECU) equipped in the tractor, and autonomous operation means that the tractor performs work along a predetermined route by controlling the configuration related to work of the tractor by a control unit equipped in the tractor. In contrast, manual travel and manual operation mean that the user operates each configuration equipped in the tractor to perform travel and work.

[0012] In the following description, an autonomously traveling and operating tractor may be referred to as an "unmanned tractor" or "robot tractor", and a manually traveling and manually operated tractor may be referred to as a "manned tractor". When part of the agricultural work in a field is performed by an unmanned tractor, the remaining agricultural work is performed by a manned tractor. Performing agricultural work in a single field by an unmanned tractor and a manned tractor may be referred to as cooperative agricultural work, following work, accompanying work, etc. In this specification, the difference between an unmanned tractor and a manned tractor is whether or not it is operated by a user, and each configuration is basically the same. That is, even an unmanned tractor can be operated by a user by boarding (riding) it (i.e., it can be used as a manned tractor), or even a manned tractor can be operated by a user by getting off the tractor (i.e., it can be used as an unmanned tractor). In addition, collaborative agricultural work may include "agricultural work performed in a single field by unmanned vehicles and manned vehicles" as well as "agricultural work performed in different fields, such as adjacent fields, at the same time by unmanned vehicles and manned vehicles."

[0013] First Embodiment Next, a path generation system 99 according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing the overall configuration of a robot tractor 1 that autonomously travels along a path generated by the path generation system 99 according to the first embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a diagram showing a wireless communication terminal 46 that is operated by a user and can wirelessly communicate with the robot tractor 1. FIG. 4 is a block diagram showing the main electrical configuration of the robot tractor 1 and the wireless communication terminal 46.

[0014] A route generation system 99 according to a first embodiment of the present invention generates an autonomous driving route along which the robot tractor 1 shown in Fig. 1 travels when the robot tractor 1 travels and works autonomously. In this embodiment, the main component of the route generation system 99 is provided in a wireless communication terminal 46 for wirelessly communicating with the robot tractor 1.

[0015] First, a robot tractor (hereinafter, sometimes simply referred to as a "tractor") 1 will be described with reference mainly to FIGS. 1 and 2. FIG.

[0016] The tractor 1 includes a traveling machine body 2 as a vehicle body section that autonomously travels within a farm field as a travel area. Various working machines, such as a cultivator (manufacturing machine), a plow, a fertilizer applicator, a grass cutter, and a seeding machine, can be selected and attached to the traveling machine body 2, but in this embodiment, a fertilizer applicator 3 is attached as the working machine. The traveling machine body 2 is configured to be able to change the height and posture of the attached working machine (fertilizer applicator 3).

[0017] The configuration of the tractor 1 will be described in more detail with reference to Figures 1 and 2. As shown in Figure 1, the running body 2 of the tractor 1 has its front part supported by a pair of left and right front wheels 7, 7, and its rear part supported by a pair of left and right rear wheels 8, 8.

[0018] A bonnet 9 is disposed at the front of the traveling body 2. In this embodiment, an engine 10, which is the drive source of the tractor 1, a fuel tank (not shown), and the like are housed within this bonnet 9. This engine 10 may be configured as, for example, a diesel engine, but is not limited thereto, and may be configured as, for example, a gasoline engine. Also, an electric motor may be adopted as the drive source in addition to or instead of the engine 10. Also, the fuel tank may be disposed outside the bonnet 9.

[0019] A cabin 11 for a user to board is disposed behind the bonnet 9. Inside this cabin 11, mainly provided are a steering handle 12 for the user to steer, a seat 13 on which the user can sit, and various operating devices for performing various operations. However, the work vehicle is not limited to one with the cabin 11, and may be one without the cabin 11.

[0020] 2, the monitor device 14, the throttle lever 15, the main speed change lever 27, the hydraulic control levers 16, the PTO switch 17, the PTO speed change lever 18, the sub speed change lever 19, and the work equipment lift switch 28. These operating devices are disposed near the seat 13 or near the steering handle 12.

[0021] The monitor device 14 is configured to be able to display various information about the tractor 1. The throttle lever 15 is an operating tool for setting the output speed of the engine 10. The main speed change lever 27 is an operating tool for steplessly changing the traveling speed of the tractor 1. The hydraulic operation lever 16 is an operating tool for switching a hydraulic external extraction valve (not shown). The PTO switch 17 is an operating tool for switching between transmission and cut-off of power to a PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates, whereas when the PTO switch 17 is in the OFF state, power to the PTO shaft is cut off and the rotation of the PTO shaft is stopped. The PTO speed change lever 18 is an operating tool for changing the rotation speed of the PTO shaft. The sub-speed change lever 19 is an operating tool for switching the gear ratio of a traveling sub-speed change gear mechanism in the transmission 22. The working machine lifting switch 28 is an operating tool for lifting or lowering the height of the working machine (fertilizer application device 3) attached to the traveling machine body 2 within a predetermined range.

[0022] 1, a chassis 20 of the tractor 1 is provided under the traveling body 2. The chassis 20 is made up of a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

[0023] The machine frame 21 is a support member at the front of the tractor 1, and supports the engine 10 directly or via a vibration-proof member or the like. The transmission 22 changes the power from the engine 10 and transmits it to a front axle 23 and a rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0024] The fertilizer applicator 3 includes a fertilizer tank 29 capable of storing fertilizer (materials), a delivery unit 25 that delivers the fertilizer supplied from the fertilizer tank 29, and a rotatable compression wheel 26 that compresses the soil. A plurality of delivery units 25 and compression wheels 26 (four in this embodiment) are arranged in a line in the width direction of the traveling body 2, and the fertilizer stored in the fertilizer tank 29 is distributed and supplied to the plurality of delivery units 25. In this embodiment, each delivery unit 25 includes a rotatable roll-shaped member (not shown), and a plurality of small recesses capable of storing granular fertilizer are formed in a line on the outer circumferential surface of the roll-shaped member. The roll-shaped member is connected to the compression wheel 26 by a chain or the like. In this configuration, when the tractor 1 advances while the fertilizer applicator 3 is supported at a working height described later, the compression wheel 26 that is in contact with the ground rotates, and the power is transmitted by a chain or the like to drive the roll-shaped member. As a result, the fertilizer in the fertilizer tank 29 is fed by the feeding section 25 and spread over the field, thereby carrying out fertilization.

[0025] As shown in Fig. 4, the tractor 1 includes a control unit 4 for controlling the operation (forward, backward, stopping, turning, etc.) of the traveling body 2 and the operation (lifting, lowering, driving, stopping, etc.) of the work machine (in this embodiment, the fertilizer application device 3). The control unit 4 includes a CPU, ROM, RAM, I / O, etc. (not shown), and the CPU can read and execute various programs, etc. from the ROM. The control unit 4 is electrically connected to a controller for controlling each component (e.g., the engine 10, etc.) of the tractor 1, a wireless communication unit 40 capable of wireless communication with other wireless communication devices, etc.

[0026] As the above controllers, the tractor 1 is equipped with at least an engine controller, a vehicle speed controller, a steering controller, and a lift controller (not shown). Each controller can control each component of the tractor 1 in response to an electric signal from the control unit 4.

[0027] The engine controller controls the rotation speed and the like of the engine 10. Specifically, the engine 10 is provided with a governor device 41 having an actuator (not shown) that changes the rotation speed of the engine 10. The engine controller can control the rotation speed of the engine 10 by controlling the governor device 41. The engine 10 is also provided with a fuel injection device that adjusts the injection timing and injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10. The engine controller can, for example, stop the supply of fuel to the engine 10 and stop the operation of the engine 10 by controlling the fuel injection device.

[0028] The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42, which is, for example, a movable swash plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 by changing the angle of the swash plate of the transmission 42 using an actuator (not shown), thereby achieving a desired vehicle speed.

[0029] The steering controller controls the rotation angle of the steering wheel 12. Specifically, a steering actuator 43 is provided in the middle of the rotation axis (steering shaft) of the steering wheel 12. In this configuration, when the tractor 1 (as an unmanned tractor) travels along a predetermined route, the control unit 4 calculates an appropriate rotation angle of the steering wheel 12 so that the tractor 1 travels along the route, and transmits a control signal to the steering controller so as to achieve the obtained rotation angle. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4, and controls the rotation angle of the steering wheel 12. Note that the steering controller may adjust the steering angle of the front wheels 7 of the tractor 1 instead of adjusting the rotation angle of the steering wheel 12. In that case, the steering wheel 12 does not rotate even when the tractor 1 turns.

[0030] The lifting controller controls the lifting and lowering of the working machine (fertilizer application device 3). Specifically, the tractor 1 is provided with a lifting actuator 44 consisting of a hydraulic cylinder or the like, near the three-point link mechanism that connects the fertilizer application device 3 to the traveling body 2. With this configuration, the lifting controller drives the lifting actuator 44 based on a control signal input from the control unit 4 to appropriately lift and lower the fertilizer application device 3, thereby allowing the fertilizer application device 3 to perform agricultural work (fertilization work) at a desired height. With this control, the fertilizer application device 3 can be supported at a desired height, such as a retraction height (a height at which agricultural work is not performed) and a working height (a height at which agricultural work is performed).

[0031] In addition, since the multiple controllers not shown in the figure above control each part such as the engine 10 based on signals input from the control unit 4, it can be understood that the control unit 4 essentially controls each part.

[0032] The tractor 1 equipped with the control unit 4 as described above is configured so that a user can ride in the cabin 11 and perform various operations to control each part of the tractor 1 (the traveling body 2, the fertilizer applicator 3, etc.) by the control unit 4, and perform agricultural work while traveling in a field. In addition, the tractor 1 of this embodiment can be made to travel and work autonomously by various control signals output from the wireless communication terminal 46, even if a user does not ride in the tractor 1.

[0033] Specifically, as shown in Fig. 4 etc., the tractor 1 is provided with various configurations for enabling autonomous driving and autonomous work. For example, the tractor 1 is provided with a positioning antenna 6 etc. required for acquiring position information of the tractor 1 itself (the traveling body 2) based on a positioning system. With such a configuration, the tractor 1 is able to acquire its own position information based on the positioning system and autonomously drive on the field (within the traveling area).

[0034] Next, the configuration of the tractor 1 to enable autonomous traveling will be described in detail with reference to Fig. 4 etc. Specifically, the tractor 1 of this embodiment is equipped with a positioning antenna 6, a wireless communication antenna 48, various sensors, a storage unit 55, etc. In addition to these, the tractor 1 is equipped with an inertial measurement unit (IMU) (not shown) that can identify the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2.

[0035] The positioning antenna 6 receives signals from positioning satellites constituting a positioning system such as a Global Navigation Satellite System (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of a roof 5 provided in a cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to a position information calculation unit 49 shown in FIG. 4. The position information calculation unit 49 calculates the position information of the traveling body 2 of the tractor 1 (strictly speaking, the positioning antenna 6) as, for example, latitude and longitude information. The position information calculated by the position information calculation unit 49 is stored in a memory unit 55, read out by the control unit 4 at appropriate times, and used for autonomous traveling.

[0036] In this embodiment, a highly accurate satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems may be used as long as they can obtain highly accurate position coordinates. For example, a differential GPS (DGPS) or a satellite-based augmentation system (SBAS) may be used.

[0037] The wireless communication antenna 48 receives signals from the wireless communication terminal 46 operated by the user and transmits signals to the wireless communication terminal 46. As shown in FIG. 1, the wireless communication antenna 48 is attached to the upper surface of the roof 5 of the cabin 11 of the tractor 1. A signal received by the wireless communication antenna 48 from the wireless communication terminal 46 is processed by the wireless communication unit 40 shown in FIG. 4 and input to the control unit 4. A signal to be transmitted from the control unit 4 to the wireless communication terminal 46 is processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

[0038] The fuel remaining amount sensor 51 detects the remaining amount of fuel in a fuel tank (not shown) mounted on the traveling body 2, for example, detecting the height of the fuel level in the fuel tank. After the tractor 1 starts autonomous traveling, the fuel remaining amount sensor 51 detects the remaining amount of fuel in the fuel tank periodically or irregularly, and transmits the detection result to the wireless communication terminal 46.

[0039] The vehicle speed sensor 52 detects the vehicle speed of the tractor 1 and is provided, for example, on the axle between the front wheels 7, 7.

[0040] The rotation speed sensor 53 detects the rotation speed of the engine 10 (engine speed), and is provided on the crankshaft of the engine 10, for example.

[0041] The load sensor 54 detects the load (engine load) of the engine 10. The load sensor 54 of the present embodiment detects the accelerator opening of the engine 10 to estimate and detect the load.

[0042] The fertilizer remaining amount sensor 30 can detect the remaining amount of fertilizer stored in the fertilizer tank 29, in other words, the amount of fertilizer that can be used by the tractor 1 when performing work using the fertilizer application device 3. This fertilizer remaining amount sensor 30 can be configured as, for example, a weight sensor.

[0043] The detection results obtained by various sensors such as the remaining fuel sensor 51, the vehicle speed sensor 52, the rotation speed sensor 53, the load sensor 54, and the remaining fertilizer sensor 30 are subjected to signal processing by the wireless communication unit 40, and then transmitted from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 can display the received detection results on the display 37. In addition, the wireless communication terminal 46 can generate a route (autonomous driving route) for the tractor 1 to travel, taking into consideration the received detection results (information such as the remaining fuel amount).

[0044] The storage unit 55 is a memory that stores a route for the tractor 1 to travel autonomously, stores the change in position (travel trajectory) of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel, and stores the detection results of various sensors. In addition, the storage unit 55 stores various information necessary for the tractor 1 to travel and work autonomously.

[0045] The wireless communication terminal 46 is configured as a tablet-type personal computer as shown in FIG. 3. For example, the user can refer to and confirm information displayed on the display 37 of the wireless communication terminal 46 (for example, information from various sensors attached to the tractor 1) outside the tractor 1. The user can also operate the hardware keys 38 arranged near the display 37 and the touch panel 39 arranged to cover the display 37 to transmit a control signal for controlling the tractor 1 to the control unit 4 of the tractor 1. Here, examples of the control signal output from the wireless communication terminal 46 to the control unit 4 include, but are not limited to, signals related to the route of autonomous driving and autonomous work, start signals, stop signals, end signals, emergency stop signals, temporary stop signals, and resume signals after temporary stop.

[0046] The wireless communication terminal 46 is not limited to a tablet-type personal computer, and may instead be, for example, a notebook-type personal computer. Alternatively, when the robot tractor 1 and a manned tractor work together, the monitor device 14 mounted on the manned tractor may serve as the wireless communication terminal.

[0047] The tractor 1 configured in this manner can perform fertilization work (agricultural work) using the fertilizer application device (work machine) 3 while autonomously driving the traveling body 2 along a pre-prepared route in the field based on instructions from a user using the wireless communication terminal 46.

[0048] Specifically, by making various settings using the wireless communication terminal 46, the user can generate an autonomous driving route P as a series of routes that alternate between straight or broken-line autonomous work paths (linear paths along which autonomous work is performed) P1 and arc-shaped connecting paths (circling paths along which turning and return operations are performed) P2 that connect the ends of the autonomous work path P1.

[0049] An example of this autonomous travel route P is shown in FIG. 5, and the autonomous travel route P is generated so as to connect a work start position S and a work end position E that are specified in advance. FIG. 5 is a schematic diagram showing an example of the autonomous travel route P generated by the route generation system 99. As shown in FIG. 5, when generating the autonomous travel route P, a headland and a non-cultivated land (side margin), which are non-work areas where work is not performed by the fertilizer application device 3, are set in the field (travel area), and the area excluding this non-work area becomes the work area. The above-mentioned autonomous work paths P1, P1,... are arranged in multiple rows in this work area, and the connecting paths P2, P2,... are generated so as to be arranged in the headland, which is a non-work area. In this embodiment, the area combining the non-work area and the work area is called the "travel area".

[0050] By inputting (transmitting) information about the above-mentioned autonomous driving route P to the control unit 4 and performing a specified operation, the control unit 4 can control the tractor 1 to cause the tractor 1 to travel autonomously along the autonomous driving route P while the fertilizer application device 3 performs agricultural work along the autonomous work path P1.

[0051] The wireless communication terminal 46 including the main components of a route generation system 99 according to an embodiment of the present invention will be described in more detail below, mainly with reference to FIG.

[0052] As shown in Figures 3 and 4, the wireless communication terminal 46 of this embodiment has, in addition to a display 37, hardware keys 38, and a touch panel 39, as its main components, a display control unit 31, a field shape acquisition unit 33, a route generation unit 35, a work vehicle information setting unit 36, a field information setting unit 45, a work information setting unit 47, a supply position setting unit 56, an acquisition unit 57, a judgment unit 58, and a memory unit 32, etc.

[0053] The display control unit 31 creates display data to be displayed on the display 37 and controls appropriate switching of the display screen. The display control unit 31 can generate an input selection screen 60 as an initial screen (menu screen) shown in Fig. 6 and display it on the display 37. When a predetermined operation is performed on the input selection screen 60, the display control unit 31 can generate each of input screens 70, 80, 90 (see Figs. 7 to 9) described below and switch the display screen of the display 37 to the input screens 70, 80, 90.

[0054] The field shape acquisition unit 33 shown in Fig. 4 acquires the shape of the field, for example, by making the tractor 1 go around the perimeter of the field once and recording the change in the position of the positioning antenna 6 at that time. The shape of the field acquired by the field shape acquisition unit 33 is stored in the storage unit 32. However, the method of acquiring the shape of the field is not limited to this. For example, instead of this, position information of corners of the field may be recorded, and a polygon specified by a so-called closed loop graph in which lines connecting the recorded points do not intersect may be acquired as the shape of the field.

[0055] The route generating unit 35 generates a route to be input (transmitted) to the tractor 1. The route generating unit 35 in this embodiment generates an autonomous driving route P for causing the tractor 1 to drive autonomously. The route generating unit 35 receives work vehicle information, field information, and work information (described later) and automatically generates the autonomous driving route P when a predetermined operation is performed. Furthermore, the route generating unit 35 generates (calculates) a refueling route Q, if necessary, in accordance with the determination result by the determining unit 58. The generated autonomous driving route P and refueling route Q are stored in the memory unit 32.

[0056] The work vehicle information setting unit 36 ​​accepts work vehicle information (information relating to the traveling body 2 and the fertilizer application device 3) input to a work vehicle information input screen described later. The work vehicle information set by the work vehicle information setting unit 36 ​​is stored in the memory unit 32.

[0057] The field information setting unit 45 receives field information (information about the field) input to a field information input screen 80 (described later). The field information set by the field information setting unit 45 is stored in the storage unit 32.

[0058] The work information setting unit 47 accepts work information (information relating to the work mode, etc.) input to a work information input screen 90 described later. The work information set by the work information setting unit 47 is stored in the storage unit 32.

[0059] The refueling position setting unit 56 receives information on the refueling position inputted into a refueling position setting window 91, which will be described later. The refueling position is a position where fuel is refueled and where a tank or the like (container) containing refueling fuel to prevent running out of fuel is placed in advance. The refueling position is usually set at a position on the edge of the field, close to a road or the like. This makes it possible to easily transport the tank containing fuel to the vicinity of the field, for example by a truck, and set it up at the refueling position.

[0060] The acquisition unit 57 acquires the remaining amount of fuel in the fuel tank, in other words, the amount of fuel held by the traveling body 2, based on the detection value received from the remaining fuel sensor 51.

[0061] The determination unit 58 determines whether or not the traveling body 2 is capable of completing autonomous traveling on the autonomous traveling route P based on the amount of fuel retained by the acquisition unit 57. As will be described in detail later, depending on the determination result of the determination unit 58, the route generation unit 35 generates a refueling route Q if necessary.

[0062] The storage unit 32 is configured to include a non-volatile memory (for example, a flash ROM) and can store the work vehicle information set by the work vehicle information setting unit 36, the field information set by the field information setting unit 45, the work information set by the work information setting unit 47, and the refueling position information set by the refueling position setting unit 56. The storage unit 32 can also store information on the autonomous driving route P and the refueling route Q generated by the route generation unit 35, etc.

[0063] Next, the operations performed by the user using the wireless communication terminal 46 when setting the work vehicle information, the field information, and the work information and generating the autonomous travel path P will be described in detail with reference mainly to Figs. 6 to 10 which are screens displayed on the display 37 of the wireless communication terminal 46. Fig. 6 is a diagram showing an example of a display of an input selection screen 60 on the display 37 of the wireless communication terminal 46. Fig. 7 is a diagram showing an example of a display of a work vehicle information input screen 70 on the display 37 of the wireless communication terminal 46. Fig. 8 is a diagram showing an example of a display of a field information input screen 80 on the display 37 of the wireless communication terminal 46. Fig. 9 is a diagram showing an example of a display of a work information input screen 90 on the display 37 of the wireless communication terminal 46. Fig. 10 is a diagram showing an example of a display of a refueling position setting window 91 for setting a refueling position, which is displayed on the display 37 of the wireless communication terminal 46.

[0064] Before the user starts setting the work vehicle information, field information, and work information, an input selection screen 60 created by the display control unit 31 is displayed as an initial screen (menu screen) on the display 37 of the wireless communication terminal 46, as shown in Fig. 6. The input selection screen 60 mainly displays a work vehicle information input operation unit 61, a field information input operation unit 62, a work information input operation unit 63, a travel route generation / transfer operation unit 64, and an agricultural work start operation unit 65.

[0065] These operation units are all configured as virtual buttons (so-called icons) displayed on the display 37. In the following description, a "button" refers to a virtual button displayed on the display 37, which can be operated by the user touching with a finger or the like a position on the touch panel 39 corresponding to the display area of ​​the button.

[0066] To input work vehicle information, the user first operates the work vehicle information input operation section 61 on the input selection screen 60. This causes the display screen to switch to a work vehicle information input screen 70 shown in FIG.

[0067] In this work vehicle information input screen 70, work vehicle information related to the traveling body 2 and the working machine (fertilizer application device 3) attached to the traveling body 2 can be input. Specifically, in the work vehicle information input screen 70, there are arranged fields for specifying the model of the tractor 1, the mounting position of the positioning antenna 6 on the traveling body 2, the width of the tractor 1, the width (working width) of the fertilizer application device 3, the distance from the rear end of the three-point link mechanism (rear end of the lower link) to the rear end of the fertilizer application device 3, the fertilizer feed amount (amount of fertilizer used) per unit length in the fertilizer application device 3, the vehicle speed during work on the outbound route, the vehicle speed during work on the return route, the vehicle speed on the headland (when turning), the engine speed during work on the outbound route, the engine speed during work on the return route, the engine speed on the headland (when turning), and the like, as work vehicle information. Note that only some of the above-mentioned fields are displayed in the work vehicle information input screen 70 shown in FIG. 7, but the remaining fields can be displayed by performing an operation of scrolling the screen downward from the state of FIG. 7.

[0068] When all items on the work vehicle information input screen 70 have been specified and the user operates the "Confirm vehicle settings" button (not shown), the contents of the work vehicle information are stored in the memory unit 32 and setting of the work vehicle information is completed.

[0069] When the user has finished setting the work vehicle information and returns to the input selection screen 60 of FIG. 6 and operates the field information input operation section 62, the screen displayed on the display 37 is switched to a field information input screen 80 shown in FIG.

[0070] On the field information input screen 80, information on the travel area (field) in which the traveling body 2 travels can be input. Specifically, on the field information input screen 80, a planar display section 81 that shows the shape of the field in a diagram (graphical) is arranged. Also, on the field information input screen 80, the "position and shape of the outer periphery of the field" field has "start recording" and "redo" buttons arranged. Also, on the field information input screen 80, the "set" and "redo" buttons are arranged in the "work start position", "work end position", "work direction", and "refueling position" fields, respectively.

[0071] When the "Start recording" button for "Field perimeter position and shape" is operated, the wireless communication terminal 46 switches to the field shape recording mode. In this field shape recording mode, for example, when the tractor 1 is driven around the perimeter of the field, the change in the position of the positioning antenna 6 at that time is recorded by the field shape acquisition unit 33, and the field shape is acquired (calculated) by the field shape acquisition unit 33. This allows the position and shape of the field to be specified. The position and shape of the field perimeter calculated (specified) in this way are graphically displayed on the planar display unit 81. In addition, by operating the "Redo" button, the position of the field perimeter can be recorded (specified) again.

[0072] When the "Set" button for "Work start position" is operated, the shape of the field acquired as described above is displayed superimposed on the map data in the planar display section 81 of the field information input screen 80. In this state, the user can select any point near the outline of the field to set the position information near the selected point as the work start position. The "Work end position" can also be set in the same way as the "Work start position".

[0073] When the "Set" button for "Work direction" is operated, the field shape, work start position, and work end position acquired as described above are superimposed on the map data and displayed on the planar display section 81 of the field information input screen 80. In this state, the user can select, for example, any two points on the outline of the field and set the direction of the straight line connecting the two points as the work direction.

[0074] When the settings for all items on the field information input screen 80 have been completed, a "Register" button is displayed. When the user confirms the content specified on the planar display unit 81 or the like and operates the "Register" button, the content of the set field information is stored in the memory unit 32, and the setting of the field information is completed.

[0075] When the user has finished setting the field information and returns to the input selection screen 60 in FIG. 6 and operates the work information input operation section 63, the display screen switches to a work information input screen 90 shown in FIG.

[0076] The "Work content" field on the work information input screen 90 is a field for selecting which work is to be performed from among plowing, leveling, fertilizing, sowing, spraying chemicals, spraying herbicides, and fertilizing while plowing, etc. By performing a pull-down operation in this field, the user can set the autonomous work that he or she wants the tractor 1 to perform.

[0077] The "Whether or not multiple tractors will work cooperatively" field on the work information input screen 90 is a field for selecting whether or not to work using multiple tractors (for example, two tractors, a robot tractor 1 and a manned tractor) in the same farm field (whether or not to work cooperatively). By using a pull-down menu in this field, it can be set to either "With cooperative work" or "Without cooperative work."

[0078] The "Cooperative work mode" field on the work information input screen 90 is operable only when "Cooperative work available" is set in the above-mentioned "Whether or not cooperative work is performed by multiple tractors" field. This field is a field for selecting whether cooperative work is performed by multiple tractors traveling on different autonomous work paths P1 (accompanying), or whether cooperative work is performed by multiple tractors traveling on the same autonomous work path P1 (following). Either cooperative work mode can be set by performing a pull-down operation in this field.

[0079] The "overlap width" field on the work information input screen 90 is a field for setting the width (overlap amount) of the overlap of the width of the work machine (fertilizer application device 3) passing through the adjacent autonomous work paths P1, P1. The overlap amount can be set by performing a pull-down operation in the field or by directly inputting a numerical value.

[0080] The "skip number" field on the work information input screen 90 is a field for selecting the number of autonomous work paths (how many rows to skip before performing work) that are arranged between any autonomous work path P1 of the autonomous travel route P traveled by the tractor 1 and the autonomous work path P1 that the tractor travels next to the arbitrary autonomous work path P1. In this embodiment, the skip number can be set by performing a pull-down operation in this field.

[0081] The "headland width" field on the work information input screen 90 is a field for setting the width of the area in which the tractor 1 turns and turns around (i.e., the headland). Initially, a recommended width is displayed in this field, but by using a pull-down menu, it is possible to select, for example, an integer multiple of the working width and set the headland width. However, this is not limiting, and the user can also directly input a desired width value as the headland width.

[0082] The "Non-cultivated land width" field on the work information input screen 90 is a field for setting the width of the non-working areas (i.e. non-cultivated land, also called side margins) that are located at both ends of the travel area in the direction in which the autonomous work roads P1 of the tractors 1 are aligned. A recommended width is initially set in this field, but by using a pull-down menu, it is possible to set, for example, an integer multiple of the working width as the non-cultivated land width. However, this is not limited to this, and the user can also directly input a desired numerical value for the non-cultivated land width.

[0083] When the user enters information into the necessary fields on the work information input screen 90 and presses an unillustrated "confirm" button, a supply position setting window 91 is displayed over the work information input screen 90, as shown in FIG.

[0084] In the refilling position setting window 91, for example, a message "Please specify a refilling position" is displayed, along with a planar display section 92 which graphically shows the shape of the travel area (field) and the shape of the work area (area where the autonomous work paths P1 are arranged side by side). The user touches the position to be specified as the refilling position on the planar display section 92 with his / her finger to display an appropriate mark (refilling position mark 93) at the position, and then operates the "Register" button at the bottom of the refilling position setting window 91. This causes the setting of the refilling position to be accepted by the refilling position setting section 56. In this embodiment, the refilling position can only be set within the travelling area and outside the work area.

[0085] When the user finishes setting the work information and returns to the input selection screen 60 in FIG. 6 and selects the driving route generation and transfer operation unit 64, an autonomous driving route P for the tractor 1 is automatically generated, and this autonomous driving route P is stored in the storage unit 32. In addition, when the autonomous driving route P is generated, a "path simulation" button is displayed selectably on the display screen of the display 37. By operating this "path simulation" button, an image is displayed in which the generated autonomous driving route P is represented by arrows, lines, etc. Note that an animation display in which an icon of the tractor moves along the autonomous driving route P may be performed.

[0086] Furthermore, a "Transfer data" button and a "Return to input selection screen" button are displayed selectably on the display screen of the display 37. When "Transfer data" is selected, an instruction can be given to transmit information about the autonomous driving route P to the tractor 1. When the "Return to input selection screen" button is selected, the display screen switches to the input selection screen 60.

[0087] In this way, in the route generation system 99 of the present embodiment, information on the autonomous driving route P generated on the wireless communication terminal 46 side can be transmitted to the control unit 4 of the tractor 1. The control unit 4 stores the information on the autonomous driving route P received from the wireless communication terminal 46 in the storage unit 55 electrically connected to the control unit 4.

[0088] After the information of the autonomous driving route P generated on the wireless communication terminal 46 side is transmitted to the tractor 1, the user steers the tractor 1 to move it to the work start position S and operates the farm work start operation unit 65 on the input selection screen 60, whereby the tractor 1 starts autonomous driving along the autonomous driving route P. While the tractor 1 is autonomously driving, a monitoring screen 100 shown in FIG. 27 is displayed on the display 37 of the wireless communication terminal 46. The user continues to monitor the tractor 1 during autonomous driving while referring to this monitoring screen 100 and transmitting control signals to the tractor 1 as necessary.

[0089] Next, specific processing performed by the route generating unit 35 when generating the refueling route Q will be described with reference to Figs. 11 to 13. Fig. 11 is a flowchart showing processing performed by the route generating unit 35 and the like when generating the refueling route Q in the first embodiment. Fig. 12 is a flowchart showing a continuation of the processing in Fig. 11. Fig. 13 is a flowchart showing a continuation of the processing in Fig. 12. Note that the processing shown in Figs. 11 to 13 in this embodiment is performed each time the amount of fuel held by the traveling body 2 is acquired by the acquisition unit 57 after the tractor 1 starts autonomous traveling.

[0090] First, the acquisition unit 57 acquires the amount of fuel held by the traveling machine body 2 based on the detection result of the remaining fuel sensor 51 (step S101).

[0091] Next, the determination unit 58 calculates the planned amount of fuel (planned required amount) required for the tractor 1 to complete autonomous driving based on the vehicle speed, engine speed, etc., set when generating the autonomous driving route P (step S102). This planned required amount can be calculated by calculating the route length from the current position of the tractor 1 to the work end position E on the autonomous driving route P, and multiplying the route length by the fuel consumption per unit length calculated based on the vehicle speed, etc.

[0092] Next, the determination unit 58 determines whether or not fuel will be insufficient while the tractor 1 is traveling along the autonomous traveling path P from the current position to the work end position E, assuming that fuel is not replenished. In other words, the determination unit 58 determines whether or not the autonomous traveling along the autonomous traveling path P can be completed with the current amount of fuel held by the traveling body 2 (step S103). This determination can be made by comparing the amount of fuel held acquired in step S101 with the planned required amount of fuel acquired in step S102. However, this comparison is preferably made with a sufficient margin in mind.

[0093] If the result of the determination in step S103 is that the current amount of fuel held is sufficient to complete the autonomous driving (step S103, Yes), there is no need to refuel along the way, and therefore there is no need to generate the refueling route Q. Thus, the process ends.

[0094] On the other hand, if the result of the determination in step S103 is that the current amount of fuel held is not sufficient to complete the autonomous driving (step S103, No), this means that it is necessary to refuel along the way. Therefore, the route generation unit 35 performs the following processes to generate a refueling route Q along the autonomous driving route P, which is a temporary transition from the autonomous driving route P to refuel, and transmits the refueling route Q to the tractor 1.

[0095] FIG. 14 shows an example in which a refueling position F1 is set at an appropriate position on one side of the headland. The ends of the autonomous work paths P1 included in the autonomous travel path P are located at the boundary between the work area and the headland, but in order to smoothly transition from the autonomous work to refueling and simplify the refueling path, it is preferable to start travel for refueling from the autonomous travel path P at the point where the autonomous work path P1 terminates at the boundary between the headland on the side where the refueling position F1 is located and the work area. In consideration of this, multiple positions are considered as candidates for the deviation point at which the autonomous travel path P transitions to the path for refueling (refueling path Q), as shown by the square marks in FIG. 14. The determination unit 58 calculates the path length to the refueling position F1 for each position and selects the position with the longest path length. In the case of FIG. 14, the position with the longest path length to the refueling position F1 is C0. Next, the determination unit 58 calculates the amount of fuel (maximum amount of fuel required during refueling) N required to reach the refueling position F1 from the selected position C0 (step S104).

[0096] In the example of FIG. 14, the maximum fuel amount N required for refueling is calculated as the fuel required for traveling the dashed line route from the selected position C0 to the refueling position F1. The dashed line route can be regarded as the outbound portion of the refueling route, which is a route from the position C0 via the refueling position F1 and returns to the autonomous driving route P at an appropriate point. By calculating the maximum fuel amount N required for refueling in this manner, even if the tractor 1 deviates from the autonomous driving route P at any of the positions of the square marks in FIG. 14, as long as the amount of fuel held at the time of deviation is equal to or greater than the maximum fuel amount N required for refueling, the tractor 1 can reach the refueling position F1 from the deviation position without any problem. In this embodiment, the maximum fuel amount N required for refueling is set as the "reference amount".

[0097] Next, the judgment unit 58 takes into consideration the vehicle speed, engine RPM, and path length of the autonomous driving path P that were set when generating the autonomous driving path P, as well as the current remaining fuel amount, etc., and calculates to identify the position on the autonomous driving path P where the amount of fuel held in the traveling body 2 (the fuel tank) falls below the reference amount, which is the maximum amount of fuel required when refueling, N, as the fuel shortage position (reachable position) H (step S105).

[0098] Fig. 14 shows an example of a fuel shortage position H calculated when the tractor 1 is located at the location shown in the figure. In order to reduce the number of refueling attempts and improve efficiency, it is sufficient to select, from among the multiple candidates (rectangle marks) for the deviation position described above, the one (position C1) that is located upstream of the fuel shortage position H on the autonomous driving route P and is located furthest downstream, and generate a refueling route that deviates from the autonomous driving route P from the position C1. Therefore, in this case, a refueling route Q is generated as shown in Fig. 15.

[0099] In addition, since the above-mentioned fuel shortage position H is a position estimated based on the remaining fuel amount at that time, etc., it may fluctuate slightly as the tractor 1 actually consumes fuel while traveling and working autonomously, and as a result, the previously calculated refueling route Q may no longer be appropriate. In this embodiment, taking this into consideration, the process of Fig. 11 to Fig. 13 is repeated to monitor changes in the fuel shortage position H, and the refueling route Q is corrected as necessary.

[0100] To explain this more specifically based on the flowchart, the determination unit 58 determines whether or not the fuel shortage position H has been calculated in the previous process by reading out the information stored in the storage unit 32 (step S106).

[0101] If the calculation of the fuel shortage position H is the first time immediately after autonomous driving and autonomous work has started from the work start position S along the autonomous driving path P (step S106, No), the path generation unit 35 calculates a recommended refueling start position C1, which is a recommended position for departing from the autonomous driving path P to refuel, based on the fuel shortage position H calculated in step S105 (step S107). As shown in FIG. 14, this recommended refueling start position C1 is the one located upstream of the currently calculated fuel shortage position H on the autonomous driving path P among the ends of the autonomous work path P1 located on the headland closer to the refueling position F1, and if there are multiple ends of the autonomous work path P1 upstream of the fuel shortage position H on the autonomous driving path P, the one located most downstream among those multiple ends.

[0102] Next, the route generating unit 35 determines whether or not the recommended refueling start position C1 has been calculated for the first time (step S108). In other words, it determines whether or not the recommended refueling start position has not been set before.

[0103] If the result of the determination in step S108 is that the recommended refueling start position has been calculated before (step S108, No), the route generating unit 35 determines whether the currently calculated recommended refueling start position C1 is the same as the refueling start position set in the previous process (step S109). If the currently calculated recommended refueling start position C1 is the same as the previous one (step S109, Yes), the refueling route generated in the previous process can be used as is, and the process ends.

[0104] If it is determined in step S108 that the recommended refueling start position C1 has been calculated for the first time (step S108, Yes), or if it is determined in step S109 that the recommended refueling start position C1 is different from before (step S109, No), the display control unit 31 creates display data to inquire of the user whether or not to set the current recommended refueling start position C1 as the refueling start position, displays it on the display 37 of the wireless communication terminal 46, and waits for user operation (step S110).

[0105] In response to the inquiry in step S110, if the user agrees to set the current recommended refueling start position C1 as the refueling start position (step S110, Yes), the route generation unit 35 sets the start end of the autonomous work path P1 connected to the recommended refueling start position C1 via the connection path P2 as the recommended refueling end position D1 as shown in FIG. 15 (step S111). Next, the route generation unit 35 generates the shortest route connecting the recommended refueling start position C1 and the recommended refueling end position D1 via the refueling position F1 in the non-work area (headland, non-cultivated land) as the refueling route Q as shown in FIG. 15 (step S112). The refueling route Q is obtained by calculating a group of routes from the recommended refueling start position C1, which is the start point, to the refueling position F1 while passing through the headland or non-cultivated land area, and then selecting the shortest route from the group of routes from the refueling position F1 to the recommended refueling end position D1, which is the end point, while passing through the headland or non-cultivated land area.

[0106] Next, the route generation unit 35 generates a corrected autonomous traveling route by correcting the autonomous traveling route P based on the refueling route Q, and transmits the corrected autonomous traveling route to the tractor 1 at an appropriate timing (step S113). This correction is performed by replacing the connection path P2 that connects the recommended refueling start position C1 and the recommended refueling end position D1 of the autonomous traveling route P with the refueling route Q. Thereafter, the processing ends.

[0107] If the user refuses to set the current recommended refueling start position C1 as the refueling start position, or if a predetermined time has passed without the user performing any operation (step S110, No), the display control unit 31 creates display data to inquire as to whether the user agrees to stop at a headland upstream of the position where the fuel will run out (the position where there is no fuel), displays this on the display 37 of the wireless communication terminal 46, and waits for the user's operation (step S114).

[0108] If, as a result of the inquiry in step S114, the user agrees to stop at the headland upstream of the position where the fuel runs out, or if a predetermined time has passed since the inquiry without any operation (step S114, Yes), the route generation unit 35 controls the tractor 1 to stop at the headland before the fuel runs out (step S115). For example, the route generation unit 35 sets a temporary stop position in the headland upstream of the position where the fuel runs out and transmits information about the temporary stop position to the tractor 1. This causes the control unit 4 to temporarily stop the tractor 1 at the temporary stop position. After that, the processing ends.

[0109] On the other hand, if the result of the inquiry in step S114 is that the user refuses to stop at the headland upstream of the position where the fuel will run out (step S114, No), the display control unit 31 creates display data for informing the user that the tractor 1 will stop midway along the autonomous work path P1 due to fuel running out, and displays this on the display 37 of the wireless communication terminal 46. Thereafter, the process ends.

[0110] In the determination of step S106 shown in FIG. 12, when a fuel shortage position has been previously calculated (step S106, Yes), the determination unit 58 determines whether or not the currently calculated fuel shortage position is on an autonomous work path P1 different from the previously calculated fuel shortage position (step S116).

[0111] Fig. 16 shows a state in which the tractor 1 has advanced a certain distance from Fig. 15. Let us assume that the fuel shortage position calculated this time is J1 based on the amount of fuel held detected at the time point in Fig. 16. In this case, the current fuel shortage position J1 and the previous fuel shortage position H are on the same autonomous work path P1 (step S116, No), which means that there is no possibility that the recommended refueling start position C1 will change from the previous time. Therefore, the process is terminated.

[0112] On the other hand, if the fuel shortage position calculated this time is, for example, J2 in FIG. 16, the current fuel shortage position J2 and the previous fuel shortage position H are on different autonomous work paths P1. When the fuel shortage position moves to another autonomous work path P1 in this way (step S116, Yes), the refueling route Q is likely to have to be changed, so the processing from step S107 onwards is performed. FIG. 17 shows the refueling route Q after being corrected based on the fuel shortage position J2 calculated this time. However, even if the fuel shortage position moves to another autonomous work path P1, as shown for example at J3 in FIG. 16, there are cases in which the refueling route Q is not corrected because the recommended refueling start position C1 based on the fuel shortage position J3 does not change from the previous time.

[0113] As described above, in this embodiment, when the amount of fuel held by the traveling vehicle 2 is not enough to complete the autonomous traveling, information on the corrected autonomous traveling route, which is the information on the autonomous traveling route P plus the information on the refueling route Q, is input to the control unit 4. As a result, while the tractor 1 is traveling autonomously along the autonomous traveling route P, the tractor 1 can be temporarily shifted from the original autonomous traveling route P to the refueling route Q. Then, the tractor 1 can be autonomously traveling along the refueling route Q, stopped once at the refueling position F1 in the middle of the refueling route Q, and the traveling vehicle 2 can be refueled. After that, the tractor 1 returns to the original autonomous traveling route P. As a result, the tractor 1 can be made to travel from the work start position S to the work end position E without running out of fuel along the way, and agricultural work can be performed on the autonomous work path P1.

[0114] In addition, in the route generation unit 35 of this embodiment, when generating the refueling route Q, the refueling start position C1 is set taking into consideration the fuel required for autonomous driving on the outbound route of the refueling route Q when the outbound route is the longest, so that the tractor 1 can reliably drive autonomously to the refueling position F1 without running out of fuel halfway along the refueling route Q.

[0115] As described above, the route generation system 99 of this embodiment includes the route generation unit 35, the acquisition unit 57, the determination unit 58, and the refueling position setting unit (refueling position setting unit) 56. The route generation unit 35 can generate an autonomous driving route P along which the traveling machine body (vehicle body) 2 performs autonomous driving within a preset driving area. The acquisition unit 57 acquires the amount of fuel held by the traveling machine body 2. The determination unit 58 determines whether or not the autonomous driving on the autonomous driving route P can be completed based on the amount of fuel held. The refueling position setting unit 56 sets a refueling position (refueling position) F1 for fuel within the driving area. When the determination unit 58 determines that the autonomous driving cannot be completed, the route generation unit 35 can set a refueling start position C1 on the autonomous driving route P and generate a refueling route Q from the refueling start position C1 to the refueling position F1. Based on the amount of fuel held, the route generation unit 35 sets the refueling start position C1 so as to complete autonomous driving to the refueling start position C1 and autonomous driving from the refueling start position C1 to the refueling position F1 on the refueling route Q (see Figure 16).

[0116] As a result, when generating the refueling route Q, the refueling start position C1 of the refueling route Q is set taking into consideration the fuel required for autonomous driving on the outbound leg of the refueling route Q, so that the vehicle will not run out of fuel halfway along the refueling route Q, and it is possible to reliably drive autonomously to the refueling position F1.

[0117] Furthermore, in the route generation system 99 of this embodiment, assuming that the traveling body 2 continues to travel on the autonomous traveling path P without traveling on the refueling path Q, the route generation unit 35 identifies the position on the autonomous traveling path P when the amount of fuel held by the traveling body 2 becomes less than a reference amount (maximum amount of fuel required when refueling N) as a fuel shortage position (reachable position) H, and sets a refueling start position C1 upstream of this fuel shortage position H on the autonomous traveling path P.

[0118] This allows the refueling start position C1 to be set rationally.

[0119] Furthermore, in the route generation system 99 of this embodiment, the route generation unit 35 calculates, as the reference amount, the maximum amount of fuel required during refueling N required for traveling from the refueling start position C0 to the refueling position F1 when it is assumed that the refueling route Q has the longest route length.

[0120] This makes it possible to easily generate the refueling route Q by assuming that the amount of fuel required to travel the refueling route Q is constant.

[0121] Furthermore, in the route generation system 99 of this embodiment, the acquisition unit 57 acquires the amount of fuel held regularly or irregularly during autonomous driving on the autonomous driving route P. If a fuel shortage position (reachable position) J2 identified based on the newly acquired amount of fuel held is located on a different autonomous work route P1 upstream or downstream of the autonomous work route P1 on which the previously identified fuel shortage position (reachable position) H was located, the route generation unit 35 is able to modify the refueling start position C1 and generate a modified refueling route Q from the modified refueling start position C1 to the refueling position F1.

[0122] This makes it possible to correct the refueling start position C (C1) as necessary, even if the fuel consumption amount differs from the estimate based on the pre-calculation.

[0123] <Second embodiment> Next, a route generating system 99 according to a second embodiment of the present invention will be described mainly with reference to Figs. 18 to 23. In the route generating system 99 according to the second embodiment, the specific processing performed when the route generating unit 35 generates the refueling route Q differs from that of the route generating system 99 according to the first embodiment. Fig. 18 is a flowchart showing the processing performed by the route generating unit and the like when generating the refueling route Q in the second embodiment. Fig. 19 is a flowchart showing the continuation of the processing in Fig. 18. Fig. 20 is a flowchart showing the continuation of the processing in Fig. 19. In the description of this embodiment, the same or similar members as those in the above-mentioned embodiment are denoted by the same reference numerals in the drawings, and the description may be omitted.

[0124] Hereinafter, a specific process performed by the route generating unit 35 to generate the refueling route Q in the second embodiment will be described with reference to FIGS.

[0125] The processes from step S201 to step S203 are similar to the processes from step S101 to step S103 in the first embodiment, and therefore the description thereof will be omitted.

[0126] If the result of the judgment in step S203 is that the current amount of fuel held is not enough to complete the autonomous driving (step S203, No), this means that it is necessary to refuel on the way. Therefore, the judgment unit 58 calculates and identifies a position on the autonomous driving path P where the amount of fuel held in the traveling vehicle 2 (the fuel tank) falls below a predetermined value (reference amount) B as a fuel shortage position (reachable position) K, taking into consideration the vehicle speed, engine speed, and route length of the autonomous driving path P set when generating the autonomous driving path P, as well as the current remaining amount of fuel (step S204). In this embodiment, this predetermined value B is set to a positive value in anticipation of a certain amount of fuel margin, but it may also be zero. FIG. 21 shows the calculated fuel shortage position K in an example in which a refueling position F2 is set at an appropriate position on one side of the headland.

[0127] The processes in steps S205 and S220 are similar to those in steps S106 and S116 in the first embodiment, and therefore the description thereof will be omitted.

[0128] If the fuel shortage position K is calculated for the first time (step S205, No), the route generation unit 35 calculates a tentative refueling start position C2, which is a tentative position of a point at which the vehicle deviates from the autonomous driving route P to refuel, based on the fuel shortage position K calculated in step S204 (step S206). The method for calculating this tentative refueling start position C2 is exactly the same as the method for calculating the recommended refueling start position C1 in step S107 in the first embodiment, and therefore a description thereof will be omitted.

[0129] Next, the route generation unit 35 generates a route from the tentative refueling start position C2 to the refueling position F2 within the non-working area (step S207). This route is calculated to be the shortest route, as shown by the dashed line route in Fig. 21. This dashed line route can be considered as the outbound portion of the refueling route (tenant refueling route) that is a route that returns to the autonomous driving route P at an appropriate point from the tentative refueling start position C2 via the refueling position F2.

[0130] After that, the route generating unit 35 calculates the amount of fuel required at the time of refueling G, which is the fuel required for traveling on this outbound route (step S208).

[0131] Next, the path generation unit 35 calculates and estimates the remaining fuel amount when the traveling body 2 reaches the temporary refueling start position C2, and determines whether this estimated value (expected remaining fuel amount) is greater than or equal to the amount of fuel G required at the time of refueling (step S209).

[0132] If the result of the determination in step S209 is that the predicted remaining fuel amount when the tractor 1 reaches the temporary refueling start position C2 falls below the amount of fuel G required for refueling (step S209, No), this means that the tractor 1 cannot reach the refueling position F2 via the temporary refueling start position C2. Therefore, the route generating unit 35 changes the temporary refueling start position C2 to the end point that is one end point upstream from the current end point of the autonomous work path P1 located on the headland closer to the refueling position F2 (step S210). After that, the process returns to step S207, and the above process is repeated.

[0133] If the result of the determination in step S209 is that the expected remaining fuel amount when the tractor 1 reaches the temporary refueling start position C2 is equal to or greater than the amount of fuel G required for refueling (Yes in step S209), this means that the tractor 1 can reach the refueling position F2 via the temporary refueling start position C2. Therefore, the route generating unit 35 determines the temporary refueling start position C2 as the recommended refueling start position C1 (step S211). The subsequent processing in steps S212 to S219 is similar to steps S108 to S115 in the first embodiment, and therefore will not be described.

[0134] In this embodiment, unlike the first embodiment described above, the amount of fuel required at the time of refueling G is recalculated while sequentially changing the tentative refueling start position C2 from the downstream side to the upstream side, and it is determined whether or not the refueling position F2 can be reached. When it is determined that the refueling position F2 can be reached, the tentative refueling start position C2 is set as the recommended refueling start position C1. For example, it is assumed that the tractor 1 cannot reach the refueling position F2 at the tentative refueling start position C2 shown in FIG. 21, but it is determined that the tractor 1 can reach the refueling position F2 by moving the tentative refueling start position C2 upstream as shown in FIG. 22. In this case, as shown in FIG. 23, the tentative refueling start position C2 in FIG. 22 is set as the recommended refueling start position C1, and the refueling route Q can be generated in the same manner as in the first embodiment. By configuring in this manner, the refueling route Q can be generated by appropriately considering that the amount of fuel required at the time of refueling G changes as the deviation point of the tractor 1 from the autonomous driving route P changes, and that the remaining amount of fuel at the time of deviation changes.

[0135] The first and second embodiments of the present invention have been described above, but the above configurations can be modified, for example, as follows.

[0136] <Modifications of the First and Second Embodiments> In the above embodiment, assuming that the traveling machine body 2 continues traveling on the autonomous traveling path P without refueling on the way, the position on the autonomous traveling path P when the amount of fuel held by the traveling machine body 2 becomes equal to or less than a reference amount is specified as a reachable position, and the refueling start position C is set at a position upstream of the autonomous traveling path P from the reachable position. However, instead of this, the refueling start position C may be set so that the first distance from the current position (or work start position S) of the tractor 1 to the refueling position F via the refueling start position C is shorter than the second distance (the distance from the current position (or work start position S) of the tractor 1 to the farthest position at which autonomous traveling can be maintained) at which autonomous traveling can be maintained due to the amount of fuel held by the traveling machine body 2 by a predetermined distance or more.

[0137] In this case, the refueling start position C can be set with a certain margin of remaining fuel, so that autonomous driving will not be interrupted due to lack of fuel even if an error occurs in the fuel consumption rate, etc.

[0138] In the above modified example, the acquisition unit 57 may acquire the remaining fuel amount periodically or irregularly during the autonomous travel of the tractor 1, and may recalculate the first distance and / or the second distance each time. In this case, the route generation unit 35 may monitor the difference between the first distance and the second distance, and may correct the refueling start position C when the difference between the first distance and the second distance becomes longer than a first threshold distance that is longer than the above-mentioned predetermined distance, or becomes shorter than a second threshold distance that is shorter than the above-mentioned predetermined distance. In this case, the route generation unit 35 calculates a refueling route Q from the corrected refueling start position C to the refueling position F by calculation.

[0139] With this configuration, if the actual fuel consumption amount differs from the estimate based on prior calculation, the refueling start position C can be corrected as necessary, and an appropriate refueling route Q can be generated according to the fuel consumption situation.

[0140] In the first and second embodiments described above, when a reachable position identified based on a newly acquired amount of fuel held is located upstream or downstream of the autonomous driving route P from a reachable position previously set, and a refueling start position C and a refueling route Q different from the previous ones are generated, an inquiry is made to the user, and when consent is obtained to change the refueling start position C and / or the refueling route Q, the refueling start position C and the refueling route Q are changed to the newly generated refueling start position C and the refueling route Q. That is, when the actual decrease in fuel is faster or slower than expected, the user is asked whether or not to change. However, this is not limited to this, and an inquiry to change the refueling route Q may be made to the user only when the actual decrease in fuel is faster than expected, and when the decrease in fuel is slower than expected, no inquiry is made and the refueling route Q is not changed.

[0141] In the above first and second embodiments, the refueling route Q is automatically generated on the headland side closer to the refueling position F. However, this is not limited to this, and the user may be allowed to specify on which headland side the refueling route Q is to be generated.

[0142] In the first and second embodiments described above, after the tractor 1 starts autonomous traveling, the determination unit 58 determines whether or not the autonomous traveling can be completed with the current amount of fuel held. However, this is not limited to this, and the determination unit 58 may determine in advance before the start of autonomous traveling whether or not the autonomous traveling on the autonomous traveling route P can be completed with the maximum amount of fuel held specified by the model of the tractor 1 (that is, the determination may be made assuming that a full amount of fuel is held at the start of autonomous traveling). If it is clear from the result of the determination that the autonomous traveling cannot be completed with only the maximum amount of fuel held specified by the model of the tractor 1, the route generation unit 35 may generate the autonomous traveling route P and the refueling route Q at the same time before the start of autonomous traveling. In addition, in this case, if it is found that the actual amount of fuel held by the traveling body 2 is less than the maximum amount after the start of autonomous traveling, the user may be inquired about whether or not the refueling route Q can be changed at that time.

[0143] <Third embodiment> Next, a route generation system 99 according to a third embodiment of the present invention will be described with reference to Fig. 24. Fig. 24 is a diagram showing a display example of a work information input screen 95 in the third embodiment. The route generation system 99 according to the third embodiment differs from the first and second embodiments in that an autonomous driving route is generated in advance, taking into account the required fuel, before the tractor 1 starts autonomous driving.

[0144] In the third embodiment, when the work information input operation unit 63 on the input selection screen 60 is operated, the operation screen is switched to a work information input screen 95 shown in Fig. 24. That is, in the route generation system 99 according to the third embodiment, the work information input screen 95 is displayed instead of the work information input screen 90.

[0145] The work information input screen 95 has a "remaining fuel" field. The remaining fuel amount last acquired by the acquisition unit 57 when the tractor 1 was last operated (the final detection value of the remaining fuel sensor 51) is entered as an initial value in this "remaining fuel" field. The user can set a desired value as the remaining fuel amount by directly inputting a value in this field or by selecting "full" by using a pull-down menu. The remaining fuel amount set in this field is accepted by the work information setting unit 47 and stored in the memory unit 32.

[0146] In the third embodiment as well, when the user finishes setting the work information, a refill position setting window 91 is displayed, allowing the user to set a refueling position. When the user finishes setting the work information and the refueling position, returns to the input selection screen in FIG. 6, and selects the travel route generation and transfer operation unit 64, a corrected autonomous travel route is automatically generated by adding the refueling route Q to the autonomous travel route P of the tractor 1, and this corrected autonomous travel route is stored in the memory unit 32.

[0147] This corrected autonomous driving route is transmitted to the tractor 1, and the agricultural work start operation unit 65 is operated, whereby the autonomous driving of the tractor 1 is started.

[0148] Immediately after the tractor 1 starts autonomous traveling, the acquisition unit 57 acquires the detection result of the remaining fuel sensor 51, thereby acquiring the amount of fuel that the traveling body 2 actually possesses.

[0149] Then, the route generation unit 35 determines whether the remaining fuel amount accepted by the work information setting unit 47 before the start of autonomous driving and the remaining fuel amount acquired by the acquisition unit 57 after the start of autonomous driving differ by more than a predetermined value.

[0150] If the difference between the remaining fuel amount accepted by the work information setting unit 47 before the start of autonomous driving and the remaining fuel amount acquired by the acquisition unit 57 after the start of autonomous driving is less than a predetermined value, the route generation unit 35 does not regenerate (modify) the refueling route Q.

[0151] On the other hand, if the difference between the remaining fuel amount received by the work information setting unit 47 before the start of autonomous driving and the remaining fuel amount acquired by the acquisition unit 57 after the start of autonomous driving is equal to or greater than a predetermined value, a new refueling route Q is generated and the user is asked whether or not to adopt it, as in the process flow shown in the first or second embodiment. If the user agrees to set (adopt) the refueling route Q as the "refueling route", a corrected autonomous driving route including the refueling route Q is transmitted to the tractor 1. This allows the tractor 1 to automatically travel along the refueling route Q set in accordance with the actual remaining fuel amount, eliminating the risk of running out of fuel during autonomous driving.

[0152] In this embodiment, the "predetermined value" for determining the degree of deviation can be set to a value greater than the amount of fuel required to travel one autonomous work path P1, for example. This makes it possible to recalculate the refueling start position C and generate a corrected refueling route Q when there is a high possibility that the optimal refueling start position C will fluctuate.

[0153] <Fourth embodiment> Next, a route generating system 99 according to a fourth embodiment of the present invention will be described with reference to Figs. 25 and 26. The route generating system 99 according to the fourth embodiment differs from the above embodiments in that the "resupply position" set by operating the display screen of the resupply position setting window 91 is both a position for resupplying fuel and a position for resupplying fertilizer. That is, in the fourth embodiment, the fuel resupply position set by the resupply position setting unit 56 also serves as the fertilizer resupply position.

[0154] The acquisition unit 57 of this embodiment acquires not only the amount of fuel held by the traveling body 2, but also the amount of fertilizer (materials) held by the fertilizer application device 3. The acquisition unit 57 acquires the remaining amount of fertilizer in the fertilizer tank 29, in other words, the amount of fertilizer held by the fertilizer application device 3, based on the detection value received from the fertilizer remaining amount sensor 30.

[0155] The judgment unit 58 not only judges whether the traveling body 2 is capable of completing autonomous traveling on the autonomous traveling path P based on the amount of fuel acquired by the acquisition unit 57, but also judges whether the fertilizer application device 3 is capable of completing autonomous work on the autonomous traveling path P (autonomous work path P1, P1, ...) based on the amount of fertilizer acquired by the acquisition unit 57.

[0156] Next, the process performed by the route generating unit 35 to generate the fuel and / or fertilizer supply route Q will be described with reference to Figs. 25 and 26.

[0157] First, the path generating unit 35 identifies a position on the autonomous traveling path P when the amount of fuel held by the traveling body 2 becomes equal to or less than a reference amount as a reachable position, and sets the end of the autonomous working path P1, which is located upstream of the reachable position on the autonomous traveling path P and located on the headland closer to the fuel and fertilizer supply position F3, as the refueling start position C4, C5. FIG. 25 shows a case where two positions C4, C5 are set as the refueling start position. Note that the refueling end position corresponding to the refueling start position C4, which is located on the upstream side of the two positions C4, C5, is shown as position D4. Also, the refueling end position corresponding to the refueling start position C5, which is located on the downstream side of the two positions C4, C5, is shown as position D5.

[0158] Furthermore, the path generating unit 35 identifies the position on the autonomous travel path P when the amount of fertilizer held by the fertilizer applicator 3 becomes equal to or less than a predetermined value as the fertilizer out-of-position, and identifies the end of the autonomous work path P1 that is located upstream of the fertilizer out-of-position on the autonomous travel path P and on the headland closer to the supply position F3 as the fertilizer supply start positions U1, U2. FIG. 26 shows a case where two positions U1, U2 are set as the fertilizer supply start positions. Note that the fertilizer supply end position corresponding to the fertilizer supply start position U1, which is located on the upstream side of the two positions U1, U2, is shown as position V1. Furthermore, the fertilizer supply end position corresponding to the fertilizer supply start position U2, which is located on the downstream side of the two positions U1, U2, is shown as position V2.

[0159] Next, when looking at the fuel supply start positions C4, C5 and the fertilizer supply start positions U1, U2 that were provisionally generated individually as described above, the path generation unit 35 determines whether the fertilizer supply start positions U1, U2 are located before each of the fuel supply start positions C4, C5.

[0160] Here, focusing on the refueling start position C4, there is no fertilizer supply start position located further upstream than this, as shown in Fig. 25. Therefore, the refueling start position C4 (and the refueling end position D4) are not integrated into any of the fertilizer supply start positions (and fertilizer supply end positions).

[0161] On the other hand, when focusing on the fuel supply start position C5, the fertilizer supply start positions U1 and U2 are located at a position upstream of the fuel supply start position C5. That is, it is specified that there is a fertilizer shortage multiple times (twice in this embodiment) between the fuel supply start position C5 and the fuel supply start position C4 upstream of the fuel supply start position C5, and the fertilizer supply start position U1 and the fertilizer supply start position U2 are set for each of them. In this case, the path generating unit 35 shifts (moves) the next fuel supply start position C5 (and the fuel supply end position D5) to a position common to the fertilizer supply start position U2 (and the fertilizer supply end position V2) that is the furthest from the upstream fuel supply start position C4. In other words, the next fuel supply start position C5 (and the fuel supply end position D5) is integrated with the fertilizer supply start position U2 (and the fertilizer supply end position V2) that is the furthest from the fuel supply start position C4 related to the previous refueling.

[0162] This allows the tractor 1 to replenish not only fertilizer but also fuel when it reaches the replenishing position F3 from the fertilizer replenishing start position U2 via the outbound route of the replenishing route Q. Therefore, when viewed as a whole, it is possible to reduce the number of times that the tractor 1 deviates from the autonomous traveling route P and travels along the route to the replenishing position F3 (i.e., the number of times that the tractor 1 deviates from the autonomous traveling route P), shorten the length of the traveling route, and efficiently replenish fuel and fertilizer.

[0163] As described above, the route generation system 99 of this embodiment includes the fertilizer applicator (working machine) 3 that is attached to the traveling machine body (vehicle body) 2 and holds fertilizer (materials) to perform autonomous work within the traveling area. The acquisition unit 57 can acquire the amount of fertilizer held by the fertilizer applicator 3. The determination unit 58 can determine whether or not it is possible to complete the autonomous work within the traveling area based on the amount of fertilizer held. When the determination unit 58 determines that neither the autonomous traveling nor the autonomous work can be completed and the fertilizer runs out earlier than the fuel on the autonomous traveling route P, the route generation unit 35 sets the refueling start position C based on the amount of fertilizer held so that the autonomous traveling and autonomous work up to the refueling start position C, and the autonomous traveling from the refueling start position C to the refueling position F on the refueling route Q can be completed.

[0164] This allows the fuel supply route (material supply route) Q to be generated according to the earlier of the timing of fertilizer supply shortage and the timing of fuel supply shortage. In other words, the supply route Q for supplying both fertilizer and fuel can be generated according to the more upstream of the fertilizer supply start position U2 (and fertilizer supply end position V2) and the fuel supply start position C5 (and fuel supply end position D5). This makes it possible to efficiently supply fuel and fertilizer.

[0165] In addition, in the route generation system 99 of this embodiment, when the judgment unit 58 determines that neither autonomous driving nor autonomous work can be completed, and fertilizer shortages occur multiple times between the previous fuel shortage and the next fuel shortage on the autonomous driving route P, the route generation unit 35 sets the next refueling start position C5 at a position common to the fertilizer replenishment start position U2 that is set due to a fertilizer shortage that is the farthest from the refueling start position C4 that is set due to the previous fuel shortage.

[0166] This allows the refueling start position C5 and the fertilizer supply start position U2 to be in a common position, making it possible to efficiently supply fuel and fertilizer.

[0167] <Modification of the Fourth Embodiment> In the above fourth embodiment, the supply position F3 set by the supply position setting unit 56 is a position where both fuel and fertilizer can be supplied. However, instead of this, the fuel supply position and the fertilizer supply position may be set at different positions. In that case, if the fuel supply position and the fertilizer supply position are arranged on the same side of the pillow ground, the fuel supply start position and the fertilizer supply start position can be integrated as necessary in the same manner as shown in the fourth embodiment. On the other hand, if the fuel supply position and the fertilizer supply position are arranged on different sides of the pillow ground, the fuel supply start position and the fertilizer supply start position can be not integrated, and the fuel supply path and the fertilizer supply path can be generated separately.

[0168] The preferred embodiment and modifications of the present invention have been described above, but the above configurations can be modified, for example, as follows.

[0169] After the traveling vehicle 2 stops at the refueling position F1 (F2, F3) to refuel, the acquisition unit 57 may acquire the amount of fuel held by the traveling vehicle 2 (check the amount of refueling) and, if necessary, issue a notification that fuel is insufficient. For example, if an amount of fuel less than the maximum capacity of the fuel tank is required to reach the work end position E after refueling at the refueling position F1 (F2, F3), and the amount of fuel refueled is less than this amount, a notification such as lighting a warning lamp or emitting an alarm sound may be issued. This can prompt the user to refuel (add) the required amount of fuel.

[0170] In the above embodiment, the refueling start position C and the refueling end position D are the end and beginning of two autonomous work paths P1 connected to each other via the connection path P2, and are located on the same headland. However, this is not necessarily limited to this. For example, instead of this, the refueling start position C and the refueling end position D may be located on a common autonomous work path P1, or may be located on headlands on different sides.

[0171] In the first and second embodiments described above, the determination unit 58 calculates the planned amount of fuel (planned required amount) required for the autonomous driving route P based on the vehicle speed, engine speed, route length of the autonomous driving route P, and the like set when generating the autonomous driving route P. However, the method of calculating the planned required amount of fuel is not limited to this, and instead, for example, the engine load may be estimated taking into consideration the detection value of the load sensor 54, and the planned required amount of fuel may be calculated from the relationship between the engine speed and the engine load. Alternatively, the relationship between the planned required amount calculated by the determination unit 58 as an expected amount when the tractor 1 was operated in the past and the amount of fuel actually required may be stored in the storage unit 32, and this information may be used to calculate the planned required amount from the next time onwards. In this case, the relationship between the planned required amount and the actually required amount of fuel on the autonomous working path (straight path) P1 may be stored separately from the relationship between the planned required amount and the actually required amount of fuel on the connecting path (circling path) P2. Specifically, the ratio between the estimated required amount and the amount of fuel actually required can be stored as a correction coefficient and used in subsequent calculations of the estimated required amount.

[0172] Generally, the remaining fuel amount can be estimated with a relatively high degree of accuracy at a position not far from the current position of the tractor 1, but it is considered that the accuracy of the estimation of the remaining fuel amount decreases as the position is farther from the current position of the tractor 1. Therefore, when an image of the generated autonomous driving path P represented by an arrow, line, or the like is displayed on the display 37, the color of the path may be expressed by a gradation or the like so that the color becomes darker at a position where the accuracy of the estimation of the remaining fuel amount is higher. Alternatively, while the tractor 1 is autonomously traveling along the autonomous driving path P, the color of the path from the current position of the tractor 1 to the refueling start position C may be expressed in a single uniform color on the monitoring screen 100 (a screen that graphically displays the autonomous driving path P) displayed on the display 37, and the color may gradually become darker as the tractor 1 travels downstream along the autonomous driving path P. Alternatively, each of the autonomous work paths P1 arranged side by side may be expressed in a different color according to the accuracy of the estimation. FIG. 27 shows an example of how the difference in the accuracy of estimation for each autonomous work path P1 is displayed on the monitoring screen 100 using this representation method.

[0173] In the above embodiment, the material is fertilizer, but the present invention is not limited to this, and the material may be, for example, a herbicide, a drug, a seedling, a seed, etc. For example, a herbicide spraying device can be used as a working machine in place of the fertilizer application device 3 described above when the material is a herbicide, a drug spraying device can be used in the case of a drug, a seedling transplanting device can be used in the case of a seed, and a sowing device can be used in the case of a seed.

[0174] In the above configuration, the route generating unit 35, the supply position setting unit 56, the acquiring unit 57, and the determining unit 58 are provided on the wireless communication terminal 46 side, but whether these components are provided on the tractor 1 side or on the wireless communication terminal 46 side is not limited to this. In addition, other components may also be provided on either the tractor 1 side or on the wireless communication terminal 46 side.

[0175] The above-mentioned route generation system 99 may be used only for the process of generating the supply route Q, and the actual driving may be performed, for example, by the user steering the tractor 1 while referring to the supply route Q via a wireless communication terminal 46 or the like.

[0176] <Notes on the invention> According to a first aspect of the present invention, there is provided a route generation system having the following configuration. That is, the route generation system includes a route generation unit, an acquisition unit, a refueling position setting unit, and a determination unit. The route generation unit is capable of generating an autonomous driving route in which autonomous driving is performed by a vehicle body unit within a driving area that is a combination of a non-working area and a working area that have been set in advance. The acquisition unit acquires the amount of fuel held in the vehicle body unit. The refueling position setting unit sets a refueling position that is a fuel refueling position within the driving area. The determination unit determines whether or not autonomous driving on the autonomous driving route can be completed based on the amount of fuel held. When the determination unit determines that autonomous driving cannot be completed, the route generation unit sets a refueling start position at the boundary between the non-working area and the working area for moving the vehicle body unit to the refueling position set by the refueling position setting unit.

[0177] This allows for a smooth transition from autonomous operation to refueling and simplifies the refueling route.

[0178] According to a second aspect of the present invention, there is provided a route generation system having the following configuration. That is, the route generation system includes a route generation unit, an acquisition unit, a material supply position setting unit, and a judgment unit. The route generation unit is capable of generating an autonomous driving route along which the vehicle body unit performs autonomous driving within a travel area that is a combination of a non-work area and a work area that have been set in advance. The acquisition unit acquires the amount of materials held on the vehicle body unit. The material supply position setting unit sets a material supply position that is a material supply position within the travel area. The judgment unit judges whether or not it is possible to complete the autonomous driving work within the travel area based on the amount of materials held. When the judgment unit judges that the autonomous driving work cannot be completed, the route generation unit sets a material supply start position at the boundary between the non-work area and the work area for moving the vehicle body unit to the material supply position set by the material supply position setting unit.

[0179] A display control system according to an aspect of the present invention includes a resupply position setting unit and a display control unit. The resupply position setting unit sets a resupply position for resupplying a resupply target consisting of at least one of fuel for the work vehicle and materials used in the work within a travel area that combines a work area where work is performed by a work vehicle performing autonomous travel work and a non-work area where the work is not performed. The display control unit controls the display unit to display a display screen. The display control unit displays a resupply position setting screen that accepts a user's operation to specify a location to set the resupply position.

[0180] A route generation system according to one aspect of the present invention includes the display control system and a route generation unit capable of generating an autonomous driving route along which the work vehicle performs autonomous driving operations within the driving area.

[0181] An autonomous driving system for a work vehicle according to one aspect of the present invention includes a resupply position setting unit and a display control unit. The resupply position setting unit sets a resupply position for resupplying a resupply target consisting of at least one of fuel for the work vehicle and materials used in the work in a field where work is performed by a work vehicle performing autonomous driving work. The display control unit controls the display unit to display a display screen. Before the work vehicle starts autonomous driving, the display control unit displays, as the display screen, a resupply position setting screen that accepts user operations regarding setting of the resupply position. [Explanation of symbols]

[0182] 1. Robot Tractor (Tractor, Work Vehicle) 2 Running body (body section) 35 Route Generation Unit 56 Refueling position setting section (Refueling position setting section) 57 Acquisition Department 58 Judgment section 99 Route Generation System C1 Refueling start position F1 refueling location P Autonomous driving route

Claims

1. A display control unit that controls a display screen related to the automatic driving of the work vehicle to be displayed on the display unit, the display control unit displays, as the display screen, a setting screen capable of accepting a user operation for setting a replenishment of a replenishment target consisting of at least one of fuel for the work vehicle and materials used in the work, the setting screen is capable of receiving a user operation for setting a replenishment location for replenishment of the replenishment object, The supply location can be set only to a specific location in the field where the work vehicle performs work. Autonomous driving system.

2. A display screen relating to the automatic driving of the work vehicle is displayed on the display unit, displaying, as the display screen, a setting screen capable of receiving a user operation for setting a replenishment of a replenishment target consisting of at least one of fuel for the work vehicle and materials used in the work; the setting screen is capable of receiving a user operation for setting a replenishment location for replenishment of the replenishment object, The supply location can be set only to a specific location in the field where the work vehicle performs work. Automated driving method.

Images