Slip determination system, travel path generation system, and field work vehicle

A travel path generation system that generates a travel path for performing automatic travel in a field in which work is performed by different types of field work vehicles, the system comprising:

• a work information storage management portion for storing and managing work information in a form in which the work information is linked with corresponding field information and corresponding work vehicle information, the work information being uploaded after being generated by a preceding field work vehicle previously performing work in the field, the preceding field work vehicle being in a form of a seeding machine or a rice transplanter as a seedling row forming machine for forming seedling rows;
• a work information acquisition portion for acquiring, from the work information storage management portion, a seedling row formation map included in the work information regarding the preceding field work vehicle;
• and
• a path calculation portion for calculating, based on the seedling row formation map, a subsequent field work vehicle travel path for a subsequent field work vehicle that is to perform automatic travel work hereafter in the field in which work has been performed by the preceding field work vehicle,
• wherein the path calculation portion calculates the subsequent field work vehicle travel path with use of positions of the seedling rows and a direction in which the seedling rows extend, the positions and the direction being obtained based on the seedling row formation map, the subsequent field work vehicle travel path being calculated such that the subsequent field work vehicle travel path includes a first path and a second path, the first path extending in the direction in which the seedling rows extend, the second path extending in a direction crossing the direction in which the seedling rows extend, the first path being longer than the second path.

A slip determination system comprising:

• a traveling vehicle body;
• a vehicle position detection module for detecting a vehicle position;
• an automatic travel control portion for enabling automatic travel based on the vehicle position and a set travel path;
• a slip amount calculation portion for calculating a slip amount of the traveling vehicle body, using an estimated movement distance of the traveling vehicle body calculated based on the number of revolutions of a driving axle of the traveling vehicle body, and an actual movement distance of the traveling vehicle body calculated based on the vehicle position;
• an appropriateness determination portion for performing appropriateness determination to determine, based on the slip amount, whether or not a state of a traveling ground surface is appropriate for automatic travel and for determining, if the slip amount exceeds an allowable slip amount, that the state of the traveling ground surface is not appropriate for automatic travel;
• an automatic travel stop portion for stopping automatic travel enabled by the automatic travel control portion, based on a determination result from the appropriateness determination portion;
• and
• a turning performance adjustment portion for adjusting turning performance of the traveling vehicle body,
• wherein if the slip amount exceeds a predetermined value, the turning performance adjustment portion adjusts the turning performance without the automatic travel stop portion stopping automatic travel.