| CPC A01B 69/008 (2013.01) [A01B 79/005 (2013.01); G05D 1/0212 (2013.01); G05D 1/0276 (2013.01); G05D 2201/0201 (2013.01)] | 20 Claims |
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1. An agricultural machine comprising:
a traveling vehicle body capable of traveling;
a controller connected to a change reception switch and a display, the controller configured or programmed to:
create a planned traveling route for the traveling vehicle body in a work area where a working device provided on the traveling vehicle body performs work using a material;
set, outside the work area, a replenishment area where the material is replenished;
acquire a charge amount of the material loaded on the working device;
calculate a remaining amount of the material based on the charge amount and a material consumption of the material consumed by the working device;
set a replenishment position where the material is replenished in the replenishment area based on the remaining amount;
change the replenishment position when the change reception switch receives a change of the replenishment position;
create a turning route passing through the replenishment area from the work area and returning to the work area again;
set the replenishment position in a portion of the replenishment area corresponding to the turning route; and
set a changed position before the replenishment position in a traveling direction of the planned traveling route in the portion of the replenishment area corresponding to the turning route; wherein
the display is operable to display a changed position that is the changed replenishment position.
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