Automatic travel control system

Abstract

The purpose of the present invention is to enable high-precision operation travel even in a field in which ridges are provided and crops are planted in rows and columns. Provided is an automatic travel control system for controlling automatic travel of a following work vehicle (PO) different from a preceding work vehicle (PR) that performs work travel in a field in which the preceding work vehicle (PR) performs work travel by automatic travel, the automatic travel control system comprising: an acquisition unit that acquires a travel reference (RE) generated when the preceding work vehicle (PR) performs automatic travel; a storage unit that stores the travel reference (RE) acquired by the acquisition unit; and a route generation unit that generates, on the basis of the travel reference (RE) stored in the storage unit, a first route that is an automatic travel route for the following work vehicle (PO) when the following work vehicle (PO) automatically travels in the field.

Description

Technical Field

[0001] The present invention relates to an automatic driving control system for a working vehicle that travels along an automatic driving path to perform work in a field. Background Art

[0002] As shown in Patent Document 1, a harvester (working vehicle) performs working travel along a travel path (automatic travel path). The travel path is generated based on a working area (inner peripheral area) obtained by driving around in a field. For example, the travel path is generated parallel to an outer peripheral area of ​​the working area.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent document 1: Japanese Patent Application No. 2018-38291. Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] However, even if ridges are set in the field or crops are planted in rows, sometimes the automatic driving path is not formed along the ridges or rows. If the automatic driving path is not generated along the ridges or rows, sometimes the working vehicle crosses the ridges or rows to perform working driving, and the working driving cannot be performed properly.

[0008] An object of the present invention is to enable working travel with high accuracy even in a field where ridges are provided or crops are planted in rows.

[0009] Technical solutions for solving technical problems

[0010] In order to achieve the above-mentioned purpose, an automatic driving control system involved in an embodiment of the present invention controls the automatic driving of a following work vehicle that is different from the preceding work vehicle that is working in a field where the preceding work vehicle has performed working driving by automatic driving, and includes: an acquisition unit that acquires a driving reference generated when the preceding work vehicle performs automatic driving; a storage unit that stores the driving reference acquired by the acquisition unit; and a path generation unit that generates a first path as an automatic driving path for the following work vehicle when it automatically drives in the field based on the driving reference stored in the storage unit.

[0011] When cultivating crops in a field, various operations are performed by a plurality of work vehicles. For example, after ridge making, sowing is performed, and then the grown crops are harvested. In addition, after the crops are planted in rows, the grown crops are harvested.

[0012] The leading operation vehicle makes ridges or sows along the ridges or plants crops in rows. The following operation vehicle sows along the ridges or harvests the crops on the ridges or harvests the crops in rows.

[0013] According to the above structure, since the automatic driving path of the following working vehicle is formed based on the driving reference when the leading working vehicle is automatically driving, the following working vehicle can drive along the ridge or row. As a result, the following working vehicle can avoid crossing the ridge or row for working driving and can perform working driving with high accuracy.

[0014] In addition, the driving reference may be a reference orientation of the leading working vehicle when the leading working vehicle drives automatically.

[0015] The reference orientation is a reference for determining the direction of the automatic travel path. Therefore, by generating the automatic travel path of the following work vehicle based on the reference orientation when the leading work vehicle is automatically traveling, the following work vehicle can travel along the ridge or row with higher accuracy.

[0016] In addition, the first path may also be parallel to the reference orientation.

[0017] According to such a configuration, the automatic travel path of the following working vehicle is formed along the ridge or row formed by the preceding working vehicle with high accuracy. As a result, the following working vehicle can travel along the ridge or row with higher accuracy.

[0018] In addition, it may also include a reference storage unit, which obtains and maintains at least a part of the driving references generated for multiple automatic driving when one or more of the leading work vehicles are driving automatically, and the acquisition unit obtains the latest driving reference from the reference storage unit.

[0019] The following working vehicle performs working travel after the preceding working vehicle. In addition, before the following working vehicle performs working travel, there are often multiple working travels in the field. In such a case, it can be expected that the working travel performed at a time close to the working travel of the following working vehicle will form a shape (direction) close to the ridge or row when the following working vehicle performs working travel.

[0020] Therefore, according to the above configuration, the automatic travel path of the following work vehicle can be generated based on the travel reference in the upcoming work travel during the work travel while maintaining the travel reference. As a result, the following work vehicle can travel along the ridge or row with higher accuracy.

[0021] In addition, it may also include: a benchmark storage unit, which obtains and maintains at least a part of the driving benchmarks generated for multiple automatic driving respectively when one or more of the leading working vehicles are driving automatically; a benchmark selection unit, which accepts human operation to select the driving benchmark, and the acquisition unit obtains the driving benchmark selected by the benchmark selection unit from the benchmark storage unit.

[0022] Sometimes, the next operation of the following operation vehicle does not need to be along the ridge or row. The operator can expect to understand the content of each operation, and the operator can understand the operation that is most suitable for the following operation vehicle among the past operation.

[0023] According to the above configuration, since the travel criterion for the working travel that is considered to be most suitable for the working travel of the following working vehicle can be selected, the following working vehicle can travel along the ridge or the row with higher accuracy.

[0024] Furthermore, the route generating unit may generate the first route after the preceding work vehicle completes its work travel.

[0025] According to such a configuration, the automatic travel path of the following work vehicle is generated after the work travel of the preceding work vehicle is completed. Therefore, even if the work travel of the preceding work vehicle is changed during the course, the automatic travel path can be generated accurately in accordance with the change.

[0026] In addition, it may also be that the path generation unit stores the first path in the storage unit, the path generation unit generates a second path as the automatic driving path based on the working object area of ​​the following work vehicle and stores it in the storage unit, and the following work vehicle automatically drives along the first path or the second path.

[0027] Depending on the content of the work of the following work vehicle, it is sometimes appropriate to carry out the work along the automatic driving path generated based on the work target area (inner peripheral area) of the field. According to the above structure, the following work vehicle can carry out the work along the automatic driving path generated based on the work target area.

[0028] Furthermore, the system may further include a route selection unit that receives a selection operation for selecting the automatic travel route along which the following work vehicle automatically travels from the first route or the second route, and the following work vehicle automatically travels along the automatic travel route selected by the route selection unit.

[0029] According to such a configuration, when it is appropriate to perform work travel along the automatic travel route generated based on the work target area of ​​the field, the following work vehicle can perform work travel by selecting the automatic travel route generated based on the work target area.

[0030] Furthermore, the leading operation vehicle may perform sowing or planting, and the trailing operation vehicle may perform harvesting.

[0031] With such a structure, crops sown in ridges and crops planted in rows can be harvested with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a diagram for explaining a schematic configuration for generating an automatic driving route based on preceding work driving.

[0033] Figure 2 It is a side view of a combine harvester.

[0034] Figure 3 It is a diagram illustrating the configuration of an automatic driving control system.

[0035] Figure 4 This is a diagram illustrating a flow of generating an automatic travel path for a following work vehicle.

[0036] [Explanation of Reference Numerals]

[0037] 21. Acquisition Department;

[0038] 23. Path generation unit;

[0039] 25. Operation driving control unit;

[0040] 27. Storage department;

[0041] 32. Benchmark storage department;

[0042] 34. Benchmark selection department;

[0043] 36. Path selection department;

[0044] CA, inner peripheral area (operation object area);

[0045] LI, automatic driving path;

[0046] LI1, first path;

[0047] LI2, second path;

[0048] LIR, precedent path;

[0049] PO, rear operation vehicle;

[0050] PR, advance operation vehicle;

[0051] RD, reference direction;

[0052] RE, driving benchmark; DETAILED DESCRIPTION

[0053] As described above, when cultivating crops in a field, various operations are performed by a plurality of work vehicles. For example, the field is plowed, sowing is performed after ridge making, and then the grown crops are harvested. In addition, the field is plowed, the crops are planted in rows, and then the grown crops are harvested. In addition, during this period, operations such as the application of drugs and fertilizers are also performed.

[0054] like Figure 1 As shown, the working vehicle sometimes automatically travels along the automatic driving path LI, which is generated based on a predetermined driving reference RE. When ridge making or crop formation is performed, if the direction of the automatic driving path LI is inconsistent with the direction of the ridge M or the direction of the row during the subsequent operation, the working vehicle may cross the ridge M, run aground on the ridge M, cross the row, and fail to perform proper operation.

[0055] Therefore, the automatic driving control system of this embodiment generates an automatic driving path LI (first path LI1) of the succeeding work vehicle PO based on the driving reference RE used in generating the automatic driving path LI (previous path LIR) of the preceding work vehicle PR when a different work vehicle (following work vehicle PO) performs work driving (following work) after the preceding work vehicle (previous work vehicle PR) performs work driving (previous work).

[0056] It can be expected that the preceding work vehicle PR works along the ridge M and the row, and the preceding path LIR follows the ridge M. At least, the worker (operator) can easily know whether the preceding work vehicle PR works along the ridge M and the row.

[0057] When the preceding work is performed along the ridge M and the row, the automatic travel path LI (first path LI1) of the following work vehicle PO is generated based on the travel reference RE used in the generation of the preceding path LIR, thereby forming the first path LI1 along the ridge M and the row. As a result, the following work vehicle PO can suppress the work travel across the ridge M and the row and can perform the work travel with high accuracy.

[0058] Next, a configuration of the automatic driving control system generating the first route LI1 will be described with reference to the drawings, taking as an example a case where the tractor TR is used as the leading working vehicle PR to sow soybeans and the combine harvester 1 is used as the trailing working vehicle PO to harvest soybeans.

[0059] It should be noted that, in the following description, unless otherwise specified, the direction of the arrow F in the figure is set to "front", the direction of the arrow B is set to "rear", the direction of the arrow L in the figure is set to "left", and the direction of the arrow R is set to "right". In addition, the direction of the arrow U in the figure is set to "upward", and the direction of the arrow D is set to "downward".

[0060] 〔Preliminary work〕

[0061] like Figure 1 As shown, the tractor TR as the preceding working vehicle PR generates an automatic driving path LI (preceding path LIR) along the already formed ridge M, and automatically drives along the preceding path LIR to perform seeding work (automatic working driving).

[0062] The tractor TR travels back and forth in the inner peripheral area CA of the field, and performs sowing operations while traveling around the outer peripheral area SA of the field along the outer periphery of the field. The preceding path LIR is a set of linear path elements that are used for traveling back and forth in the inner peripheral area CA and that vertically extend through the inner peripheral area CA. The round trip driving is a driving that repeatedly travels along the path elements and turns connecting the path elements. The outer peripheral driving of the outer peripheral area SA is performed by manual driving or automatic driving. The turning driving of the inner peripheral area CA is performed by manual driving, and the driving along each path element as the preceding path LIR is mainly performed by automatic driving.

[0063] The preceding path LIR is generated based on the driving reference RE. The driving reference RE is information that determines the direction in which the preceding path LIR extends. The operation driving in the inner circumference area CA is first performed by manual driving from the end of the inner circumference area CA to the end on the opposite side in a direction that vertically passes through the inner circumference area CA. The driving is performed by visually following the ridge M. During the manual driving, the position information of two points is obtained. The position information of the two points is respectively called the starting point and the end point.

[0064] The driving reference RE is obtained as a reference direction RD parallel to the line segment connecting the start point and the end point. Furthermore, the preceding path LIR is generated as a path parallel to the reference direction RD serving as the driving reference RE. Each path element of the preceding path LIR is generated parallel to the reference direction RD, and is therefore parallel to the ridge M. It should be noted that the driving reference RE is not limited to the reference direction RD, and may also be the start point and the end point themselves (see Figure 3 The reference point RP) can also be other information generated based on the starting point and the end point, or it can be the preceding path LIR itself.

[0065] After the vehicle traverses the inner area CA by manual driving, it turns and then performs automatic driving along the preceding path LIR. Since the preceding path LIR is generated parallel to the ridge M, the automatic driving in the inner area CA is performed parallel to the ridge M.

[0066] It should be noted that, during ridge making, the automatic operation is also carried out along the automatic driving path LI generated based on the driving reference RE of the starting point and the end point, so that the ridges M of the field are formed parallel to each other. Therefore, by generating the preceding path LIR based on the driving reference RE generated along one ridge M, the preceding path LIR (all path elements) is generated parallel to the ridge M.

[0067] 〔Follow-up work〕

[0068] like Figure 1 As shown, the combine harvester 1 as the trailing working vehicle PO harvests the crops sown by the tractor TR and then grown. Hereinafter, the combine harvester 1 and the working travel performed by the combine harvester 1 will be described.

[0069] 〔Combine harvester〕

[0070] like Figure 2 As shown, a common type combine harvester 1 as a rear working vehicle PO includes a harvesting unit H, a crawler-type travel device 11, a driving unit 12, a threshing device 13, a grain tank 14, a transport unit 16, a grain discharge device 18, and a satellite positioning module 80. Based on the positioning data output by the satellite positioning module 80, the position coordinates of the combine harvester 1 are calculated over time.

[0071] The traveling device 11 is provided at the lower part of the combine harvester 1. The traveling device 11 is driven by receiving power from an engine (not shown) mounted on the combine harvester 1. Then, the combine harvester 1 travels by the traveling device 11.

[0072] The driving unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator (worker) who monitors the operation of the combine harvester 1 can ride on the driving unit 12. It should be noted that the operator can also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0073] The driving unit 12 includes a driver's seat 12a and a driver's cab 12b. The driver's seat 12a is provided inside the driver's cab 12b. An operator can sit on the driver's seat 12a.

[0074] The grain discharge device 18 is provided on the upper side of the grain tank 14 . And the satellite positioning module 80 is attached to the upper surface of the driving part 12 .

[0075] The harvesting section H is mounted on the front part of the combine harvester 1 . The transport section 16 is provided on the rear side of the harvesting section H. The harvesting section H includes a harvesting device 15 and a reel 17 .

[0076] The harvesting device 15 harvests soybeans as crops in the field. The crops are not limited to soybeans, but may be any crops. The reel 17 reels the target soybeans while rotating around a reel shaft 17b extending in the left-right direction of the machine body. The soybeans harvested by the harvesting device 15 are transported to the transport unit 16.

[0077] According to this configuration, the harvesting unit H harvests the soybeans in the field. Furthermore, the combine harvester 1 can perform harvesting travel in which the travel device 11 travels while harvesting the soybeans in the field with the harvesting device 15 .

[0078] The soybeans harvested by the harvesting section H are transported to the rear of the machine body by the transport section 16 . Thus, the soybeans are transported to the threshing device 13 .

[0079] The soybeans are threshed in the threshing device 13. The harvested material obtained by the threshing process is stored in the grain tank 14. The harvested material stored in the grain tank 14 is discharged to the outside of the machine by the grain discharge device 18 as needed.

[0080] [Combined harvester operation]

[0081] The combine harvester 1 harvests soybeans grown in ridges M of a field. It should be noted that the crops harvested by the combine harvester 1 are not limited to soybeans, but may be any crops such as rice. In addition, crops are not limited to being grown in ridges M, but may be grown in rows.

[0082] like Figure 1 As shown, the combine harvester 1 travels around while harvesting crops in an outer peripheral area SA in a field, and then travels back and forth while harvesting crops in an inner peripheral area CA in the field, thereby harvesting crops in the field.

[0083] In this embodiment, the circular driving is performed by manual driving. It should be noted that the circular driving is not limited to this, and part or all of the circular driving may be performed by automatic driving. The round trip driving in the inner circumference area CA is performed by automatic driving, but part of it may be performed by manual driving.

[0084] The outer peripheral travel is performed along the outer periphery of the field, and the travel track of the combine harvester 1 during the outer peripheral travel is acquired. The inner peripheral area CA is calculated based on the travel track.

[0085] Specifically, first, an area of ​​a field that is not worked (harvested) by peripheral driving is calculated as an unworked area based on the driving trajectory.

[0086] Next, during peripheral driving, the vehicle makes many turns of direction in the corners of the field, so the main driving directions are calculated based on the driving trajectories other than the driving trajectories during the direction changes. The main driving directions only count the number of main peripheral areas of the field.

[0087] Next, a line segment parallel to the main driving direction and tangent to the unworked area is calculated for each main driving direction. Then, the area surrounded by the calculated line segment is set as the inner peripheral area CA. It should be noted that the inner peripheral area CA is not limited to the calculation method as described above, and can also be calculated by any method. For example, the main driving direction can be omitted, and the unworked area formed by peripheral driving can be calculated as the inner peripheral area CA (operation target area).

[0088] The inner area CA performs work travel by reciprocating along the first path LI1 as the automatic travel path LI. Turning travel during the reciprocating travel is performed in the outer area SA. The first path LI1 is generated based on the reference direction RD (travel reference RE) used when generating the preceding path LIR of the tractor TR.

[0089] The reference direction RD used when generating the preceding route LIR is parallel to the ridges M of the field, so the first route LI1 (all route elements) extends in parallel to the ridges M. Therefore, the combine harvester 1 can perform work traveling with high accuracy while suppressing the combine harvester 1 from traveling across the ridges M.

[0090] 〔Automatic driving control system〕

[0091] Next, refer to Figure 1 , Figure 2 use Figure 3 , Figure 4 , the structure and operation sequence of the automatic driving control system for generating the automatic driving path LI (first path LI1) of the following working vehicle PO will be described.

[0092] The automatic driving control system includes an acquisition unit 21, a route generation unit 23, a work driving control unit 25, and a storage unit 27. The automatic driving control system includes a processor (computer) such as a CPU, and each function of the automatic driving control system is controlled and operated by the processor.

[0093] Before the harvesting work (following work) of the combine harvester 1 as the following work vehicle PO, the sowing work (preceding work) is performed by the tractor TR as the preceding work vehicle PR.

[0094] First, a preceding path LIR ( ) is generated as the automatic driving path LI of the tractor TR based on the driving reference RE (reference direction RD). Figure 4Step #1 of the present invention). The tractor TR performs sowing work (operation driving advance work) while traveling in the field along the advance path LIR. Figure 4 Step #2).

[0095] The acquisition unit 21 can transmit and receive information to the outside, and acquire various information such as the driving reference RE ( Figure 4 Step #3 of ). The acquisition unit 21 stores the acquired travel reference RE in the storage unit 27. The travel reference RE is a reference direction RD or the like used when generating the automatic travel path LI (previous path LIR) of the tractor TR.

[0096] The route generation unit 23 generates an automatic travel route LI (first route LI1) of the combine harvester 1 based on the reference direction RD (travel reference RE) stored in the storage unit 27 ( Figure 4 Specifically, the path generation unit 23 generates the first path LI1 in a manner parallel to the reference direction RD. As a result, each path element of the first path LI1 is parallel to the reference direction RD. The path generation unit 23 stores the generated first path LI1 in the storage unit 27.

[0097] The operation travel control unit 25 controls the operation travel (rear travel operation) of the combine harvester 1. The operation travel of the combine harvester 1 is to travel along the first path LI1 stored in the storage unit 27 in the field (inner peripheral area CA) while performing harvesting operation (operation travel rear travel operation). Figure 4 Step #5).

[0098] The preceding path LIR is generated based on the travel reference RE in a manner along the ridge M. The first path LI1 is generated based on the travel reference RE and is therefore generated along the ridge M. In particular, when the first path LI1 is generated based on the reference azimuth RD, it is generated parallel to the ridge M. Thus, the preceding path LIR is generated in the direction along the ridge M, so that the combine harvester 1 can be prevented from operating across the ridge M and can operate with high accuracy.

[0099] [Other implementation methods]

[0100] (1) The preceding operation performed before the following operation may include multiple operations. These multiple preceding operations may be performed by different operation vehicles. For example, before the harvesting operation as the following operation, the tractor TR may perform sowing as the preceding operation, and before the sowing operation, the tractor TR may perform ridging operation.

[0101] In the above embodiment, the automatic driving control system may generate the first route LI1 of the subsequent operation based on any one of the driving references RE used in the preceding routes LIR generated during the plurality of preceding operations. In this case, at least a part of the preceding operation may be performed by a different preceding operation vehicle PR.

[0102] The automatic driving control system may also include a reference storage unit 32 and a reference selection unit 34. The acquisition unit 21 acquires the driving reference RE when the preceding work vehicle PR is automatically driving. The reference storage unit 32 acquires and stores at least a portion of the driving reference RE generated for the plurality of automatic driving when one or more preceding work vehicles PR are automatically driving. That is, the reference storage unit 32 acquires and stores at least a portion of the driving reference RE of the automatic driving path LI (preceding path LIR) of the preceding work vehicle PR that is automatically driving.

[0103] For example, the acquisition unit 21 acquires the driving reference RE of the preceding path LIR every time the preceding work vehicle PR automatically travels and stores it in the reference storage unit 32. Then, the reference selection unit 34 selects one driving reference RE from the plurality of driving reference REs stored in the reference storage unit 32, and the path generation unit 23 generates the first path LI1 based on the selected driving reference RE.

[0104] Preferably, the harvesting operation is carried out along the direction in which the crops are arranged. In addition, the crops are not necessarily limited to being arranged parallel to the ridges M. In addition, the case of sowing and planting crops without automatic driving is also considered. The content of each operation driving is mastered by the operator. In such a case, the operator can determine which driving reference RE during the operation driving should be used as the driving reference RE used for generating the automatic driving path LI (first path LI1) during the harvesting operation.

[0105] Therefore, the operator can select the driving reference RE used for the subsequent work from the plurality of driving reference REs during the working travel, and thus can generate the first path LI1 using the driving reference RE that should be used for performing the subsequent work with higher accuracy. As a result, the working travel can be performed with high accuracy.

[0106] It should be noted that the reference storage unit 32 may also maintain the driving reference RE whenever the preceding work vehicle PR automatically travels, but may also only maintain the driving reference RE selected by the reference selection unit 34. Specifically, the reference selection unit 34 accepts a manual operation of selecting the driving reference RE maintained in the reference storage unit 32 from the driving reference REs generated for a plurality of automatic travels. That is, the operator (operator) can select the driving reference RE maintained in the reference storage unit 32 as the driving reference RE suitable for the subsequent operation by operating the reference selection unit 34. In addition, the reference storage unit 32 acquires and maintains the selected driving reference RE via the acquisition unit 21. The path generation unit 23 generates the first path LI1 based on the driving reference RE maintained in the reference storage unit 32. It should be noted that the reference storage unit 32 may also acquire and maintain the driving reference RE without going through the acquisition unit 21.

[0107] In addition, the automatic driving control system may not include the reference selection unit 34, and the path generation unit 23 may generate the first path LI1 based on the driving reference RE in the preceding operation that is about to be performed by the following operation. That is, the acquisition unit 21 may acquire the driving reference RE of the preceding path LIR and store it in the reference storage unit 32 every time the preceding operation vehicle PR automatically drives, and the path generation unit 23 may acquire the latest driving reference RE stored in the reference storage unit 32 from the reference storage unit 32 and generate the first path LI1. In this case, the reference storage unit 32 may retain the previously acquired driving reference RE and add the newly acquired driving reference RE, but may also delete the stored driving reference RE and update it to the latest driving reference RE every time the driving reference RE is acquired.

[0108] The driving reference RE may be stored in the reference storage unit 32 or in the storage unit 27. In this case, the reference storage unit 32 is unnecessary.

[0109] (2) In the above embodiments, the route generation unit 23 may generate the first route LI1 after the preceding work vehicle PR completes the work travel (preceding work). However, the first route LI1 may be generated in advance if the travel reference RE is acquired during the preceding work.

[0110] (3) In each of the above-mentioned embodiments, the path generation unit 23 may generate the second path LI2 as the automatic driving path LI based on the inner peripheral area CA (the working object area) generated by the outer peripheral driving of the following working vehicle PO together with the first path LI1 or separately from the first path LI1.

[0111] Each path element of the second path LI2 is generated in parallel with one outer periphery of the inner circumference area CA. The path generation unit 23 generates the second path LI2 and stores the generated second path LI2 in the storage unit 27. The work travel control unit 25 causes the following work vehicle PO to automatically travel along the first path LI1 or the second path LI2 stored in the storage unit 27.

[0112] At this time, the automatic driving control system may further include a path selection unit 36. The path selection unit 36 ​​receives a selection operation of selecting which one of the first path LI1 and the second path LI2 stored in the storage unit 27 is used as the automatic driving path LI for the following working vehicle PO to automatically drive. That is, the operator can select the automatic driving path LI for the following working vehicle PO to automatically drive from the first path LI1 and the second path LI2 by operating the path selection unit 36.

[0113] Then, the following working vehicle PO automatically travels along the automatic travel path LI selected by the path selection unit 36. Thus, the following working vehicle PO can automatically travel along the automatic travel path LI more suitable for automatic travel, and can perform working travel with high accuracy.

[0114] It should be noted that the path generating unit 23 can also generate the second path LI2 based on an outer periphery of the inner circumference area CA, but it can also obtain the starting point and the end point by manual driving as described above, and generate the second path LI2 based on the obtained starting point and the end point (reference point RP reference direction RD).

[0115] (4) In the above-mentioned embodiments, the leading working vehicle PR is not limited to the tractor TR, but may be any working vehicle such as a tractor TR or a rice transplanter that performs working driving by automatic driving. Similarly, the following working vehicle PO is not limited to the combine harvester 1, but may be any working vehicle that performs working driving after the leading working vehicle PR that performs working driving by automatic driving.

[0116] Alternatively, the leading operation vehicle PR may be a harvester such as a combine harvester 1, and the trailing operation vehicle PO may be a tractor TR or a rice transplanter. In this case, the trailing operation performed by the trailing operation vehicle PO is sowing and planting of crops to be cultivated in the same field after the harvesting operation as the leading operation is completed and the cultivation of crops is completed, or tilling and ridging of the same field is performed.

[0117] That is, the rear working vehicle PO that performs rear working may also be a working vehicle that performs working in the cultivation of new crops after the cultivation and harvesting of crops performed by the front working vehicle PR. It should be noted that the front working vehicle PR and the rear working vehicle PO may also be the same working vehicle that straddles the cultivation of crops. For example, the front working vehicle PR may be a combine harvester 1, and the rear working vehicle PO may be a combine harvester 1 used for the cultivation (harvesting) of crops in the next year (next time).

[0118] (5) In each of the above embodiments, the operation performed by the leading operation vehicle PR is not limited to sowing, but may be any operation such as seedling planting. Similarly, the operation (following operation) performed by the following operation vehicle PO is not limited to harvesting, but may be any operation performed after the operation (leading operation) performed by the leading operation vehicle PR.

[0119] (6) In each of the above embodiments, the automatic driving control system can be mounted on the body of the combine harvester 1 (the rear working vehicle PO), but can also be mounted on the communication terminal 4, and can also be set on a management computer installed outside the machine. The management computer can communicate with the body (the leading working vehicle PR, the rear working vehicle PO) to perform various controls and management of the working driving. In addition, the functions of the automatic driving control system can also be dispersedly configured in the body, the communication terminal 4, the management computer, etc. For example, the working driving control unit 25 of the automatic driving control system can also be set on the body, and other functional blocks can be set on the communication terminal 4 and the management computer.

[0120] (7) In the above-mentioned embodiments, the self-driving control system is not limited to being composed of the functional blocks as described above, but may be composed of any functional blocks. For example, the functional blocks of the self-driving control system may be further subdivided, or a part or all of the functional blocks may be integrated. In addition, the functions of the self-driving control system are not limited to the above-mentioned functional blocks, but may be implemented by any method of executing the functional blocks. In addition, a part or all of the functions of the self-driving control system may be composed of software. The software program is stored in any storage device such as the storage unit 27, and is executed by a processor (computer) such as a CPU of the self-driving control system or a separately provided processor (computer).

[0121] [Industrial Application Possibility]

[0122] The present invention can be applied to a work vehicle that performs multiple operations on a field to cultivate crops.

Claims

1. An automatic driving control system for controlling the automatic driving of a following working vehicle different from the preceding working vehicle that is working in a field where the preceding working vehicle is working by automatic driving, characterized in that: include: an acquisition unit that acquires a driving reference generated when the preceding working vehicle performs automatic driving; a storage unit configured to store the driving reference obtained by the obtaining unit; A route generating unit generates a first route as an automatic travel route when the following work vehicle automatically travels in the field based on the travel reference stored in the storage unit.

2. The automatic driving control system according to claim 1, characterized in that: The driving reference is a reference position of the leading working vehicle when the leading working vehicle drives automatically.

3. The automatic driving control system according to claim 2, characterized in that: The first path is parallel to the reference orientation.

4. The automatic driving control system according to claim 1, characterized in that: The system further includes a reference storage unit that acquires and stores at least a portion of the driving references generated for the plurality of automatic driving operations when the one or more leading working vehicles are driving automatically. The acquisition unit acquires the latest driving standard from the standard storage unit.

5. The automatic driving control system according to claim 1, characterized in that: Also includes: a reference storage unit that acquires and stores at least a part of the driving references generated for a plurality of automatic drivings when one or more of the preceding working vehicles are performing automatic driving; a reference selection unit that receives a human operation for selecting the driving reference, The acquisition unit acquires the travel criterion selected by the criterion selection unit from the criterion storage unit.

6. The automatic driving control system according to claim 1, characterized in that: The route generation unit generates the first route after the preceding work vehicle completes its work travel.

7. The automatic driving control system according to claim 1, characterized in that: The path generating unit stores the first path in the storage unit, The path generation unit generates a second path as the automatic travel path based on the work target area of ​​the following work vehicle and stores the second path in the storage unit. The following working vehicle automatically travels along the first path or the second path.

8. The automatic driving control system according to claim 7, characterized in that: The method further comprises a route selection unit that receives a selection operation for selecting the automatic travel route for the following working vehicle to automatically travel from the first route or the second route, The following working vehicle automatically travels along the automatic travel path selected by the path selection unit.

9. The automatic driving control system according to any one of claims 1 to 8, characterized in that: The leading operation vehicle performs sowing or planting, and the following operation vehicle performs harvesting.

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