Automatic travel control system

Abstract

To appropriately perform turning travel, and to carry out work travel easily and efficiently.SOLUTION: In a case where an end position of an outermost work travel route LL on the other side is opposite to an entrance / exit provided in farmland, a travel route generation unit 37 generates work travel routes LL such that: the work travel route LL that is one route before the outermost work travel route LL on the other side in an alignment direction is set as a non-work travel route; then the outermost work travel route LL on the other side is traveled; and then the work travel route LL set as the non-work travel route is traveled. The non-work travel route is generated to be shorter than the work travel route LL by a predetermined length.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to an automatic driving control system for a work vehicle that automatically drives in a field along a target driving route. [Background technology]

[0002] As disclosed in Patent Document 1, the rice transplanter (work vehicle) travels back and forth along an internal reciprocating path in the internal area of ​​the field. In order to perform work travel efficiently, it is preferable that the start point and end point of the reciprocating travel are located on the same side of the turning edge of the field. Therefore, when the internal reciprocating path has an odd number of work travel paths, one of the work travel paths is used for non-work travel, and at the end of the reciprocating travel, the work travel path that was used for non-work travel is used for work travel. The start point and end point of the reciprocating travel can be located on the same side of the turning edge of the field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-108621 Summary of the Invention [Problem to be solved by the invention]

[0004] When turning after non-work driving, if an obstacle is present on the turning path, it may not be possible to turn along the turning path, making it impossible to perform work driving efficiently.

[0005] An object of the present invention is to perform appropriate turning and easy and efficient work travel. [Means for solving the problem]

[0006] In order to achieve the above object, an automatic driving control system according to one embodiment of the present invention is an automatic driving control system for a work vehicle that automatically drives along a target driving path in an outer peripheral area along the periphery of a farm field and an internal area inside the outer peripheral area, and includes a driving path generation unit that generates a circumferential path that is the target driving path for driving around the outer peripheral area, and an internal round trip path that is the target driving path for traveling round trip in the internal area, and the internal round trip path has a work driving path that runs between two opposing sides of the internal area, and a turning path that connects adjacent work driving paths, and the round trip traveling includes a turning traveling along the turning path, and the round trip traveling is performed by generating a driving path generation unit that generates a circumferential path that is the target driving path for driving around the outer peripheral area, and an internal round trip path that is the target driving path for traveling round trip in the internal area, and the internal round trip path has a work driving path that runs between two opposing sides of the internal area, and a turning path that connects adjacent work driving paths, and the round trip traveling is performed by generating a driving path generation unit that generates ... When the work traveling path is driven along from the outermost work traveling path on one side in the arrangement direction of the traveling paths to the outermost work traveling path on the other side, and the end position of the outermost work traveling path on the other side is opposite the entrance / exit provided in the field, the traveling path generation unit sets the work traveling path that is one step before the outermost work traveling path on the other side in the arrangement direction as a non-work traveling path, and generates a work traveling path that runs along the work traveling path that has been set as the non-work traveling path after the outermost work traveling path on the other side, and the non-work traveling path is generated to be shorter than the work traveling path by a predetermined length.

[0007] When there is an odd number of work travel paths, the start position of the outermost work travel path on one side (first work travel path) and the end position of the outermost work travel path on the other side (last work travel path) are located on the opposite side of the turning edge of the field. In order to efficiently work travel in the field, it is preferable that the start position of the first work travel path and the end position of the last work travel path are located on the same turning edge of the field. For this reason, the work travel path just before the last work travel path is traveled as a non-work travel, and after the last work travel path is work traveled, the work travel path traveled as a non-work travel is lastly work traveled. At this time, if there is an obstacle on the turning path after the non-work travel, the turning cannot be performed properly.

[0008] According to the above configuration, the work travel path for non-work travel is shortened, and turning travel is performed earlier than the original turning path, so that the possibility of turning while avoiding obstacles is increased. As a result, the work travel can be easily and efficiently performed throughout the entire internal area while appropriately turning.

[0009] In addition, the driving path generation unit may generate a reverse path that reverses to the starting position of the outermost work driving path on the other side, after the turning path from the non-work driving path to the outermost work driving path on the other side.

[0010] With this configuration, after turning, the vehicle can reverse to the start point of the final work traveling route and perform work traveling along the entire length of the final work traveling route. Then, after work traveling on the final work traveling route, the vehicle performs work traveling along the work traveling route on which non-work traveling was performed, so that the vehicle can perform work traveling along the entire length of the work traveling route on which non-work traveling was performed. As a result, the vehicle can perform work traveling easily and efficiently throughout the entire internal area while performing appropriate turning traveling.

[0011] In addition, the entrance / exit may be provided near the outermost end of the work travel path on the other side, and the travel path generation unit may generate the non-work travel path to be shorter than the work travel path when there is an obstacle near the entrance / exit.

[0012] An entrance to the field may be provided near the end of the final work travel route. A slope may be provided at the entrance, and the slope may become an obstacle that impedes travel.

[0013] According to the above configuration, it is possible to prevent the slope from interfering with turning travel, and it is possible to easily and efficiently perform work travel throughout the entire internal area while performing appropriate turning travel.

[0014] In addition, the circular route may be a route that travels along the work travel route, which is set as the non-work travel route, and then travels around the field in the outer circumferential area from near the entrance / exit to the entrance / exit.

[0015] With this configuration, work travel on the circular route can be carried out efficiently so that the machine can easily exit through the entrance and exit.

[0016] The length may be variable, and an input unit for manually setting the length may be further provided.

[0017] With this configuration, the vehicle can easily avoid obstacles depending on their positions while traveling for work.

[0018] The length may also be determined according to the size of a slope provided at the entrance / exit.

[0019] With this configuration, the vehicle can easily avoid obstacles depending on the size of the slope that constitutes the obstacle while traveling for work.

[0020] The vehicle may also be provided with a map acquisition unit that generates a field map by non-work driving along the outer periphery of the field, and the map acquisition unit may generate an outer shape of the field by approximating a rectangle based on a driving trajectory from a start point to an end point of the non-work driving, and may define the portion of the driving trajectory excluding the outer shape of the field as the slope.

[0021] With this configuration, the position, shape, and size of the slope can be easily obtained, and the slope can be avoided when traveling for work.

[0022] In addition, the automatic driving can be performed either as manned automatic driving, in which a driver is on board the work vehicle, or as unmanned automatic driving, in which a driver is not on board the work vehicle.

[0023] With this configuration, in both manned and unmanned automatic driving, work driving can be easily and efficiently performed while appropriately turning. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a side view illustrating a configuration of a rice transplanter. [Diagram 2] FIG. 2 is a plan view illustrating a configuration of an information terminal. [Diagram 3] FIG. 1 is a schematic diagram illustrating an example of a rice transplanter's travel during operation. [Figure 4] FIG. 13 is a diagram illustrating an example of a configuration for generating a work area. [Diagram 5] 4 is a diagram illustrating an example of a configuration for generating a target traveling route by selecting the number of laps of a peripheral traveling in the first embodiment. FIG. [Figure 6] 6 is a diagram illustrating an example of a flow for generating a target driving route by selecting the number of laps for outer periphery driving in the first embodiment. FIG. [Figure 7] FIG. 2 is a diagram for explaining a configuration example for generating a turning path in the first embodiment. [Figure 8] FIG. 2 is a diagram for explaining a configuration example for generating a turning path in the first embodiment. [Figure 9] FIG. 11 is a diagram illustrating a starting point guidance route in the second embodiment. [Figure 10] FIG. 11 is a diagram illustrating a configuration for generating a starting point guidance route in the second embodiment. [Figure 11] FIG. 11 is a diagram illustrating a flow for generating a starting point guidance route in the second embodiment. [Figure 12] FIG. 11 is a diagram illustrating an example of a configuration for displaying a starting point guidance route in the second embodiment. [Figure 13] FIG. 13 is a diagram for explaining a configuration example for shortening a work travel route in the third embodiment. [Figure 14] 13 is a diagram illustrating an example of a configuration for shortening an operational travel route in the third embodiment. FIG. [Figure 15] FIG. 11 is a diagram illustrating an example of a flow for shortening an operation travel route in the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] The following describes an example of a work vehicle of the present invention, which is a rice transplanter that plants seedlings in a field FL while automatically traveling.

[0026] For ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means the front in the longitudinal direction (traveling direction) of the machine body, and "rear" (the direction of arrow B shown in FIG. 1) means the rear in the longitudinal direction (traveling direction) of the machine body. In addition, the left-right direction or lateral direction means the transverse direction of the machine body (machine body width direction) perpendicular to the longitudinal direction of the machine body, "left" means the direction toward the front of the paper in FIG. 1, and "right" means the direction toward the back of the paper in FIG. 1.

[0027] As shown in Figures 1 and 3, the rice transplanter is equipped with a riding type four-wheel drive body 1. The body 1 is equipped with a link mechanism 13 of a parallel four-link type connected to the rear of the body 1 so that it can rise and fall and swing. The body 1 is equipped with a seedling planting device 3 connected to the rear end region of the link mechanism 13 so that it can roll, a fertilizer applicator 4 installed from the rear end region of the body 1 to the seedling planting device 3, and an agent sprayer 18 provided in the rear end region of the seedling planting device 3.

[0028] The machine body 1 includes wheels 12 as a mechanism for traveling, an engine 2, and a hydraulically variable transmission 9 as a main transmission. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission). The wheels 12 include left and right front wheels 12A that can be steered, and left and right rear wheels 12B that cannot be steered. Power output from the engine 2 is transmitted to the continuously variable transmission 9 via a traveling transmission mechanism, and is transmitted from the continuously variable transmission 9 to the front wheels 12A, the rear wheels 12B, the working implements (seedling planting device 3, fertilizer application device 4, chemical spraying device 18, etc.), etc. The engine 2 and the continuously variable transmission 9 are mounted on the front of the machine body 1.

[0029] As an example, the seedling planting device 3 is configured for eight rows of planting. The seedling planting device 3 is equipped with a seedling placement table 21, a planting mechanism 22 for eight rows, etc. The seedling planting device 3 can be changed to two-row, four-row, six-row, etc. planting by controlling the row clutches (not shown). The planting mechanism 22 of the seedling planting device 3 takes out the seedlings from the mat-like seedlings placed on the seedling placement table 21 and plants them in the muddy part of the paddy field. The fertilizer application device 4 supplies fertilizer to the field FL. The chemical spraying device 18 sprays (supplies) chemicals to the field FL.

[0030] The machine body 1 is provided with a driving section 14 in the rear side area. The driving section 14 is provided with an access step 14A, which is a boarding area through which the driver passes when boarding, various operating tools for operating the rice transplanter, an information terminal 5 (corresponding to the notification section 39), and a driver's seat 16 for the operator (driver / worker). The information terminal 5 has a touch panel 50 and an operation switch 5a, and displays (notifies) various information to notify (output) the operator, and accepts input of various information. Specifically, the information terminal 5 accepts input of various settings such as initial settings, displays various information, and issues various alarms and warnings as necessary. The machine body 1 may also be provided with a stacked light 71 and a voice alarm generating device 100 as the notification section 39 (see FIG. 5) that notifies various information. Furthermore, the machine body 1 is provided with a spare seedling storage device 17A, which is supported by the spare seedling support frame 17 and stores spare seedlings, in front of the driving section 14.

[0031] The airframe 1 is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data for calculating the position and orientation of the airframe 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of a global navigation satellite system (GNSS such as GPS, GLONASS, Galileo, Michibiki, and BeiDou satellite navigation system) and an inertial measurement module 8B that detects the tilt and acceleration of the three axes of the airframe 1. The positioning unit 8 is supported on the upper part of the spare seedling support frame 17. Based on the positioning data acquired by the positioning unit 8, the position P of the airframe is calculated intermittently and stored. Furthermore, the airframe 1 is equipped with, for example, a sonar sensor 60 as an example of an obstacle detection device that detects obstacles OB (see FIG. 9) around the airframe 1.

[0032] [Autonomous Driving] The work travel in which the rice transplanter performs rice planting work in the farm field FL by automatic travel will be described with reference to Figs. 1 to 4.

[0033] The rice transplanter can selectively operate in manual or automatic driving mode. Manual driving and automatic driving are set using an information terminal 5 or the like. In automatic driving, the rice transplanter runs and works under automatic control along a preset target driving route.

[0034] In addition, the automatic driving can be performed in a manned automatic driving mode that requires a driver to be on board, and an unmanned automatic driving mode that does not require a driver to be on board. In the manned automatic driving, the driver performs some operations according to the guidance provided by the rice transplanter, while the rice transplanter automatically controls other operations associated with driving and work. In the unmanned automatic driving, a driver does not need to be on board, but a driver may be on board during the unmanned automatic driving. In the unmanned automatic driving, the driver starts the work driving under automatic control by performing an operation to start the automatic driving using a remote control (not shown) or the like, and the preset work driving is performed under automatic control. The manned automatic mode in which the manned automatic driving is performed and the unmanned automatic mode in which the unmanned automatic driving is performed are set using an information terminal 5 or the like.

[0035] When starting a work drive, the operator performs initial settings by operating the information terminal 5 and various operating tools, etc. The initial settings include various settings related to the work drive, such as setting the manned automatic mode or unmanned automatic mode, setting the method for acquiring the field map FM described below, and setting the supply edge SL and turning edge ROL.

[0036] When the initial setting is performed, first, the operator manually drives the rice transplanter along the periphery of the field FL in a non-work driving mode without performing any work. By driving the rice transplanter along the periphery, the peripheral shape of the field FL is generated (acquired) as a field map FM (see FIG. 5) based on the machine's position P acquired over time. The field FL, which corresponds to the working area WA, is divided into an outer peripheral area OA and an inner area IA. At this time, an entrance / exit E for the rice transplanter to enter the field FL is set, and one side or a specified number of sides of the periphery of the field FL is set as a supply side SL for supplying the rice transplanter with mat-shaped seedlings, fertilizer, chemicals, fuel, etc. It is to be noted that the field map FM may be transferred (acquired) from a server or the like, without driving the rice transplanter along the periphery.

[0037] When the field map FM is generated (obtained), the travel path along which the rice transplanter travels for work is set as the target travel path, as shown in FIG. 3. In the inner area IA, an internal round trip path IPL is generated, which connects multiple paths (work travel paths LL) that are approximately parallel to one side of the field FL with a turning path RL. The work travel path LL is a path that travels between two opposing sides (turning sides ROL) of the inner area IA. The internal round trip path IPL is a travel path that travels throughout the entire inner area IA from the start point S to the end point G. Note that the turning travel that connects the work travel paths LL is not limited to travel along the turning path RL, and may be travel in which the turning path RL is not generated and the turning path is performed in a predetermined manner.

[0038] When the internal round-trip path IPL is generated, a guidance start possible area GA is generated near the entrance / exit E. By stopping the rice transplanter within this guidance start possible area GA, the rice transplanter can move by automatic travel to the start point S (start position) of the internal round-trip path IPL (start point guidance). Note that start point guidance may be performed from any position, not limited to the guidance start possible area GA, but is preferably performed when the machine body 1 is located in the outer periphery area OA. Start point guidance is performed by automatic travel along the start point guidance path SGL.

[0039] In the outer peripheral area OA, a circular path OL is generated, which is a travel route that travels around the outer peripheral area OA along the outer periphery of the field FL. The circular travel in the outer peripheral area OA is performed at least once around the outer periphery of the field FL, and the number of revolutions of the circular path OL is one or more. By performing work travel on the circular path OL, the entire outer peripheral area OA is performed.

[0040] The working area WA is not limited to the area inside the periphery of the field FL, but may be an area surrounded by sides (line segments) obtained by translating the periphery of the field FL inward. Obstacles OB such as ridges FR may be present around the field FL, and there is a risk that the machine body 1 may come into contact with the obstacles OB when traveling, particularly when turning. By setting the working area WA inside the periphery of the field FL, the possibility of the machine body 1 coming into contact with the obstacles OB can be reduced.

[0041] Specifically, as shown in FIG. 4, two opposing perimeters of the field FL adjacent to the area where turning is performed during reciprocating travel are set as turning edges ROL. The set turning edge ROL is translated a predetermined distance toward the inside of the field FL and set as the first boundary line BL1. Then, the area surrounded by the perimeter of the field FL other than the turning edge ROL and the first boundary line BL1 is set as the working area WA. Alternatively, first, the entire perimeter of the field FL is translated inward, and the line segment along which the perimeter of the field FL is translated is set as the second boundary line BL2. Then, the second boundary line BL2 along which the turning edge ROL is translated is translated a predetermined distance and set as the first boundary line BL1. Then, the area surrounded by the second boundary line BL2 along which the perimeter of the field FL other than the turning edge ROL is translated and the first boundary line BL1 is set as the working area WA.

[0042] In this way, by moving at least the turning edge ROL inward, the gap between the ridge FR and the working area WA is widened, and the possibility of the machine body 1 coming into contact with an obstacle OB can be further reduced. Note that the movement of the outer periphery of the field FL and the movement of the second boundary line BL2 are not limited to a configuration in which they are moved in parallel, and they may be moved in any manner depending on the condition of the field FL, etc.

[0043] In addition, the rice transplanter needs to be replenished with seedlings, chemicals, etc. during operation. In order to efficiently perform such replenishment work, the rice transplanter may be configured to selectively execute automatic traveling in a replenishment mode and automatic traveling in a non-replenishment mode.

[0044] The supply mode is a control mode in which the machine body 1 is temporarily stopped at the work end point of the work travel path LL on at least one of the turning edges ROL. When the machine body 1 is temporarily stopped, the worker decides whether to supply or continue the work. The selection of the supply mode or the non-supply mode is performed in the initial setting.

[0045] [Automatic Driving Control System] In the automatic travel of the rice transplanter as described above, various types of control are implemented. Hereinafter, each embodiment of the various automatic travel controls will be described. Note that the following three embodiments may be implemented independently, or at least two of the three embodiments may be implemented in combination.

[0046] [Embodiment 1] As described above, a circuit path OL is generated in the outer peripheral area OA, which performs one or more circuit runs. The ease of turning during round trip running and circuit runs differs depending on the shape and state of the field FL. The width of the outer peripheral area OA required varies depending on the ease of turning, and the width of the outer peripheral area OA is determined by the number of laps of the circuit path OL. Therefore, the automatic driving control system in this embodiment is configured to allow the number of laps to be selected from one lap or two laps.

[0047] The automatic driving control system capable of selecting the number of laps in the first embodiment will be described with reference to FIGS. 5 and 6 while also referring to FIGS. 1 to 4.

[0048] The automatic driving control system in the first embodiment includes a control unit 25. The control unit 25 includes a processor such as a CPU, and operates under the control of the processor. The control unit 25 is configured to be able to communicate with the positioning unit 8, the information terminal 5, and a storage unit 27. The storage unit 27 stores various types of information.

[0049] The control unit 25 includes a map acquisition unit 29 , a turning edge setting unit 31 , a boundary line setting unit 32 , a working area setting unit 34 , a lap number selection unit 35 , and a travel path generation unit 37 .

[0050] The map acquisition unit 29 acquires or generates and acquires the field map FM (step #1 in FIG. 6). Specifically, the map acquisition unit 29 first acquires the machine's position P acquired over time during non-work travel along the outer periphery of the field FL and stores it in the memory unit 27. The map acquisition unit 29 generates the field map FM based on the acquired machine's position P. Alternatively, if there is a usable field map FM, the map acquisition unit 29 may directly acquire the field map FM. The usable field map FM is, for example, a field map FM generated during field work in the previous year (past) and stored on a server or the like.

[0051] For example, when a slope SP (see FIG. 13) is provided at the entrance E of the field FL, when the field map FM is generated by non-work travel along the periphery of the field FL, the map acquisition unit 29 first acquires the machine's position P over time associated with the non-work travel along the periphery of the field FL. At this time, the machine 1 travels along the slope SP. The map acquisition unit 29 generates the field map FM including the outer shape of the field FL by approximating a rectangle based on the travel trajectory, which is the sequence of the machine's positions P from the start point to the end point when the non-work travel is performed along the periphery of the field FL. The map acquisition unit 29 defines the portion of the travel trajectory excluding the outer shape of the field FL as the slope SP (outer shape).

[0052] The turning edge setting unit 31 sets a turning edge ROL for traveling back and forth through the inner area IA from the outer periphery of the field FL known from the field map FM (step #2 in FIG. 6). The turning edge setting unit 31 may automatically set two turning edges ROL facing each other across the field FL based on the field map FM, or may set the turning edge ROL by accepting a selection operation. The selection operation is performed via the information terminal 5 or the like. The turning edge setting unit 31 stores information related to the set turning edge ROL in the memory unit 27.

[0053] The boundary line setting unit 32 sets the boundary line of the working area WA based on the outer periphery of the field FL (step #3 in FIG. 6). Specifically, the boundary line setting unit 32 sets a first boundary line BL1, which is a straight line obtained by moving the turning edge ROL a predetermined distance toward the inside of the field FL, and stores the first boundary line BL1 in the memory unit 27. As shown in FIG. 4, the boundary line setting unit 32 may set a second boundary line BL2, which is a straight line obtained by moving at least one of the outer peripheries of the field FL a predetermined distance toward the inside of the field FL, and store the second boundary line BL2 along the turning edge ROL a predetermined distance toward the inside of the field FL to set the first boundary line BL1. The boundary line setting unit 32 stores the set first boundary line BL1 in the memory unit 27.

[0054] The working area setting unit 34 sets a working area WA based on the perimeter of the field FL and the first boundary line BL1 (step #4 in FIG. 6). Specifically, the working area setting unit 34 sets the area surrounded by the perimeter other than the turning edge ROL and the first boundary line BL1 as a working area WA having an outer peripheral area OA and an inner area IA. Information about the set working area WA can be added to the field map FM.

[0055] When the second boundary line BL2 is set, the working area setting unit 34 sets the area surrounded by the second boundary line BL2 along the outer periphery other than the turning side ROL and the first boundary line BL1 as the working area WA.

[0056] In this way, by moving at least the turning edge ROL to the inside of the field FL to generate the working area WA, it becomes possible to perform turning travel while securing a sufficient distance to the outer periphery of the field FL. As a result, it is possible to reduce the possibility of contacting an obstacle OB and improve the possibility of performing appropriate turning travel, thereby enabling efficient work travel during automatic driving.

[0057] In addition, in order to prevent contact with an obstacle OB during turning, it is possible to provide a high-performance obstacle detection device (sensor) such as an AI camera or a lidar that can analyze captured images with high accuracy using AI. According to the rice transplanter (automatic driving control system) of this embodiment, it is possible to easily prevent contact with an obstacle OB with a simple configuration without providing a high-performance obstacle detection device.

[0058] The lap count selection unit 35 accepts a selection operation to select either one lap or two laps as the number of laps of the circuit route OL, and stores the selection operation in the storage unit 27 (step #5 in FIG. 6). The operator can perform the selection operation via the information terminal 5 as one of the initial settings.

[0059] In this way, by configuring the number of revolutions of the circuit path OL to be selectable, the number of revolutions can be determined according to the shape and conditions of the field FL (working area WA) to set the outer circumferential area OA. As a result, the robot can turn efficiently while traveling around the entire working area WA with high accuracy, and the robot can efficiently travel around the working area WA during automatic traveling.

[0060] The travel path generating unit 37 generates a target travel path including the circular path OL and the internal round trip path IPL, and stores the target travel path in the storage unit 27 (step #6 in FIG. 6). Specifically, the travel path generating unit 37 first divides the working area WA set by the working area setting unit 34 into an outer peripheral area OA and an inner area IA according to the number of laps of the outer peripheral area OA accepted by the lap number selecting unit 35. At this time, the travel path generating unit 37 determines the width of the outer peripheral area OA according to the number of laps, and sets the outer peripheral area OA inward from the outer periphery of the working area WA by the determined width. In addition, the travel path generating unit 37 sets the area inside the outer peripheral area OA in the working area WA as the inner area IA.

[0061] Next, the travel path generating unit 37 generates an internal round trip path IPL in the internal area IA and a circular path OL in the outer peripheral area OA. The internal round trip path IPL has a plurality of work travel paths LL that extend from one end of the internal area IA to the other end, and a turning path RL that connects the two work travel paths LL. The circular path OL is a path that circles the outer peripheral area OA along the outer periphery of the work area WA (field FL) a selected number of times.

[0062] [Recommended number of laps] Here, when the field FL (working area WA) is a deformed rice field, the end position and start position of the work travel path LL before and after turning may be shifted with respect to the direction of work travel. In such a case, it becomes difficult to turn from the end position of the work travel path LL to the start position of the next work travel path LL, and the possibility of the machine body 1 contacting the ridge FR may increase. In addition, in a deformed rice field, it becomes difficult to properly perform work travel from the start position of the work travel path LL after turning, and some planting may be left unplanted. Therefore, in a deformed rice field, it is preferable to increase the width of the outer peripheral area OA, which is the turning area, and as a result, it is preferable to increase the number of turns of the circular path OL. Note that a deformed rice field is a case where the outer shape of the field FL is not rectangular, such as when the field FL is not square, or when at least one of the interior angles of the field FL is significantly different from a right angle by a predetermined angle or more.

[0063] For this reason, the automatic driving control system of this embodiment may be configured to recommend that the number of laps of the circular route OL be two laps when the farm field FL (working area WA) is a deformed rice field.

[0064] For that purpose, the control unit 25 may further include a notification control unit 38. The notification control unit 38 controls the notification unit 39 included in the machine body 1 to issue a predetermined notification. Specifically, when the field FL (working area WA) is a deformed rice field, the lap count selection unit 35 controls the notification control unit 38 to cause the notification unit 39 to issue a notification recommending that two laps be selected as the number of laps because the field is a deformed rice field.

[0065] The notification unit 39 can be the information terminal 5, and the information terminal 5 displays a comment recommending selecting two laps as the number of laps on the touch panel 50. The notification unit 39 may also be the stacked lamp 71, the voice alarm generating device 100, a headlight, or the like, and for example, the voice alarm generating device 100 generates a voice recommending selecting two laps as the number of laps.

[0066] In this way, when the field FL (working area WA) is a deformed rice field, a notification is issued recommending that the number of laps of the circular path OL be set to two. This allows the operator to recognize that the field FL (working area WA) is a deformed rice field and that the number of laps needs to be set to two. By selecting two laps as the number of laps, the width of the outer circumferential area OA, which serves as the turning area, becomes larger, making it possible to perform turning travel and work travel efficiently.

[0067] [Travel trajectory] 1 and 7, during turning travel, the movement trajectories of the left and right corners of the front end of the spare seedling storage device 17A of the machine body 1 or the movement trajectories of the left and right corners of the rear end of the seedling loading platform 21 pass through the outermost parts. If these movement trajectories overlap with the ridges FR of the field FL during turning travel, the machine body 1 is more likely to come into contact with the ridges FR.

[0068] Therefore, the travel path generating unit 37 generates the internal round trip path IPL, particularly the turning path RL, so that at least one of the movement trajectories of the left and right corners of the front end of the spare seedling storage device 17A and the movement trajectories of the left and right corners of the rear end of the seedling loading platform 21 does not overlap with the ridge FR of the field FL. This prevents the spare seedling storage device 17A and the seedling loading platform 21 from contacting the ridge FR during automatic travel, and prevents the machine body 1 from contacting the ridge FR. The travel path generating unit 37 may generate the turning path OL so that the movement trajectories of the left and right corners of the front end of the spare seedling storage device 17A and the movement trajectories of the left and right corners of the rear end of the seedling loading platform 21 do not overlap (do not overlap) with the ridge FR of the field FL in a plan view. In addition, when a sensor (sonar sensor 60) or the like is provided protruding forward from the machine body 1, at least one of the target travel routes among the turning route RL, the work travel route LL, and the circuit route OL may be generated so that the movement trajectory of the sensor does not overlap with the ridge FR. In other words, a sensor may be provided at the outermost part of the machine body 1, and at least one of the target travel routes among the turning route RL, the work travel route LL, and the circuit route OL may be generated so that the movement trajectory of the sensor located at the outer end (outermost part) of the machine body 1 does not overlap with the ridge FR. Note that the sensor detects obstacles OB such as the ridge FR during automatic travel so that the machine body 1 (spare seedling storage device 17A, seedling loading platform 21, sensor, etc.) does not come into contact with the obstacles OB. In addition, the generation of the target travel route based on the above-mentioned trajectory is performed at least when one lap is selected as the number of laps of the circuit route OL. In addition, if a sufficient turning area cannot be secured in the outer peripheral area OA, such as when the number of laps is set to one, a turning path RL may be generated in which the vehicle first reverses from the end of the work driving path LL and then turns.

[0069] [Height of ridge] 1 and 8, the lower end of the machine body 1 in front of the front wheels 12A is the boarding and alighting step 14A. The height H of the ridge FR may be lower than the height h of the boarding and alighting step 14A from the field FL. In that case, it is preferable to generate a target travel path so that the front wheels 12A do not extend beyond the field FL (work area WA).

[0070] That is, the travel path generating unit 37 may generate a target travel path so that the front wheels 12A do not protrude outside the outer circumferential area OA. In particular, when the farm field FL (work area WA) is a deformed rice field, a notification is made recommending that the number of laps of the circular path OL be two, or instead of making a notification recommending that the number of laps of the circular path OL be two, a target travel path of at least one of the turning path RL, the work travel path LL, and the circular path OL may be generated so that the front wheels 12A do not protrude outside the outer circumferential area OA.

[0071] With the above-described configuration, the machine body 1 can be prevented from coming into contact with the ridge FR with high precision.

[0072] Here, even if the height H of the ridge FR is lower than the height h of the boarding and disembarking steps 14A, if the machine body 1 tilts near the ridge FR, the height h of the boarding and disembarking steps 14A may become lower. In such a case, it is preferable to generate at least one of the target travel paths among the turning path RL, the work travel path LL, and the circular path OL so that the movement trajectories of the left and right corners of the front end of the spare seedling storage device 17A and the movement trajectories of the left and right corners of the rear end of the seedling loading platform 21 do not overlap (overlap) with the ridges FR of the field FL in a plan view.

[0073] If the rice transplanter is equipped with a sensor capable of detecting the height of an object such as a lidar, the height H of the ridge FR may be acquired by the sensor when the rice transplanter travels around the field FL in a non-working run. Also, the height H of the ridge FR may be acquired from a server or the like, based on the height H acquired in a previous work run.

[0074] [Embodiment 2] As described above, after non-work travel along the periphery of the field FL is performed to acquire the external shape of the field FL and a target travel path is generated, when round trip travel in the internal area IA begins, a start point guidance path SGL is generated from any current position of the machine 1, such as the end position of the non-work travel performed to acquire the external shape of the field FL, toward the start point S (start position) of the internal round trip path IPL. It is preferable that the start point guidance path SGL is generated in a straight line, but if an obstacle OB or the outer periphery of the field FL (field edge) is present on this straight line, start point guidance cannot be performed along the start point guidance path SGL.

[0075] Therefore, in the automatic driving control system of embodiment 2, when an obstacle OB or the outer periphery of the field FL (hereinafter simply referred to as obstacle OB) is present on the generated start point guidance route SGL, the automatic driving control system re-generates as the start point guidance route SGL a line segment connecting the position of the aircraft 1 located on the starting point S side of the obstacle OB to the starting point S.

[0076] Hereinafter, an automatic driving control system that generates a start point guide route SGL in the second embodiment will be described using FIGS. 9 to 11 while also referring to FIGS. 1 to 4.

[0077] The automatic driving control system in the second embodiment includes a control unit 41. The control unit 41 includes a processor such as a CPU, and operates under the control of the processor. The control unit 41 is configured to be able to communicate with the positioning unit 8, the information terminal 5, and a storage unit 42. The storage unit 42 stores various types of information.

[0078] The control unit 41 includes a map acquisition unit 29, a driving route generation unit 37, a start point guide route generation unit 44, and an automatic driving control unit 45. The configurations of the map acquisition unit 29 and the driving route generation unit 37 are the same as those in the first embodiment, and the description will be omitted. However, the driving route generation unit 37 can generate a target driving route for an arbitrarily set working area WA, and the number of laps of the outer circumferential area OA may be a selected number of laps or a preset number of laps. The automatic driving control unit 45 controls automatic driving along the target driving route including the start point guide route SGL.

[0079] After the target driving path is generated by the driving path generation unit 37, the start point guidance path generation unit 44 generates a start point guidance path SGL that connects in a straight line the current position of the aircraft 1 and the start point S (starting position) of the internal round-trip path IPL (step #1 in Figure 11).

[0080] After generating the start point guided route SGL, the start point guided route generating unit 44 determines whether or not an obstacle OB exists on the start point guided route SGL (step #2 in FIG. 11).

[0081] If an obstacle OB is present on the start point guidance route SGL, a start point guidance route SGL may be generated that avoids the obstacle OB and leads to the start point S of the internal round trip route IPL, but this would meander left and right to avoid the obstacle OB, which could damage the field FL. Therefore, automatic travel along the start point guidance route SGL may not be appropriate, and manual travel to avoid the obstacle OB is appropriate.

[0082] Therefore, if an obstacle OB is present on the start point guidance route SGL (step #2 Yes in FIG. 11), the operator avoids the obstacle OB by manual driving (step #3 in FIG. 11). At this time, it is preferable that a notification is issued to encourage the operator to avoid the obstacle OB by manual driving under the control of the notification control unit 38 described below. By avoiding the obstacle OB, the machine 1 is positioned on the start point S side of the obstacle OB.

[0083] When driving to avoid the obstacle OB, the start point guidance path generation unit 44 re-generates as the start point guidance path SGL a line segment connecting the position of the aircraft 1, which will be located on the starting point S side of the obstacle OB by avoiding the obstacle OB, to the starting point S (step #4 in Figure 11).

[0084] In this way, by regenerating the line segment connecting the position of the aircraft 1, which is located on the starting point S side of the obstacle OB, to the starting point S as the starting point guidance route SGL, the starting point guidance route SGL can be generated in a straight line, and starting point guidance can be efficiently performed by automatic driving.

[0085] When the start point guide route SGL is generated or regenerated, the automatic driving control unit 45 determines whether or not the length LSG of the start point guide route SGL is equal to or shorter than a predetermined length (step #5 in FIG. 11).

[0086] If the length LSG of the start point guide route SGL is equal to or shorter than a predetermined length (Yes in step #5 of FIG. 11), the automatic traveling control unit 45 stops automatic traveling (start point guidance) along the start point guide route SGL.

[0087] If the start point guidance route SGL is short, its usefulness as a start point guidance route SGL may be greatly diminished, and it may be more efficient to move to the start point S by manual driving rather than by start point guidance using automatic driving. If the length LSG of the start point guidance route SGL is equal to or shorter than a predetermined length, the automatic driving control unit 45 stops start point guidance, allowing the vehicle to move efficiently to the start point S by manual driving.

[0088] If the length LSG of the start point guidance route SGL is longer than a predetermined length (step #5 No in FIG. 11), and if there is no obstacle OB on the start point guidance route SGL (step #2 No in FIG. 11), the automatic driving control unit 45 controls start point guidance by automatic driving toward the start point S (start position) of the internal round trip route IPL (step #6 in FIG. 11).

[0089] [Select number of laps] In addition, in the case where the number of laps of the circular route OL can be arbitrarily and manually selected as in embodiment 1, if the length LSG of the start point guidance route SGL is less than or equal to a predetermined length (Yes in step #5 of Figure 11), the automatic driving control unit 45 may issue a notification recommending that two laps be selected as the number of laps.

[0090] In this case, the control unit 41 includes a notification control unit 38 similar to that in the first embodiment, and the automatic driving control unit 45 causes the notification unit 39 to issue a notification via the notification control unit 38.

[0091] By setting the number of revolutions of the circular route OL to two, the start point S of the internal round-trip route IPL may move to the inside of the field FL, and the obstacle OB may not be present on the initially generated start point guidance route SGL. In this case, the start point guidance route generating unit 44 can easily generate a straight start point guidance route SGL that is not affected by the obstacle OB.

[0092] [Route display] The rice transplanter may display a detour route from the current position of the machine body 1 to the start point S of the internal round trip path IPL by detouring the obstacle OB. The detour route is generated by the start point guidance path generating unit 44.

[0093] In this case, the control unit 41 includes a display control unit 47, which causes the display unit 48 to display the detour route generated by the start point guidance route generation unit 44. The display unit 48 may be a touch panel 50 of the information terminal 5, or may be provided separately in the driving unit 14 or the like.

[0094] By displaying the detour route in this manner, the operator can easily perform manual driving to detour around the obstacle OB.

[0095] Furthermore, the display unit 48 may be controlled by the display control unit 47 to display the start point guided route SGL generated by the start point guided route generating unit 44 together with the circular route OL of the outer circumferential area OA generated by the travel route generating unit 37 in a manner that can be distinguished from the circular route OL. For example, as shown in FIG. 12, the information terminal 5 (touch panel 50), which is an example of the display unit 48, can display the circular route OL and the start point guided route SGL in different display manners. The display manners can be distinguished by display color or line type. In particular, when the start point guided route SGL is generated so as to overlap with the circular route OL, the display manner of a part of the circular route OL can be changed to display the start point guided route SGL.

[0096] In this way, the start point guidance route SGL is displayed in a manner that allows it to be distinguished from the circular route OL, so that the operator can easily confirm the travel route of the machine 1 during automatic travel.

[0097] [Embodiment 3] As described above, in the internal area IA, a round trip is performed from the start point S to the end point G along the internal round trip path IPL consisting of the work travel path LL and the turning path RL as shown in FIG. 13. The round trip is performed along the work travel path LL in order from the outermost work travel path LL (first work travel path LLS) on one side in the arrangement direction of the work travel path LL having the start point S to the outermost work travel path LL (last work travel path LLE) on the other side. At this time, in order to perform a circling trip afterwards and exit the field FL through the entrance / exit E, it is preferable that the start point S and the end point G are located on the same turning edge ROL side, preferably the turning edge ROL side where the entrance / exit E is provided.

[0098] However, when the number of work travel paths LL in the internal round trip path IPL is odd, the start point S and end point G are separated into opposing (opposite) turning edges ROL across the field FL. In other words, when the end position of the outermost work travel path LLE on the other side is opposite the entrance / exit E of the field FL, the end position of the work travel path LLE is opposite the end point G across the working area WA.

[0099] For this reason, when the number of working travel paths LL is odd, the round trip is performed in order from the first working travel path LLS to the other side, the working travel path LLN immediately before the last working travel path LLE is traveled as a non-work travel, the last working travel path LLE is traveled as a work travel with a turning travel in between, and then the work travel returns to the immediately previous working travel path LLN and the work travel is performed. As a result, the end point G of the internal round trip path IPL is provided on the immediately previous working travel path LLN, and the start point S and the end point G can be positioned on the same side of the turning edge ROL.

[0100] Here, a slope SP may be provided at the entrance / exit E of the field FL, and the slope SP corresponds to an obstacle OB and may impede the travel of the machine body 1. The entrance / exit E (slope SP) may be provided near the end of the last work traveling path LLE, which is near a corner of the field FL. In this case, the turning path RLN from the previous work traveling path LLN to the last work traveling path LLE may interfere with the slope SP.

[0101] In this way, taking into consideration the possibility that the slope SP may prevent the turning travel on the turning path RLN from being performed appropriately, the automatic travel control system of the third embodiment changes the end portion of the previous work traveling path LLN to the inside of the field FL, shortens the path length of the previous work traveling path LLN by a predetermined length (shortened length LS), and moves the turning path RLN to the inside of the field FL. Note that the previous work traveling path LLN is a path that travels from the outer periphery facing the outer periphery of the field FL where the entrance / exit E is provided toward the outer periphery of the field FL where the entrance / exit E is provided.

[0102] By moving the turning path RLN to the inside of the field FL, the turning path RLN is separated from the slope SP, and the possibility of performing appropriate turning travel on the turning path RLN can be increased. This prevents the turning travel from becoming inappropriate after non-work travel along the previous work travel path LLN, and allows the machine to move appropriately to the last work travel path LLE. Then, by performing work travel on the previous work travel path LLN after work travel on the last work travel path LLE, the end point G and start point S of the internal round-trip path IPL can be positioned on the same side of the turning edge ROL. As a result, efficient circling travel can be performed after round-trip travel, and automatic travel can be performed efficiently.

[0103] Hereinafter, an automatic driving control system for shortening the path length of the immediately preceding work driving path LLN in the third embodiment will be described using FIGS. 13 to 15 while also referring to FIGS. 1 to 4.

[0104] The automatic driving control system in the third embodiment includes a control unit 51. The control unit 51 includes a processor such as a CPU, and operates under the control of the processor. The control unit 51 is configured to be able to communicate with the positioning unit 8, the information terminal 5, and a storage unit 52. The storage unit 52 stores various types of information.

[0105] The control unit 51 includes a map acquisition unit 29, a driving route generation unit 37, and an automatic driving control unit 45. The configurations of the map acquisition unit 29, the driving route generation unit 37, and the automatic driving control unit 45 are the same as those in the first and second embodiments, and the description thereof will be omitted. However, the driving route generation unit 37 can generate a target driving route for an arbitrarily set working area WA, and the number of laps of the outer circumferential area OA may be a selected number of laps or a preset number of laps.

[0106] First, based on the farm field map FM generated or acquired by the map acquisition unit 29, the travel path generation unit 37 generates a target travel path including the internal round trip path IPL (step #1 in FIG. 15).

[0107] Next, the travel route generation unit 37 judges whether or not the number of work travel routes LL in the internal round-trip route IPL is an odd number (step #2 in FIG. 15).

[0108] If the number of work travel paths LL is odd (step #2 Yes in FIG. 15), the travel path generating unit 37 shortens the path length of the previous work travel path LLN by a predetermined shortening length LS, and moves the end portion (turn start position) of the work travel path LLN to the inside of the field FL (step #3 in FIG. 15). In addition, the travel path generating unit 37 sets the previous work travel path LLN before turning toward the last work travel path LLE as a path (non-work travel path) for traveling (idling) without performing work, and sets a turning path RLB that returns to the previous work travel path LLN after work travel along the last work travel path LLE, and a path for work travel on the previous work travel path LLN to the end point G.

[0109] When the previous work traveling path LLN is shortened, the traveling path generation unit 37 further generates a reverse path LB that reverses from the end position of the turning path RLN to the start position of the final work traveling path LLE, after the turning path RLN that is directed from the shortened previous work traveling path LLN toward the final work traveling path LLE.

[0110] Then, the automatic driving control unit 45 controls automatic driving along the internal round-trip route IPL when the work traveling route LL is an even number (step #2 No in Figure 15), and along the internal round-trip route IPL in which the previous work traveling route LLN is shortened (step #4 in Figure 15).

[0111] The automatic travel control unit 45 controls automatic travel along the internal round trip path IPL, and then controls automatic travel along the circular path OL. For example, the circular path OL is a path that travels for work on the previous work travel path LLN, moves to the vicinity of the entrance / exit E, travels from the vicinity of the entrance / exit E in the outer periphery area OA along the periphery of the field FL, and reaches the entrance / exit E.

[0112] In this way, the previous work travel path LLN is not traveled to the end (idle running) and the turning is performed from the shortened length LS before, so that it is possible to avoid contact with the slope SP and turn appropriately. In addition, after turning, the vehicle is driven backward from the end position of the turning path RLN to the start position of the last work travel path LLE, so that the entire last work travel path LLE can be traveled for work. And finally, the work travel is performed along the previous work travel path LLN that was idle running, so that the entire inner area IA can be traveled for work efficiently to every corner, and the end point G and start point S of the internal round trip path IPL can be positioned on the same side of the turning edge ROL. As a result, it is possible to efficiently perform circular travel after round trip travel, and automatic travel can be efficiently performed.

[0113] In addition, the shortening of the previous work traveling path LLN and the generation of the reverse path LB may be performed when an entrance / exit E is provided near the end of the final work traveling path LLE and there is a slope SP (obstacle OB) near the entrance / exit E, but it may also be performed in any condition, such as when an obstacle OB other than the slope SP is present in the vicinity of the turning path RL from the previous work traveling path LLN to the final work traveling path LLE.

[0114] The shortened length LS may be a preset length (for example, 2 m) or may be variable. When the shortened length LS is variable, the shortened length LS may be configured to be manually set. In this case, the control unit 51 may be configured to include an input unit 54 that can manually input (set) the shortened length LS. The input unit 54 may be an information terminal 5.

[0115] [Another embodiment] (1) In the first embodiment, the number of revolutions is not limited to one or two revolutions, but may be any number of revolutions (one or more revolutions). In other words, the revolution number selection unit 35 may be configured to select any number of revolutions.

[0116] This allows the outer circumferential area OA and the circuit path OL to be set more appropriately, making it possible to perform automatic driving more efficiently.

[0117] (2) When the number of laps is reduced, it may not be possible to secure a sufficient area for turning during round trip travel. Therefore, in order to turn appropriately, the turning start position of the working travel path LL may have to be positioned before the outer periphery of the inner area IA. In that case, the working travel cannot be performed to the outer periphery of the inner area IA during round trip travel, and an unworked area remains.

[0118] In order to avoid leaving an unworked area, a separate work run may be performed in the terminal area of ​​the work run route LL. In order to perform such a work run efficiently, the machine 1 may be temporarily stopped in the terminal area of ​​the work run route LL when automatic running is performed in the no-supply mode.

[0119] Therefore, in the first embodiment and the second embodiment (1), the automatic travel control system (rice transplanter) includes a stop selection unit and a travel selection unit. The stop selection unit accepts a selection operation to select whether or not to temporarily stop the machine body 1 at a predetermined position in the terminal area of ​​the work travel path LL on at least either side of the turning edge ROL. The travel selection unit accepts an operation to select whether to perform additional work travel by continuing straight travel or to continue round trip travel when the machine body 1 is temporarily stopped. The automatic travel control unit 45 controls automatic travel including temporary stopping and additional work travel. The additional work travel may be performed by manual travel.

[0120] In this way, the machine body 1 is temporarily stopped in at least one of the work completion areas of the turning edge ROL on the work travel path LL, and an additional work travel is performed, so that work can be performed in the entire inner area IA without leaving any unworked areas. Also, if it is not possible to perform a proper turning travel from the position where the additional work travel was performed, the machine body 1 may be reversed once and then turned. This makes it possible to perform a proper turning travel without leaving any unworked areas in the inner area IA.

[0121] The position where the machine 1 is temporarily stopped may be set at any position in the terminal area of ​​the work travel path LL, but for example, the temporary stop is made at the work end point of the work travel path LL or at the boundary between the inner area IA and the outer peripheral area OA.

[0122] (3) In the second embodiment, the automatic driving control unit 45 does not have to determine whether or not the length of the start point guidance route SGL is equal to or shorter than a predetermined length.

[0123] (4) In the first to third embodiments, the autonomous driving may be unmanned autonomous driving or manned autonomous driving.

[0124] (5) In each embodiment including the other embodiments, the turning travel may be performed by selecting either a high-precision turning mode or a high-speed turning mode. The high-precision turning mode is a mode in which the travel along the turning path RL is controlled with high precision. The high-speed turning mode is a mode in which the turning is performed at a higher speed than in the high-precision turning mode even at the expense of the precision of the travel along the turning path RL.

[0125] When the field FL is a wet paddy field, the machine body 1 needs to travel at high speed to traverse the wet paddy field. By performing turning travel in the high-speed turning mode, the traveling performance when turning in wet paddy fields can be improved.

[0126] For example, the automatic driving control unit 45 normally controls turning in a high-precision turning mode, and controls turning in a high-speed turning mode only when the turning mode switching operation unit is operated. When the turning mode switching operation unit is operated, the automatic driving control unit 45 controls turning in a high-speed turning mode in which the output of the engine 2 is increased to turn at high speed.

[0127] In addition, the automatic traveling control unit 45 can execute a turning retry to redo the turning if the machine body 1 deviates from the target traveling route by a predetermined amount or more during turning. The turning retry may be configured to be executable in both the high-precision turning mode and the high-speed turning mode, or may be configured to be executable only while the high-precision turning mode is being executed.

[0128] (6) In each embodiment including other embodiments, the control unit 25, 41, 51 is not limited to being composed of the above-mentioned functional blocks, and may be composed of any functional blocks. For example, each functional block of the control unit 25, 41, 51 may be further subdivided, or conversely, some or all of the functional blocks may be combined. In addition, the functions of the control unit 25, 41, 51 are not limited to the above-mentioned functional blocks, and may be realized by a method executed by any functional block. In addition, some or all of the functions of the control unit 25, 41, 51 may be composed of software. A program related to the software is stored in any storage device such as the storage unit 27, 42, 52, and executed by a processor such as a CPU included in the control unit 25, 41, 51 or a processor provided separately. [Industrial Applicability]

[0129] The present invention can be applied not only to rice transplanters, but also to the automatic travel of various types of work vehicles that automatically travel on work land, including combine harvesters and tractors. [Explanation of symbols]

[0130] 37 Driving route generation unit 54 Input section E Entrance / Exit FL Field IA internal area IPL Internal Round Trip Path LB Reverse path LL Work route LLE final work route LLN Previous work route LLS First work route LS Shortened Length OA outer area OB Obstacles OL Circulation Route RL Turning Path RLB Turning Path RLN Turning Path SP Slope

Claims

1. An automatic driving control system for a work vehicle that automatically drives along a target driving route in an outer peripheral area along the periphery of a farm field and an internal area inside the outer peripheral area, a travel path generation unit that generates a circumferential path that is the target travel path for traveling around the outer circumferential area, and an internal round trip path that is the target travel path for traveling round trip in the internal area, The internal round-trip path has a work travel path that runs between two opposing sides of the internal area and a turning path that connects adjacent work travel paths, and the round-trip travel is traveled along the work travel paths in order from the outermost work travel path on one side in the arrangement direction of the work travel paths to the outermost work travel path on the other side, with turning travel along the turning path in between, When the end position of the outermost work travel route on the other side is on the opposite side to the entrance / exit provided in the field, the travel route generation unit sets the work travel route one step before the outermost work travel route on the other side in the arrangement direction as a non-work travel route, and generates a work travel route that runs on the work travel route set as the non-work travel route after the outermost work travel route on the other side, and the non-work travel route is generated a predetermined length shorter than the work travel route.

2. The automatic driving control system of claim 1, wherein the driving path generation unit generates a reverse path that reverses to the starting position of the outermost work driving path on the other side, after the turning path from the non-work driving path to the outermost work driving path on the other side.

3. The automatic driving control system of claim 1, wherein the entrance / exit is provided near the outermost end of the work driving path on the other side, and the driving path generation unit generates the non-work driving path to be shorter than the work driving path when there is an obstacle near the entrance / exit.

4. The automatic driving control system of claim 2, wherein the circular route is a route that, after traveling the work driving route that is set as the non-work driving route, travels around the field in the outer circumferential area from near the entrance / exit to the entrance / exit.

5. The length is variable; The automatic driving control system according to claim 1 , further comprising an input unit for manually setting the length.

6. The automatic driving control system according to claim 1 , wherein the length is determined according to a size of a slope provided at the entrance / exit.

7. a map acquisition unit that generates a farm field map by non-work traveling along an outer periphery of the farm field, The automatic driving control system according to claim 6, wherein the map acquisition unit generates an outer shape of the field by approximating a rectangle based on a driving trajectory from a start point to an end point of the non-work driving, and defines the portion of the driving trajectory excluding the outer shape of the field as the slope.

8. The automatic driving control system according to any one of claims 1 to 7, wherein the automatic driving can be performed either as manned automatic driving in which a driver is on board the work vehicle, or as unmanned automatic driving in which the driver is not on board the work vehicle.

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