JPH09212237A - Guidance controller for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to decide that the moving vehicle reaches the end positions of plural travel paths through simple control constitution without increasing the size of the whole facilities by providing a specific magnetic field correcting means. SOLUTION: Guide lines 2b and 2d installed in a ridge along a width direction are installed having both the end parts bent almost in an L shape to the inside of a field part 1. At the point where the isolation distances (t) from the intermediate parts of the guide lines 2b and 2d are a set distance, a magnetic field having nearly the same intensity is produced in this case to the overall length of the guide lines 2b and 2d, so this point is set as the end position of a travel path (k). This end part position is a set distance inside the field part 1 from the length L of the end part bent part. Consequently, when it is decided that the moving vehicle reaches the path end part of each travel path, stored information can be reduced in amount and the constitution for the decision control can be simplified by making the intensity of the reference magnetic field constant.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile vehicle having a set length of guide wire to which current is supplied on the ground side and traveling along a plurality of travel routes in a predetermined guide area. Magnetic field detecting means for detecting the strength of the magnetic field formed by the current, and traveling control means for controlling the traveling state of the moving vehicle based on the detection information of the magnetic field detecting means, the guide wire, It is installed near the outer periphery of the guide area along a direction intersecting the direction along the travel route, and the installation width in the longitudinal direction is set to be the same as or substantially the same as the width of the guide area. The traveling control means is configured to determine whether or not the moving vehicle has reached an end of each traveling route based on the strength of the magnetic field detected by the magnetic field detection means, and Reaching the end of each driving route If it is determined, to a guidance control apparatus for a mobile vehicle that is configured to perform control for Eko to EKO the transport vehicle.

[0002]

2. Description of the Related Art If a current supplied to a guide wire is constant, a guidance control device for a moving vehicle having the above-described structure will always have a magnetic field strength formed by the current at a predetermined position in the guide area. By utilizing the fact that it is constant, it is possible to determine whether or not the moving vehicle has reached the end of each traveling route with a relatively simple structure. In a guidance control device for a mobile vehicle, conventionally, the guide wire has a longitudinal installation width set to be the same as or substantially the same as the width of the guide area, and is installed linearly over substantially the entire length. It was a composition.

[0003]

When the installation length of the guide wire, that is, the width of the guide area in the direction intersecting the direction along each of the traveling routes extends over a long distance, the distance from the guide wire is increased. If the magnetic field strength is the same, a region in which the magnetic field strength is the same value is formed over a wide range, but for example, the installation length of the guide wire, that is, the direction along the travel route in the guide area is crossed. In the case where the width in the direction of rotation becomes relatively short, the strength of the magnetic field formed by the current flowing in the induction wire is the same, as shown in FIG. The distribution line of is curved in a substantially arc shape. Further, since the moving vehicle needs to turn after reaching the end position of the travel route, the end of the travel route is located a position inward from the end edge of the guidance area by a set distance. .

As a result, the strength of the magnetic field at each of the end positions of a plurality of travel routes having different positions along the longitudinal direction of the guide wire has different values, as shown in FIG. Therefore, in order to detect that the end of each travel route is reached, all the discriminant values of the magnetic field strength at each position are stored in advance, and the end values are determined based on the different discriminant values for each travel route. It is necessary to determine whether or not it has reached the department, which has the disadvantage that the control configuration becomes complicated.

As a method of avoiding such a disadvantage, the guide wire is extended to the outside on both sides to be wider than the width of the guide area, and the guide wire is extended at the end position of each traveling route in the guide area. A configuration may be considered in which the strength of the magnetic field approaches the same value, but if you do so,
There is a disadvantage that the installation width of the guide wire becomes unnecessarily larger than the required width of the guide area, and it cannot be used as another guide area in the area corresponding to the extension of the guide wire, resulting in In addition, there is a disadvantage that the entire equipment becomes large.

The present invention has been made by paying attention to such a point, and an object thereof is to move in each of a plurality of traveling routes without increasing the size of the entire equipment due to the rational installation configuration of the guide wire. It is a point to provide a guidance control device for a moving vehicle that can determine that the vehicle has reached the end position by a simple control configuration.

[0007]

According to the characterizing feature of claim 1, the strength of the magnetic field is the same or substantially the same at each of the end positions of the traveling paths. Since the magnetic field correction means for correcting the height is provided, the magnetic field at each end position of each traveling route is set while keeping the installation width along the longitudinal direction of the guide wire within substantially the same width as the guide area. Can be set to almost the same value, and by determining the strength of the magnetic field that is the reference when determining that the moving vehicle has reached the end of the route in each traveling route, As compared with the conventional configuration in which the reference value is different for each, the stored information can be reduced and the configuration for the discrimination control can be simplified.

According to a second aspect of the present invention, the guide wire is installed in a bent state such that both longitudinal end portions thereof are located on the inner side of the guide area with respect to the longitudinal intermediate portion. Has been done. That is, the bent portion of the guide wire approaches the end positions of the traveling route that face the vicinity of both ends of the guide wire.

Therefore, as in the case of linear arrangement as in the conventional structure, when the magnetic field strength on the end side is smaller than that on the center side due to the finite length, The strength of the magnetic field at the end positions of the travel routes located near both ends is increased due to the approach of the bent part of the guide wire, and the magnetic field strength at each end position of each travel route is increased. Can be set to the same or approximately the same value.

Moreover, the simple modification of bending the guide wire is sufficient, and it is not necessary to provide a special separate magnetic field generating means for increasing the strength of the magnetic field.

According to a third aspect of the present invention, the guide wire is linearly provided with the same or substantially the same length as the width of the guide area, and is shorter than the length of the guide wire. An auxiliary guide wire is installed on each of both sides in the longitudinal direction of the guide wire in a state of being along the longitudinal direction of the guide wire,
Moreover, since the current is supplied to each auxiliary induction wire in the same direction as the direction of the current supplied to the induction wire, the strength of the magnetic field at both ends of the induction wire is reduced due to the finite length of the induction wire. Can be solved by combining and correcting the magnetic field formed by the auxiliary guide wire,
It is possible to set the strength of the magnetic field at each of the end positions of each travel route to the same or substantially the same value.

According to the fourth aspect of the invention, since the guide wire is bent in a substantially L-shape at both ends in the longitudinal direction, the installation width along the longitudinal direction of the guide wire is increased. It is possible to effectively use the guiding area without forming an unused area at the corner of the guiding area, for example, as in the case of bending in an arc shape.

According to the fifth aspect of the present invention, the length of the bent portion at both ends of the guide wire in the longitudinal direction is longer than the distance from the middle portion of the guide wire to the end of each traveling route. The length is set to a short distance. That is,
By bending both end portions of the guide wire, as shown in FIG. 7, at a position close to the guide wire, an intensity distribution line, which is a set of points having the same magnetic field strength, is formed at both ends of the guide wire. On the side, the distance from the guide wire is larger than the position on the center side (in the concave state), and when the distance from the guide wire is larger, it is due to the finite length. However, at both ends of the guide wire, the distance from the guide wire is smaller than in the center position (middle bulge state), but at a critical position between them, the guide wire is separated from the middle portion. There is a set of points having the same distance and having substantially the same magnetic field strength over a wide range in the longitudinal direction of the middle portion of the guide wire. Therefore, by setting this set of points at the end of each traveling route, the strength of the magnetic field at the end position of each traveling route becomes substantially the same.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION A guidance control device for a moving vehicle according to the present invention will be described below. As shown in FIG. 1, in a rectangular field 1 as an example of a guidance area, a work vehicle V as an example of a moving vehicle is provided in each of a plurality of parallel traveling routes k along the longitudinal direction of the field 1. , Is configured so that it can be guided and run in an unmanned state.

On each side (ridge) of the outer periphery of the field 1,
Each of the guide wires 2 having a length substantially equal to the length of the ridge is installed along the longitudinal direction of the ridge, and each of the guide wires 2 is provided with an AC current having a predetermined frequency by a current supply source as a current supply means. Is supplied. In other words, alternating currents of the frequency fa (Hz) and the frequency fc (Hz) are supplied by the current supply sources 3 to the respective guide lines 2 a and 2 c installed along the ridges on both sides along the long direction of the field 1. The frequency fb (Hz) and the frequency fd are supplied by the current supply sources 3 to the respective guide wires 2b and 2d which are supplied and installed on the ridges on both sides along the short direction.
(Hz) alternating current is supplied. The frequency is
The frequency is set to several hundred Hz to several tens KHz.

As shown in FIG. 2, each of the guide wires 2 is constructed so that the current flows through the ground through a plurality of piles 4 made of a conductive material that are driven into the ground. , Even if the guide wire is installed over a long distance,
The configuration is such that the installation can be easily performed only by driving the stake 4 on both sides in the longitudinal direction. In the ground, the driving depth of the pile 4 is set so that the current flows through the lower clay layer G2 having a relatively low electric resistance, instead of the ground layer G1 having a relatively high electric resistance.

When a current flows through the induction wire installed as described above, a magnetic field is formed by the current. The theoretical value of the magnetic field strength with respect to the distance from the induction wire can be calculated. , The strength of the magnetic field is inversely proportional to the square of the distance from the guide wire. Therefore, if the supplied current value is constant, as shown in FIG. 3, the change characteristic of the magnetic field strength with respect to the distance from the induction wire is determined, and the magnetic field at a certain point in the field 1 is determined. Has a substantially constant magnitude.

The work vehicle V is provided with a rotary tilling device 6 as a ground working device at the rear portion of the four-wheel type traveling vehicle body 5 so that the ground work (plowing work) of the field 1 can be performed while traveling. It has become. An engine is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel through a transmission having a forward / reverse switching mechanism 7 and an electromagnetically operated traveling clutch 8 so that the vehicle body travels. The power of the engine is transmitted to the rotary tiller 6. The left and right front wheels are provided so as to be steerable by an electric motor 9 as a steering operation means.

The working vehicle V detects a traveling distance of the vehicle body by detecting the number of rotations of an axle, for example, a traveling distance sensor 10 as a distance detecting means including a rotary encoder, and an orientation of the vehicle body. An azimuth sensor 11 as azimuth detecting means, a control device 12 using a microcomputer as traveling control means for controlling the operations of the forward / reverse switching mechanism 7, the steering electric motor 9 and the like are provided.

Further, as shown in FIG. 12, three magnetic field sensors for individually detecting the strength of the magnetic field formed by the alternating current supplied to each induction wire are provided at the front part of the traveling vehicle body 5. The side magnetic field sensors 13R and 13R are provided so as to be arranged side by side along the lateral direction of the vehicle body, of which the left and right side magnetic field sensors 13R and 13 are located.
L is configured to detect the strength of the magnetic field formed by the alternating currents having the frequencies fa and fc, and the central magnetic field sensor 14 located on the left and right center sides is formed by the alternating currents having the frequencies fb and fd. It is configured to detect the strength of the magnetic field that is generated. Then, the control device 12
On the basis of the information detected by the side magnetic field sensors 13R and 13L, the work vehicle V is detected in each of the plurality of travel routes k.
Guide traveling control is performed to guide the vehicle along each traveling route k, and based on the information detected by the central magnetic field sensor 14, turning control is performed at the end of each traveling route k, that is, the moving vehicle is turned. It is configured to perform control for turning. Therefore, the central magnetic field sensor 14 constitutes a magnetic field detecting means for detecting the strength of the magnetic field formed by the current supplied to the guide wire 2 (2b, 2d). That is, as shown in FIG. 4, each side magnetic field sensor 13
The outputs of R, 13L and the central magnetic field sensor 14 are respectively processed by the signal processing unit 15 and then given to the control device 12,
Based on these magnetic field detection information, the drive operation unit for the steering electric motor 9 is controlled so as to be guided and traveled along each travel route k, and at the end of the travel route k, the magnetic field detection information and It is configured to control the steering electric motor 9, the forward / reverse switching mechanism 7, the traveling clutch 8 and the like based on the detection information of the azimuth sensor 11 and the traveling distance sensor 10 so as to turn.

Each of the magnetic field sensors 13R, 13L, 14
As shown in FIG. 5, a detection coil 16 in which an induced electromotive force is generated by an alternating magnetic field formed by an alternating current flowing through the induction wire, an amplifier 17 for amplifying the output of the detection coil 16 to a predetermined level, Of the output of the detection coil 16, a bandpass filter BPF as a frequency filter that passes only the output corresponding to the frequency of the current flowing in each induction wire, an amplifier 18 that amplifies the output of this bandpass filter BPF, and the like are configured. ing.

Therefore, each side magnetic field sensor 13R, 13L
The band-pass filter BPF suppresses the detection information by the center-side magnetic field sensor 14 from being mixed in with the detection information by the band-pass filter BPF.
The PF constitutes the information mixture suppressing means.

In this way, each side magnetic field sensor 13R, 1
3L, detection information corresponding to each of the frequency fa and the frequency fc is output, and the central magnetic field sensor 14 outputs the detection information corresponding to each of the frequency fb and the frequency fd. However, the signal processing unit 15 selectively outputs the detection information of the higher detection level, that is, the detection information of the work vehicle V closer to the corresponding guide line. The signal processing unit 15 is shown in FIG.
As shown in the figure, each of the magnetic field sensors 13R, 13L, 14
DC conversion circuits DC for converting the outputs of the above to DC signals are respectively provided, and the converted outputs are input to the controller 12, and the controller 12 detects the detection level among the outputs of different frequencies in each of the magnetic field sensors 13R, 13L, and 14. It is configured to determine an output on the higher side of and to apply a selection signal to the _three analog switches AS _1, AS _2, AS ₃ so as to select the output.

Based on the detection information from the central magnetic field sensor 14, the control device 12 separates the guide wire 2b, 2d installed in the ridge along the short direction from the guide wire on the higher detection level side. Is calculated, and when the separation distance reaches a set value, it is determined that the work vehicle V has reached the end position of each traveling route k. As shown in FIG. 7, the guide wires 2b and 2d installed on the ridges along the short direction are installed in a state where both end portions are bent in a substantially L shape toward the inside of the field 1. . With this configuration, the intensity of the magnetic field is substantially the same over the entire length of the guide lines 2b and 2d at a point where the separation distance of the guide lines 2b and 2d from the intermediate portion t is the set distance. k
Is set as the end position. This end position is a point located on the inward side of the field 1 by a set distance from the length L of the end bent portion. Incidentally, according to an experiment by the applicant, if the length L of the end bent portion is, for example, 7 m, the end position is a position separated by 10 m from the guide wire, and the length L of the end bent portion is For example, if it is 3m, the end position is 5m from the guide wire.
The position of the separation distance is. With this configuration,
As shown in FIG. 8, the magnetic field strengths at the respective end positions are set to almost the same value. Therefore, the guide wire 2b,
By bending 2d, the magnetic field correction means for correcting the magnetic field strength is configured so that the magnetic field strengths at the end positions of the travel paths are the same or substantially the same. .

As described above, the reason for setting the end position of the traveling route k to the inner side of the end part of the field 1 is that in the magnetic field formed by the guide wire of finite length, as shown in FIG.
In the magnetic field strength distribution at the same distance, the relationship between the magnetic field strength and the distance is not linear near the end of the guide wire, and guidance control based on the magnetic field strength may not be performed well. Because there is.

Further, as shown in FIG. 9, the electric current flowing through the guide wires 2a and 2c installed in the ridges along the long direction flows into the guide wire installed in the ridges along the short direction through the ground. As a frequency filter that is an example of a current suppressing unit that suppresses the above, a bandpass filter 19 that allows passage of only the frequency of the current supplied to the induction wires 2a and 2c is provided. This bandpass filter 19
Is composed of a resonance circuit in which a coil 19a and a capacitor 19b are connected in series, and its resonance frequency corresponds to the frequency of the current. Therefore, even if a current with a different frequency flows from the other induction wire through the ground, the inflow current is suppressed from flowing through the induction wire, minimizing the possibility that each magnetic field sensor will detect erroneous information. There is.

Detection of the side magnetic field sensors 13R and 13L
Each analog switch AS corresponding to output information₁, AS_ThreeOut of
The amplification gain for amplifying the force is
Change and adjust to multiple stages (four stages) based on switching information
It is configured to be. That is, each of the amplification gains
Outputs of four different amplifiers 21, 22, 23, 23
For inputting one of the two to the control device 12.
Switch AS_Four, AS _FiveIs selected by the control device 12
It is configured to dictate the content. Supplied to the guide wire
The strength of the magnetic field formed by the current
Changes greatly with changes in the separation distance.
If the amplification gain is kept constant, the
It is difficult to detect with appropriate resolution and detection accuracy is low
To the control device 12
The input level is, for example, as shown in FIG.
Of the appropriate magnetic field when the separation distance from
In other words, the change in strength is identifiable, in other words, suitable.
Amplification gain so that the proper output range with high resolution is achieved
It automatically adjusts the parameters.

The respective side magnetic field sensors 13R and 13L are
The side magnetic field sensors, which are installed at set intervals in the lateral direction of the vehicle body, travel when the work vehicle V travels along one of the plurality of travel routes k. The side magnetic field sensor on the other side functions as a magnetic field detection unit for the current traveling route for detecting the strength of the magnetic field for executing the guidance control along the traveling route k inside. It is configured to function as a magnetic field detection unit for the next travel route that detects the strength of the magnetic field that will be detected by the magnetic field detection unit for guidance control when the mobile vehicle is run along ing. That is, the other side magnetic field sensor sequentially detects the magnetic field of the next traveling route k while traveling on the current traveling route k, and this detection information is the distance information detected by the traveling distance sensor 10. It is configured to be sequentially stored in the memory 25 as a storage unit in a state of being associated with.

The control device 12 determines the magnetic field detection information stored in the memory 25 and the end position of the travel route k detected by the travel distance sensor 10 in the next travel route k in which the magnetic field detection information is stored. The target value of the magnetic field strength at each point on the travel route k is obtained based on the travel distance information of the current travel route k, and the target value and the detection of the side magnetic field sensor functioning as the magnetic field detection unit for the current travel route are detected. The guide traveling control for driving and controlling the electric motor 9 for traveling is executed so that the values match. Also, the control device 12
Is based on the magnetic field detection information stored in the memory 25, sets the target value of the amplification gain of the magnetic field sensor when the vehicle is guided on the next travel route k, and prior to the guide travel on the next travel route k. , The gain is automatically adjusted to the target value. Specifically, if the maximum value of the magnetic field strength stored in the memory 25 exceeds the set upper limit value, an amplifier having a gain one step lower than the current gain is selected, and the maximum value is If it is less than the set lower limit value, the analog switch AS ₄ , A is selected so that the amplifier having a gain one step higher than the current gain is selected.
A selection signal is commanded to S ₅ .
The gains of the analog switches AS ₄ and AS ₅ are always adjusted to the same value. The set upper limit value and the set lower limit value are set as upper and lower limit ranges in which linearity of output change as an analog value is guaranteed.

Next, the control operation of the controller 12 will be described. When the work vehicle V is guided to travel in a certain field 1, prior to the automatic guidance control by the control device 12,
In the first travel route k, the work vehicle V is manually driven in a state of being along the proper travel route k. At that time, as the traveling is started from the start end position of the traveling route k, the detection information of the side magnetic field sensor on the side of the next traveling route (the sensor on the right side in the case of FIG. 1) and the traveling distance sensor 10
The detection information of No. 1 and the detection information of No. 1 are sequentially written and stored in the memory 25.

Then, the automatic guidance control is started from the next traveling route k, and as shown in FIG. 11, first, it functions as the amplification gain and the magnetic field detecting portion for the current traveling route according to the working state. The side magnetic field sensor (the left sensor 13L in the case of FIG. 1) is initialized (step 1).

While the work vehicle V is traveling at the traveling speed for work, based on the magnetic field detection information stored in the memory 25 and the detection information from the traveling distance sensor 10, the current time on the traveling route k. The target value of the strength of the magnetic field is obtained, and the steering electric motor 9 is drive-controlled so that the detection value of the side magnetic field sensor 13L that functions as the magnetic field detection unit for the current travel route becomes the target value. (Step 2). When this guide travel control is executed, the detection information of the side magnetic field sensor on the side of the next travel route k (the sensor 13R on the right side in the case of FIG. 1) is made to correspond to the detection information of the travel distance sensor 10. , Are sequentially written and stored in the memory 25 (step 3).

Based on the detection information of the central magnetic field sensor 14, when it is detected that the end of the traveling route k is reached,
Count up the number n of travel routes (steps 4 and 5),
If the count value does not reach the set number of paths ns in the field 1, the target value of the amplification gain is set as described above from the maximum value of the magnetic field strength written and stored in the memory 25, and the gain is set. A selection signal is instructed to the analog switches AS ₄ and AS ₅ to automatically adjust the gain so that the value becomes the target value (steps 7 and 8).

Next, the side magnetic field sensor functioning as the magnetic field detecting section for the current traveling route is switched to the opposite side magnetic sensor (right sensor 13R) (step 9). This is because their positional relationship is reversed due to changes in the orientation of the vehicle body.

Next, a turning control is carried out in which the vehicle body is turned around so as to be positioned at the starting end of the next running route k (step 10). As shown in FIG. 13 (a), after the vehicle travels straight while keeping the steering operation in the neutral state for a set distance from the end position of the travel route k, the orientation sensor 11 is reset, and then the orientation of the vehicle body changes to 180 degrees. The vehicle is turned at the maximum turning angle until it is detected that the vehicle has been reversed, and then the vehicle is made to run straight until the start end of the travel route k is reached based on the detection information of the central magnetic field sensor 14. Further, as shown in FIG. 13B, the next travel route is based on the detection information of the side magnetic field sensor functioning as the magnetic field detection unit for the current travel route and the stored information stored in the memory 25. The vehicle body is swung forward so as to be in a state along k so that the vehicle body is width-aligned. When the vehicle body is in the posture along the traveling route k, the traveling clutch 8 is disengaged to stop the vehicle body and the forward / reverse switching mechanism 7 is operated.
Is operated to switch to the reverse drive state, and the central magnetic field sensor 14
Based on the detection information of 1., the vehicle travels backward in a straight traveling state until the starting end of the travel route k is reached. In this way, the vehicle body is located at the starting end of the next travel route k.

Thereafter, the guide traveling control as described above is executed. At this time, if the gain is changed in step 8, the detected information stored in the memory 25 also corresponds to the amount of change. The target value for traveling is calculated by multiplying the gain. Then, steps 2 to 10 are repeated to sequentially guide the work vehicle V along each traveling route k, and when the number of traveling routes n reaches the set number of routes ns, the control ends (step 6).

In the current traveling route k, the strength of the magnetic field stored when traveling the previous traveling route k and the current traveling route k
Is controlled to be the same as the detected magnetic field at
Since the installation intervals of the side magnetic field sensors 13R and 13L are set to be narrower than the working width of the rotary tiller 6 to the ground, the work area of the rotary tiller 6 is to be wrapped in each traveling route k. Therefore, the unworked area does not occur.

[Other Embodiments] (1) In the above embodiment, the case where both end portions of the guide wire 2 located on the end portion side of the travel route are bent in a substantially L shape has been exemplified, but such a configuration Instead of this, it may be performed in various forms such as bending in an arc shape or bending in a dogleg shape.

(2) In the above embodiment, the magnetic field correcting means has a structure in which both end portions of the guide wire 2 are bent inward of the guide area. However, instead of such a structure, for example, as shown in FIG. As shown in FIG. 14, the guide wire 2 is linearly provided with the same or substantially the same length as the width of the guide area, and the auxiliary guide wire 27 shorter than the guide wire is longer than the guide wire 2. It may be arranged such that it is installed on both sides in the longitudinal direction of the guide wire 2 so that each auxiliary guide wire 27 is supplied with a current in the same direction as the direction of the current supplied to the guide wire 2. Good. According to this structure, by the combined magnetic field of the magnetic field formed by the current flowing through the induction wire and the magnetic field formed by the current flowing through the auxiliary induction wire,
It is possible to set the magnetic field strengths at the end positions of the travel routes k to be the same or substantially the same.

Further, as the magnetic field correction means, instead of the auxiliary guide wire to which a current is supplied, it is possible to prevent the magnetic field from leaking to the outer side in the outer peripheral portion of a part of the guide wire in the longitudinal middle portion. An electromagnetic shield material to be suppressed may be arranged so as to make the strength of the magnetic field uniform at each end position of each traveling route.

(3) In the above embodiment, the control for guiding the traveling vehicle along each traveling route is executed based on the magnetic field detection information of the magnetic field sensors 13R and 13L. Instead of the configuration, guidance control along the travel route is performed, for example, a laser beam is projected along each travel route and guidance is performed while the moving vehicle side follows the laser light so as to always detect the laser light. The moving condition of the moving vehicle can be controlled by executing a control or by setting a wireless management device at a predetermined position on the ground side so that control information can be wirelessly communicated with the moving vehicle side. While checking, the control device may be implemented in various control modes such as a configuration of guiding and traveling along a predetermined route.

(4) In the above embodiment, the working vehicle V provided with the rotary tilling device was used as the moving vehicle, but it may be a lawn mowing working vehicle V, a mowing working vehicle V having a mowing unit, or the like. Further, not only the ground work vehicle V but also another moving vehicle such as a cleaning vehicle may be used.

In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of drawings]

FIG. 1 is a plan view showing a guiding state.

FIG. 2 is a side view showing an installation state of a guide wire.

FIG. 3 is a diagram showing a magnetic field strength distribution.

FIG. 4 is a control block diagram.

FIG. 5 is a configuration diagram of a magnetic field detection unit.

FIG. 6 is a configuration diagram of a signal processing unit.

FIG. 7 is a plan view showing the installation state of the guide wire and the distribution of the same magnetic field strength.

FIG. 8 is a diagram showing a detected state of magnetic field strength at an end position.

FIG. 9 is an electric circuit diagram of the induction wire.

FIG. 10 is a diagram showing output characteristics when the gain is switched.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a plan view of a work vehicle.

FIG. 13 is a plan view showing a turning control state.

FIG. 14 is a plan view showing a guide wire installation state of another embodiment.

FIG. 15 is a plan view showing a conventional installation state of a guide wire and a distribution of the same magnetic field strength.

FIG. 16 is a diagram showing a conventional state of detecting magnetic field strength at an end position.

[Explanation of symbols]

 2 guide wire 12 traveling control means 14 magnetic field detection means 27 auxiliary guide wire L length t middle part V mobile vehicle

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yukio Yokoyama 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (5)

[Claims] 1. A moving vehicle (V) having a set length of guide wire (2) installed on the ground side, the guide wire (2) traveling along a plurality of mutually parallel travel routes in a predetermined guide area. ), The magnetic field detection means (14) for detecting the strength of the magnetic field formed by the current, and the traveling for controlling the traveling state of the moving vehicle (V) based on the detection information of the magnetic field detection means (14). A control means (12) is provided, and the guide wire (2) is installed near an outer periphery of the guide area along a direction intersecting a direction along the travel route, and is installed in a longitudinal direction. The width is set to be the same as or substantially the same as the width of the guiding area, and the traveling control means (12) determines the moving vehicle (based on the strength of the magnetic field detected by the magnetic field detecting means (14). V) has reached the end of each traveling route And a moving vehicle configured to execute turning control for turning the moving vehicle (V) when it is determined that the end of each traveling route has been reached. Of the guide control device of claim 1, wherein the magnetic field correction means for correcting the magnetic field strength is provided so that the magnetic field strengths at the end positions of the travel paths are the same or substantially the same. Vehicle guidance control device. 2. The guide line (2) so that the magnetic field correction means makes the strengths of the magnetic fields at the respective end positions of the respective traveling paths the same or substantially the same.
The guide control device for a moving vehicle according to claim 1, wherein the both ends in the longitudinal direction are bent so as to be positioned on the inner side of the guide area with respect to the intermediate portion in the longitudinal direction. 3. The magnetic field correcting means is arranged such that the guide wire (2) is linearly provided with a length equal to or substantially the same as the width of the guide area, and the guide wire (2) is longer than the guide wire (2). The shortest auxiliary guide wire (27) is installed on both sides in the longitudinal direction of the guide wire (2) so as to be along the longitudinal direction of the guide wire (2), and each auxiliary guide wire (27). 3. The induction control device for a mobile vehicle according to claim 1, wherein the current is supplied to the guide wire in the same direction as the current supplied to the guide wire. 4. The guidance control device for a mobile vehicle according to claim 1, wherein both ends of the guide wire (2) in the longitudinal direction are bent into a substantially L shape. 5. The length (L) of a bent portion at both ends in the longitudinal direction of the guide wire (2) is a distance from an intermediate portion (t) of the guide wire (2) to an end portion of each traveling route. 5. The length is set to be shorter than the set distance by a set distance.
Guidance control device of the moving vehicle described.