JPH11288312A - Guidance controller for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly execute guided traveling along with the next traveling route based on the information of a previously stored control target value for guidance at the time of traveling from a spot on the side of a starting terminal along with the former traveling route by appropriately moving a moving vehicle, which is moved to the next traveling route, to the spot on the side of the starting terminal of that route. SOLUTION: Concerning this guidance controller, when moving a moving vehicle V to the next traveling route with the detection of the arrival of the moving vehicle V at the terminal position of each traveling route (k), based on the detected information of a magnetic field detecting part GK1 for current traveling route at a magnetic field detecting means TK for terminal part, a strength (y) of a magnetic field for guidance and a strength (t) of a magnetic field for terminal part corresponding to a starting terminal side spot sp of the next adjacent traveling route are found and based on the detected information of the magnetic field detecting part for current traveling route at the magnetic field detecting means GK for guidance and the detected information of the magnetic field detecting part for current traveling route at the magnetic field detecting means TK for terminal part, the moving vehicle V is guided toward the starting terminal side spot sp of the next adjacent traveling route.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a first guide line which is provided outside a guide area in which a mobile vehicle is guided and runs along a predetermined direction, and a direction intersecting the first guide line. A second guide line is provided along the vehicle, and a guide magnetic field detecting means for detecting a strength of a guide magnetic field formed by a current supplied to the first guide line on a moving vehicle side; End magnetic field detecting means for detecting the intensity of the end magnetic field formed by the current supplied to the wire, running distance detecting means for detecting the running distance of the vehicle body, and operation capable of changing the direction of the vehicle body. Direction control means, and control means for controlling the steering operation means to guide a moving vehicle in each of a plurality of traveling paths along the longitudinal direction of the first guide line and parallel to each other in the guide area. Wherein the guiding magnetic field detecting means is provided When traveling along one of the plurality of travel paths, a magnetic field detection unit for a current travel path that detects the strength of the guidance magnetic field, and the moving vehicle along an adjacent next travel path And a magnetic field detection unit for the next traveling route that detects the strength of the guidance magnetic field for the next traveling route that is detected by the magnetic field detection unit for the current traveling route when traveling. The control means, when traveling along one of the plurality of travel paths, associates the detection information of the magnetic field detection unit for the next travel path with the detection information of the travel distance detection means. When the traveling vehicle travels along the next adjacent traveling route, the guidance control target value stored in the storage means is stored in the storage means as the guidance control target value. It is detected sequentially according to the detection information of the distance detection means. Based on the detection information of the magnetic field detection unit for the current travel route, to perform guidance control for controlling the steering operation means to guide the mobile vehicle along the next travel route, and When detecting that the moving vehicle has reached the end of the traveling route based on the detection information of the end magnetic field detecting means, the moving vehicle is configured to move toward the starting end of the next traveling route. The present invention relates to a guidance control device for a moving vehicle.

[0002]

2. Description of the Related Art The guidance control device for a mobile vehicle having the above-described structure basically measures and stores in advance a control target value for guidance when performing guidance traveling along the next adjacent traveling route when traveling on the current traveling route. By using the stored control target value for guidance, the guidance traveling along the next traveling route is appropriately performed, and the traveling vehicle is guided along the plurality of traveling routes. It was done. In this type of vehicle guidance control device, conventionally, for example, Japanese Patent Laid-Open No. 9-2
As shown in Japanese Patent No. 12237, when a traveling vehicle is guided along each traveling route, when it is determined that the vehicle has reached the end of the route based on the detection information of the end magnetic field detecting means, the next traveling is performed. Just like moving toward the beginning of the path,
For example, in a state where the steered wheels are operated at a predetermined steering angle, the traveling wheels are rotationally driven to perform a turning operation of the traveling vehicle. After confirming the distance, based on the control value for guiding the next route stored in the storage means, the vehicle travels for a predetermined distance while running close to the next travel route, and then the vehicle is moved backward in a straight-ahead state. Then, based on the detection information of the end magnetic field detecting means, stop at a position located at the start end side of the next traveling route set in advance, and start the guided traveling control on the next traveling route from that state. There was one configured as follows.

[0003]

However, in the above prior art, each time the moving vehicle is moved (turned) to follow the next traveling route at the end of each traveling route, the vehicle body is moved to the next traveling route. It is necessary to move backward so as to follow along, that is, to pursue, then move backward and align it with the starting end side point of the next traveling route, it takes troublesome work and guidance traveling can not be done smoothly, There is a disadvantage that the work efficiency is reduced, and there is room for improvement.

The present invention has been made in view of the above circumstances, and an object of the present invention is to adopt a rational configuration so that a moving vehicle that has moved to the next adjacent traveling route can be moved to the starting end of the next traveling route. The vehicle is appropriately moved to the location, and the traveling vehicle is smoothly guided along the next travel route based on the information of the guidance control target value stored in advance from the start end location when traveling on the previous travel route. Is to do so.

[0005]

According to the characteristic feature of the present invention, the end magnetic field detecting means is provided along one of a plurality of traveling paths, similarly to the guiding magnetic field detecting means. When traveling, a magnetic field detector for the current traveling path that detects the intensity of the end magnetic field formed by the current supplied to the second guide line, and a vehicle that moves along the next adjacent traveling path And a magnetic field detection unit for the next traveling route that detects the intensity of the magnetic field for the end portion for the next traveling route that is detected by the magnetic field detection unit for the current traveling route when the vehicle travels. become.

When the vehicle travels along each traveling route, the control unit associates the detection information of the magnetic field detecting unit for the next traveling route in the guidance magnetic field detecting unit with the detection information of the traveling distance detecting unit. The storage means stores the information detected by the magnetic field detector for the next traveling path in the magnetic field detecting means for the end at least at the end side of the traveling path in association with the information detected by the traveling distance detecting means. To memorize.

Further, the control means, based on the detection information of the magnetic field detection unit for the current traveling route in the magnetic field detection means for the end portion,
When detecting that the moving vehicle has reached the end position of each traveling route and moving the moving vehicle to the next traveling route, the starting point of the next adjacent traveling route is determined based on the information stored in the storage means. The strength of the guidance magnetic field and the strength of the end magnetic field corresponding to the side location are obtained, and the detection information of the magnetic field detection unit for the current traveling route in the guidance magnetic field detection means and the detection information of the current traveling path in the magnetic field detection means for the end Based on the detection information of the magnetic field detection unit, the mobile vehicle is guided toward the start end side of the next adjacent traveling route. That is, the detection value of the magnetic field detection unit for the current traveling route in the guidance magnetic field detection unit matches the strength of the guidance magnetic field corresponding to the start end side portion of the next traveling route, and the end magnetic field detection unit When the detection value of the magnetic field detection unit for the current traveling route in the above matches the strength of the magnetic field for the end corresponding to the starting end of the next traveling route, the moving vehicle moves to the starting end of the next traveling route. Since the position of the moving vehicle with respect to the starting point of the next traveling route can be determined by the deviation from the coincidence state, the steering operation means is operated based on the position information of the moving vehicle.

Therefore, the position of the moving vehicle at the starting end of the next traveling route is accurately detected based on both the detection magnetic field for the guidance field and the detected magnetic field for the end portion, and the position of the moving vehicle is appropriately determined at the starting end of the next traveling route. Can be moved to
There is no need for complicated control such as moving the vehicle body along the next travel route and moving the vehicle backward once to perform alignment at the start end side, and is stored in advance when traveling on the previous travel route. The mobile vehicle can be smoothly guided along the next traveling route from the starting end of the next traveling route based on the information on the guidance control target value thus obtained.

According to a second aspect of the present invention, in the first aspect, the control means, when moving the mobile vehicle from the end position of each traveling route toward the starting end side of the next traveling route, After the vehicle is turned so that the azimuth is inverted by 180 ° from the end position, the value detected by the magnetic field detection unit for the current traveling route in the guidance magnetic field detection unit is the value of the guidance magnetic field at the start end side location. A constant magnetic field control for controlling the steering operation means is performed so that the strength of the magnetic field is the same as the strength. During the execution of the constant magnetic field control, the magnetic field detection for the current traveling path is performed by the end magnetic field detection means. When it is determined that the moving vehicle has reached the start end location as the detection value by the unit becomes the strength of the end magnetic field at the start end location,
After that, the guidance control along the next traveling route is performed based on the guidance control target value stored in the storage means.

Therefore, first, the detection value of the induction magnetic field is controlled so as to be the same as the target magnetic field intensity at the start end side, and the detection of the end magnetic field is performed while maintaining the control state. Since the value is determined to be the target magnetic field strength at the start end side, it is determined that the vehicle is located at the start end side, so that the moving vehicle always passes through the start end side, It is possible to accurately detect that the vehicle has arrived at the location, and the preferable means of claim 1 can be obtained.

According to a third aspect of the present invention, in the second aspect, the control means sets a control gain for controlling the steering operation means and a control gain for executing the constant magnetic field control. Change and set to be larger than when the guidance control is executed. Therefore, in the guidance control, it is possible to achieve good guidance traveling in a substantially straight state along each traveling path even if the control gain of the steering operation is small, whereas in the constant magnetic field control, the control gain of the steering operation is reduced. It is possible to make the vehicle run so as to follow the same magnetic field strength as soon as possible by making it larger, thereby obtaining the preferable means of the second aspect.

According to a fourth aspect of the present invention, in the second or third aspect, the control means is configured to be capable of changing a traveling speed of the moving vehicle, and to control a vehicle speed of the moving vehicle. When the constant magnetic field control is executed, the speed is changed to a lower speed than when the guidance control is executed. Therefore, in the guidance control, even if the vehicle speed is increased, good guidance traveling can be realized in a substantially straight state along each traveling route. In contrast, in the constant magnetic field control, the vehicle speed is decreased and the same In this case, the vehicle can be guided to follow the strength of the magnetic field of the present invention, whereby the preferable means of claim 2 or 3 can be obtained.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the magnetic field detecting unit for the current traveling route in the magnetic field detecting means for guidance and the magnetic field for the next traveling route are provided. A detecting unit is provided at a set interval in the vehicle width direction, and the control unit is configured to perform one traveling when the moving vehicle approaches the first guide line as the moving vehicle moves from the current traveling route to the next traveling route. The control gain when controlling the steering operation means when traveling on the route, the detection value of the magnetic field detection unit for the current traveling route and the detection value of the magnetic field detection unit for the next traveling route in the traveling route, If the moving vehicle moves away from the first guide line as the moving vehicle moves from the current traveling route to the next traveling route, the steering operation means is controlled when traveling on one traveling route. Control gain when It is corrected based on the difference value between the detected value of the magnetic field detecting unit for detecting value and the next traveling path of the magnetic field detecting portion for the current traveling route of the previous traveling path than the travel path. Therefore, the control gain for the steering operation used when traveling on each traveling route is actually detected by the magnetic field detecting unit for the current traveling route and the magnetic field detecting unit for the next traveling route in the guiding magnetic field detecting means. Correction can be appropriately made based on the detected magnetic field value, and for example, when the first guide line is installed on both sides of the guidance area, and when the moving vehicle travels in the left and right regions of the guidance area, Even in the case where one guide line is switched and used, the control gain for the steering operation is different depending on whether the moving vehicle approaches the first guide line as the vehicle moves from the current traveling route to the next traveling route or moves away. Can be corrected so as not to cause a difference as much as possible, so that the preferable means according to any one of claims 1 to 4 can be obtained.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a guidance control device for a mobile vehicle according to the present invention will be described. As shown in FIG. 1, as an example of a guidance area in which a mobile vehicle is guided and guided, a work vehicle as an example of a mobile vehicle is formed in a rectangular and long field 1 having four corners. V is configured to be guided in an unmanned state on each of the plurality of traveling paths k arranged in parallel with each other along the longitudinal direction of the field 1.

A guide line 2 is provided along each side (ridge) on the outer side of the field 1, and an alternating current of a predetermined frequency is supplied to each of the guide lines 2 separately. That is, the guide lines 2a and 2c as the first guide lines are installed along the longitudinal direction of the field 1, and along the short direction of the field 1, that is, the direction intersecting the first guide lines 2a and 2c. Each of the guide lines 2b and 2d is provided as a second guide line. The first induction wires 2a and 2c are connected to the current supply sources 3 (fa) and 3 (f
c), an alternating current having a current value α1 at a frequency fa (Hz) and a current value α2 at a frequency fc (Hz) is supplied to each of the current supply sources 3 (f) to the second induction wires 2 b and 2 d.
a) and 3 (fd) are supplied with alternating currents of the same current value α3 at the same frequency fb (Hz). That is, the guide lines 2 arranged along two sides adjacent to each corner of the field 1 have different frequencies such as fa and fb, fc and fb, and have α1 and α3, and α2 and α3. Are supplied with different magnitudes of current. Furthermore, each guide line 2a, which is arranged along the long side opposing in the short direction of the field 1,
Currents having different frequencies such as fa and fc are supplied to 2c, and are arranged along the long sides of the respective guide lines 2b and 2d arranged along the short sides facing each other in the longitudinal direction of the field 1. Frequency f of the current supplied to each induction wire 2a, 2c
Different from a and fc, currents of the same frequency fb are supplied to the short sides. The above frequencies are several hundred Hz.
The frequency is set to about several tens KHz.

Each of the guide wires 2a, 2b, 2c, 2d is
As shown in FIG. 2, the forward path portion 2 _OL and the return path portion 2 _FL for forming a closed loop through which the current supplied from each current supply source 3 flows are appropriately spaced in plan view. In the state, it is installed on the ground side. Specifically, in the state where the outward section 2 _OL is located along one widthwise side of the ridge AZ in the field and the return section 2 _FL is located along the other side in the widthwise direction of the ridge AZ, It is placed on the surface, and the return path portion _2FL is installed so as to be parallel or almost parallel to the forward path portion _2OL . That is, it is installed in a loop shape by effectively utilizing the boundary between the ridge AZ and the field scene.

As shown in FIG. 8, each guide wire 2 has
As a frequency filter which is an example of a current suppressing unit that suppresses a current flowing through another induction wire from flowing through the ground, a band-pass filter 23 that allows passage of only a frequency of a current supplied to the induction wire is provided. Have been. The band-pass filter 23 is configured by a resonance circuit in which a coil 23a and a capacitor 23b are connected in series, and is configured such that its resonance frequency corresponds to the frequency of the current. Therefore, even if a current of a different frequency flows through the ground from another induction wire, the inflow current of the different frequency flows through the induction wire.

When a current flows through each of the induction wires 2 installed as described above, a magnetic field is formed by the current.
The theoretical value of the magnetic field strength with respect to the separation distance from the guide wire 2 can be obtained by calculation, and the magnetic field strength is determined by
It is inversely proportional to the square of the separation distance from. Then, the reversed direction to each other and the forward part 2 the current flowing through the current and the return portion 2 _FL flowing through the _OL, the magnetic field to be formed acts as cancel each other in the opposite direction, the appropriate distance from one another in a plan view Since the antennas are spaced apart from each other, the change characteristic of the magnetic field strength with respect to the distance from each guide wire 2 is determined. FIG. 3 shows actual measurement data by the present applicant.
Since the length of each guide wire 2 is finite, FIG.
As shown in (1), the intensity of the magnetic field from each of the guide wires 2 decreases at both ends of the guide wire 2.

As shown in FIG. 4, the work vehicle V is provided with a rotary tillage device 6 as a ground work device at a rear portion of a four-wheeled traveling vehicle body 5 so that the work vehicle V can perform ground work (cultivation) on the field 1 while traveling. Work) can be performed as an agricultural work vehicle. An engine (not shown) is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel via a transmission 7 having a forward / reverse switching mechanism capable of turning on and off the power transmission. Is configured to be changeable. The power of the engine is also transmitted to the rotary tiller 6. The left and right front wheels are provided so as to be steerable by a steering electric motor 9, and the steering electric motor 9 corresponds to a steering operation means capable of changing the direction of the vehicle body.

As shown in FIG. 5, the work vehicle V is provided with a control device 12 constructed by using a microcomputer, and comprises a rotary encoder and the like for detecting the number of rotations of a power transmission shaft to wheels. And a traveling distance sensor 10 as traveling distance detecting means for detecting the traveling distance of the vehicle body.
And information detected by a direction sensor 11 configured by using a gyro to detect the direction of the vehicle body, is input to a control device 12, and the control device 12 drives the transmission 7 and the steering electric motor 9. Signal is output. Further, the control device 12 is connected to a memory M as storage means.

As shown in FIG. 4, four magnetic field sensors for detecting the strength of the magnetic field formed by the alternating current supplied to each of the guide wires 2 are provided at the front of the traveling vehicle body 5. Two magnetic field sensors are provided on each of the left and right sides at a set interval in the vehicle body width direction, and one of the two magnetic field sensors on the left and right sides is provided with one of the guiding magnetic field sensors 13R and 13L along the longitudinal direction of the field 1. The magnetic field sensor 1 detects the strength of the magnetic field formed by the alternating current having the frequency fa and the frequency fc from the installed induction wires 2a and 2c, and detects the other end of the magnetic field sensor 1 on the left and right sides.
4R and 14L are configured to detect the strength of the magnetic field formed by the alternating current of the frequency fb from each of the induction wires 2b and 2d installed along the short side of the field 1. Then, as shown in FIG.
After the outputs of R, 13L and the end magnetic field sensors 14R, 14L are processed by the signal processing unit 15,
Has been entered. That is, the left and right guidance magnetic field sensors 13R and 13L correspond to the guidance magnetic field detection means GK for detecting the strength of the guidance magnetic field formed by the current supplied to the first guidance lines 2a and 2c. The left and right side end magnetic field sensors 14R, 14L are connected to the second induction wires 2b, 2b.
d corresponds to the end magnetic field detecting means TK for detecting the intensity of the end magnetic field formed by the current supplied to d.

As shown in FIG. 6, the guiding magnetic field sensors 13R and 13L are provided with a vertical direction for detecting a magnetic field component of the alternating magnetic field formed by the alternating current flowing through the guiding lines 2a and 2c along the vehicle vertical direction. Detection coil 17, lateral direction detection coil 1 for detecting a magnetic field component along the vehicle width direction
8, amplifiers 19 and 20 for amplifying the output of each detection coil to a predetermined level, and each frequency f of the current flowing through each induction wire 2a and 2c among the outputs of each detection coil 17 and 18
bandpass filters BPF (a) and BPF (c) that pass only the outputs corresponding to a and fc, a DC conversion circuit DC that converts the outputs of the bandpass filters BPF (a) and BPF (c) into DC signals, and , Each frequency f
Calculation units 21 and 22 for calculating the strengths of the respective magnetic fields based on the vertical component and the horizontal component corresponding to a and fc.
And the like.

Here, each of the operation units 21 and 22 corresponds to FIG.
As shown in (b), the strength of the combined magnetic field r is obtained by calculating based on the triangle theorem based on the vehicle vertical component p and the lateral component q. With such a configuration, for example, as shown in FIG. 10 (a), one side wheel enters the recess during the traveling of the work vehicle V, and the vehicle body is inclined at an angle θ from the horizontal posture to an oblique posture. Even in this case, the magnetic field formed by the current supplied to the induction wire is detected in two orthogonal components, and the calculated magnetic field is calculated to obtain the correct magnetic field strength. It can be detected with high accuracy.

As shown in FIG. 6, the end magnetic field sensors 14R and 14L are respectively provided with the induction magnetic field sensor 1R.
3R, 13L, a vertical direction detecting coil 28 for detecting a magnetic field component along the vehicle body vertical direction of an alternating magnetic field formed by an alternating current flowing through the induction wires 2b, 2d, and detecting a magnetic field component along the vehicle body width direction. Width direction detecting coil 29, amplifiers 30 and 31 for amplifying the output of each of these detecting coils to a predetermined level, and detecting coils 28 and 29
, A band-pass filter BPF (b) that allows only the output corresponding to the frequency fb of the current flowing through each of the induction lines 2b and 2d to pass therethrough,
A DC conversion circuit DC for converting the output of (b) into a DC signal,
And a calculation unit 16 for calculating the strength of each magnetic field based on the vertical component and the horizontal component corresponding to the frequency fb.

As described above, each of the induction magnetic field sensors 13R,
13L outputs detection information corresponding to each of the frequency fa and the frequency fc, and outputs the end magnetic field sensors 14R,
14L is configured to output detection information corresponding to the frequency fb. In the signal processing unit 15, one of those having a higher detection level, that is, the one closer to the guidance line to which the work vehicle V corresponds. The detection information is selectively output. That is, as shown in FIG. 7, the signal processing unit 15 outputs the output (a) of each of the guiding magnetic field sensors 13R and 13L.
1), (c1), (a2), and (c2) are input to the control device 12, and the control device 12 sends the guidance magnetic field sensors 13R,
Among the outputs of different frequencies in the 13L, an output on a higher detection level is determined, and a selection signal is supplied to the analog switches AS1 and AS2 so as to select the output. Sensor 14R, 14L
(B1) and (b2) are input to the control device 12,
The controller 12 is configured to determine the output of the higher detection level from the outputs of the end magnetic field sensors 14R and 14L, and to supply a selection signal to the analog switch AS5 so as to select the output. I have.

The signal processing section 15 includes magnetic field sensors for guidance 13R and 13L and magnetic field sensors for end 14R and 1R.
A gain adjusting means TU is provided for adjusting the output gain of the magnetic field detection so that the output signal of the magnetic field strength detected by the 4L and input to the control device 12 is at an appropriate level for the control operation of the control device 12. Have been. The gain adjusting means TU for this adjustment will be specifically described.
The amplification gain for amplifying the output of each of the analog switches AS1 and AS2 corresponding to the detection information of each of the guidance magnetic field sensors 13R and 13L is changed and adjusted in four steps based on the switching information from the control device 12. That is, four amplifiers 24, 25, 26, and 2 having different amplification gains respectively.
The control device 12 is configured to instruct the analog switches AS3 and AS4 for inputting any of the outputs 7 to the control device 12 with the selected content.
Further, the amplification gain for amplifying the output of the analog switch AS5 corresponding to the detection information of each end magnetic field sensor 14R, 14L is changed and adjusted in two stages based on the switching information from the control device 12. In other words, the control device 12 is configured to instruct the analog switch AS6 for inputting any of the outputs of the two amplifiers 32 and 33 having different amplification gains to the control device 12 to make a selection. ing.

The reason why the amplification gain is switched as described above is that the strength of the magnetic field formed by the current supplied to the induction wire 2 depends on the change in the distance from the induction wire 2 as described above. In contrast, if the amplification gain is largely changed and the amplification gain is kept constant, it is difficult to detect with an appropriate resolution over the entire range, and the detection accuracy may be reduced. For example, as shown in FIG. 9, when the distance from the guide line changes by a unit distance, an appropriate change in the magnetic field strength can be identified, in other words, an appropriate output range having an appropriate resolution is obtained. Thus, the amplification gain is automatically adjusted.

In the field 1, the steering electric motor 9 is provided to guide the work vehicle V along each of a plurality of traveling paths k extending along the longitudinal direction of the first guide lines 2a and 2c and parallel to each other. Is controlled by the control device 12.

Here, when the work vehicle V travels along one of the plurality of travel paths k, one of the left and right guidance magnetic field sensors 13R and 13L is guided by the guidance magnetic field sensor. Functioning as a magnetic field detection unit GK1 for the current traveling route for detecting the strength of the current traveling magnetic field, and when the work vehicle travels along the next adjacent traveling route k, It functions as a next traveling route magnetic field detection unit GK2 that detects the strength of the next traveling route guidance magnetic field to be detected by the route magnetic field detection unit GK1.
That is, the guiding magnetic field detecting means GK includes a magnetic field detecting unit GK1 for the current traveling route and a magnetic field detecting unit GK for the next traveling route.
2 is provided.

The end magnetic field sensors 14R, 14L
Similarly, any one of the end magnetic field sensors detects the intensity of the end magnetic field when the work vehicle V travels along one of the plurality of traveling paths k. The other end magnetic field sensor functions as a traveling route end magnetic field sensor TK1, and the other end magnetic field sensor detects the current traveling route end when the work vehicle V travels along the next adjacent traveling route k. The end magnetic field detection unit T for the next traveling route that detects the intensity of the magnetic field for the end of the next traveling route to be detected by the magnetic field detection unit TK1
Functions as K2. In other words, the end magnetic field detecting means TK includes a magnetic field detecting section TK1 for the current traveling route (an end magnetic field detecting section TK1) and a magnetic field detecting section TK2 for the next traveling route (an end magnetic field detecting section TK2). It is provided with.

When the control device 12 travels along one of the plurality of traveling paths k, the control device 12 detects the detection information of the next traveling path magnetic field detecting section GK2 in the guiding magnetic field detecting means GK. Is stored in the memory M as a control target value for guidance in association with the detection information of the traveling distance sensor 10, and when the work vehicle V travels along the next adjacent traveling route k, the memory M The guidance magnetic field detection means G sequentially detected in accordance with the stored guidance control target value and the detection information of the traveling distance sensor 10.
Based on the detection information of the magnetic field detection unit GK1 for the current travel route in K, the guidance control for controlling the steering electric motor 9 is performed to guide the work vehicle V along the next travel route k. It is configured to be. That is, in the next travel route k, the control device 12 obtains information on the guidance control target value stored in the memory M and travel distance information from the start end of the travel route k detected by the travel distance sensor 10. , A target value of the strength of the guiding magnetic field at each point on the travel route k is determined, and the target value of the strength of the magnetic field and the guide magnetic field functioning as the magnetic field detector GK1 for the current travel route are obtained. The steering electric motor 9 is drive-controlled based on the deviation from the detection value of the sensor.

Further, the control device 12 controls the working vehicle V based on the detection information of the end magnetic field detecting means TK.
Is configured to move the work vehicle V toward the start end of the next travel route k when it detects that the vehicle has reached the end of the travel route k. That is, when traveling along one of the plurality of traveling paths k, the control device 12 transmits the detection information of the magnetic field detecting unit TK2 for the next traveling path in the magnetic field detecting unit TK for the end, The information is stored in the memory M as control information for detecting the end position in association with the detection information of the travel distance sensor 10 and is based on the detection information of the magnetic field detection unit TK1 for the current traveling route in the magnetic field detection unit TK for the end. The work vehicle V is configured to move to the next travel route k in response to detecting that the work vehicle V has reached the end position of each travel route k. In other words, the control device 12 detects the detection value of the end magnetic field detection unit TK1 for the current traveling route and the end position detection control information stored in the memory M, that is, the control value measured in advance during the previous traveling of the route. The remaining distance to the end of the route is detected by associating with the detection value of the magnetic field sensor TK2 for the end on the next traveling route, and the traveling route k
It is determined whether or not the end position has been reached.

Further, the control device 12 performs the above-mentioned guidance control based on the control information for detecting the end position stored in the memory M and the detection information of the end magnetic field detecting section TK1 for the current traveling route. It is configured to correct information on the control target value for guidance. Specifically, in the guided traveling along the traveling route, when it is determined from the detection value of the traveling distance sensor 10 that the remaining distance to the end of the route has reached each position of 13 m and 11 m, each time point is determined. Then, the detection value of the end magnetic field detection unit TK1 for the current traveling route and the control information for detecting the end position stored in the memory M, that is, the end of the next traveling route measured in advance in the previous traveling route. The detection value of the magnetic field sensor TK2 is made to correspond to the storage information corresponding to the detection value of the magnetic field detection unit TK1 for the current traveling route, and the corresponding guidance control target value is matched. That is, as shown in FIG. 11, since the information of the control target value for guidance and the magnetic field information for end position detection corresponding to the same traveling distance detection information are sequentially stored in the memory M, as shown in FIG. The control target value for guidance can be determined using the magnetic field information for position detection as a guide. In this way, accurate guidance control is performed on the trailing end side of the travel route where the detection error of the travel distance sensor 10 is likely to be large using the end position detection magnetic field information.

Then, when moving to the next traveling route, based on the information stored in the memory M, as shown in FIG. The strength y of the magnetic field and the strength t of the magnetic field for the end are obtained, and the detection information of the magnetic field detecting unit GK1 for the current traveling route in the magnetic field detecting means for guidance GK and the magnetic field detecting means TK for the end are obtained.
The work vehicle V is configured to be guided toward the start end side sp based on the detection information of the magnetic field detection unit TK1 for the current traveling route in. That is, when the work vehicle V is moved from the end position of each of the traveling paths k toward the start end side sp of the next traveling path k, as shown in FIG.
After turning the work vehicle V so that the azimuth is inverted by 180 ° from the terminal position, the detection value of the magnetic field detection unit GK1 for the current traveling route in the guidance magnetic field detection unit GK is:
The steering electric motor 9 is controlled so as to have the same magnetic field strength y as the guiding magnetic field strength y at the start end side sp.
Then, the detection value of the magnetic field detection unit TK1 for the current traveling path in the end magnetic field detection means TK is set to the strength t of the end magnetic field at the start end side point sp. Then, when it is determined that the moving vehicle has reached the starting end point sp, thereafter, the guidance control is executed based on the guidance control target value of the next traveling route k stored in the memory M. I do. Here, the control device 12
The vehicle speed of the work vehicle V is configured to be changed to a lower speed when the constant magnetic field control is performed than when the guidance control is performed.

As described above, each of the traveling paths k is sequentially guided and guided while turning and reversing the direction by 180 degrees at the end of each traveling path k. After the guidance traveling along each traveling route k is completed, the vehicle travels around the inner part of the field 1 near the ridge, and the location roughened by the turning traveling at the end side of each traveling route k. Circumferential control for tilling work is executed.

Further, the control device 12 determines the output gain of the magnetic field detector GK1 for the current traveling route when the vehicle is guided on the next traveling route k, based on the guidance control target value stored in the memory M. The target value is set, and the output gain is automatically adjusted to the target value prior to the guided traveling on the next traveling route k. Specifically, the maximum value of the magnetic field strength stored in the memory M is
If it exceeds the set upper limit for gain adjustment, an amplifier having a gain one stage lower than the current gain is selected, and if the maximum value is smaller than the set lower limit for gain adjustment, the amplifier is set to 1 lower than the current gain. A selection signal is issued to the analog switches AS3 and AS4 so that an amplifier having a higher gain is selected. The gain of each of the analog switches AS3 and AS4 is always adjusted to the same value. The set upper limit value and the set lower limit value for the gain adjustment are set as upper and lower limit ranges in which linearity of output change as an analog value is guaranteed.

The control device 12 multiplies the deviation between the detection value of the guidance magnetic field sensor functioning as the magnetic field detection unit GK1 for the current travel route and the guidance control target value by a control constant to calculate the steering operation amount. That is, the target operation amount of the steering electric motor 9 is determined. Here, when the control constant is increased, the control gain (sterling gain) for controlling the steering electric motor 9 increases, and conversely,
Decreasing the control constant decreases the control gain. Then, the control device 12 controls the steering electric motor 9.
Is configured to change and set a control gain when controlling the constant magnetic field control such that the control gain is larger than when the induction control is performed.

Further, the controller 12 controls the first guide line 2 as the work vehicle V moves from the current traveling route to the next traveling route.
a, 2c, the control gain for controlling the steering electric motor 9 when traveling on one traveling route is determined by the detected value of the magnetic field detecting unit GK1 for the current traveling route on the traveling route. And correction based on the difference between the detected value of the next traveling route and the magnetic field detector GK2, and moves away from the first guide lines 2a and 2c as the work vehicle V moves from the current traveling route to the next traveling route. In this case, the control gain when controlling the steering electric motor 9 when traveling on one traveling route is set to the magnetic field detecting unit GK1 for the current traveling route in the traveling route one before the traveling route. And a correction value based on a difference value between the detection value of the next traveling route and the detection value of the magnetic field detection unit GK2 for the next traveling route. In particular,
When approaching the first guide lines 2a and 2c, the left and right magnetic field detectors G when the work vehicle V is located at the start end of each traveling path.
When the control gain is corrected based on the difference between the detection values of K1 and GK2, and the distance from the first guide lines 2a and 2c is increased,
The difference between the detection values of the left and right magnetic field detection units GK1 and GK2 when the work vehicle V is located at the start end of the immediately preceding traveling route is stored, and the control gain when traveling on the next traveling route is stored. Is corrected based on the stored difference value.

Next, the control operation of the control device 12 will be described. When the work vehicle V is guided to travel in the field 1, the work vehicle V is manually driven on the first travel route k in a state where the work vehicle V is along the appropriate travel route prior to the automatic guidance control by the control device 12. Let it. At this time, as the vehicle starts traveling from the starting end position of the traveling route k, detection information of the guidance magnetic field sensor for the next traveling route (the sensor 13R on the right side in FIG. Magnetic field sensor for end (right sensor 14R in FIG. 1)
Are sequentially written and stored in the memory M in a state where each of the detection information is associated with the detection information of the traveling distance sensor 10. In the traveling by manual operation, the traveling starts with the rear end of the rotary tilling device 6 positioned at one end of the field, and when the front end of the machine reaches the other end of the field,
The first run is performed without bothering by stopping the run. Also, among a plurality of data sampled at every set time as the vehicle travels on the first travel route, a plurality (n) of the detection values of the left and right guidance magnetic field sensors 13R and 13L near the center of the travel route. An average value Z ₁ of the difference values of the sampling data α ₁ ... Α _n , β ₁ ... Β _n is obtained based on the average value Z ₁ and a constant γ set in advance based on experiments or the like. traveling previously obtained as the reference control constants G ₁ a control constant for the steering control in the pathway. Specifically, the calculation is performed based on the following [Equation 1].

[0040]

(Equation 1)

Then, after moving the work vehicle V to the start end of the next traveling route k, the guidance control is started. Hereinafter, description will be made based on the flowcharts of FIGS. First, a magnetic field sensor for guidance that functions as a magnetic field detector GK1 for the current travel route and a magnetic field sensor for the end that functions as a magnetic field detector TK1 for the current travel route (left side in FIG. 1)
Is initialized (step 1). In addition, when it is located at the start end of the travel route, the control constant applied to the travel route is also set. To explain the setting of the control constant, a difference value Zn between the detection values of the left and right guidance magnetic field sensors 13R and 13L at the starting end of the current traveling route is obtained. The difference value Z _{1 and the} reference control constant G ₁
, The control constant Gn for this traveling route is calculated based on the following [Equation 2]. Note that the difference value Zn is
It is calculated as an average value of a plurality of detected values sampled at a set sampling time at the start end of each traveling route.

[0042]

Gn = (Z ₁ / Zn) · G ₁

Also, when starting the guidance traveling control, the turning position of the vehicle body and the rotary tilling are considered in consideration of the longitudinal length of the work vehicle V and the required distance until the vehicle V enters the traveling route in a predetermined posture after turning. The elevating operation position of the device 6 is set in advance as distance information from the control start position.

As shown in FIG. 12, while the work vehicle V is traveling at the traveling speed for work, the information on the control target value for guidance stored in the memory M and the traveling distance sensor 10 are used.
The target value of the magnetic field strength at the present time on the traveling route k is determined based on the detection information of the traveling route k. The guidance traveling control is executed based on the control target value (step 2). That is, the steering operation amount is obtained by multiplying the deviation between the detected value and the target value by the control constant Gn, and the driving of the steering electric motor 9 is controlled so as to be the steering operation amount. When this guidance traveling control is executed, detection information (guidance detection information) of the guidance magnetic field sensor for the next traveling route that functions as the magnetic field detection unit GK2 for the next traveling route, and magnetic field detection for the next traveling route Information of the magnetic field sensor for the end on the side of the next traveling route functioning as the part TK2 (detection information for the end)
Are sequentially written and stored in the memory M in a state where they are associated with the detection information of the traveling distance sensor 10 (step 3).

When it is determined based on the value detected by the traveling distance sensor 10 that the remaining distance of the work vehicle V to the edge of the field reaches each of 13 m and 11 m, the control target in the guided traveling control is determined. Change the method of finding the value. That is, for the guidance control target value stored in the memory M, the control target value is not simply obtained based on the value corresponding to the detection value of the traveling distance sensor 10, but the magnetic field detection unit for the current traveling route is used. The detection value (actual measurement value) of the end magnetic field sensor as TK1 is compared with the end position detection information stored in the memory M, and the detection value (actual measurement value) of the end magnetic field sensor is calculated. The guidance control target value corresponding to the end value detection information having the same value is corrected, and the guidance traveling control is continued based on the corrected control target value (steps 4 to 4).
9).

Next, when it is determined that the distance to the end of the field has reached a position of 9 m, the control target value is changed to gyro data for the azimuth sensor.
The vehicle is caused to travel straight based on the detected value (steps 10 to 12). When the distance to the field edge reaches a position of 5 m, the rotary tiller is raised, the gain of the edge magnetic field detection sensor is reduced, and the direction sensor 11 is moved to a position at a distance of 1 m to the field edge. (Steps 13 to 16).

When it is determined that the distance to the end of the field has reached a position of 1 m (work vehicle V has reached the end of the traveling route), the number n of traveling routes is counted up (step 1).
7) If the count value of the number of traveling paths n has not reached the set number of paths ns in the field 1 (step 18), the maximum value X of the magnetic field strength written and stored in the memory M is obtained.
to determine the size of m, the maximum value Xm is the gain if beyond the adjustment set upper limit value S _GM, analog switches as amplifier 1 step lower gain than the current gain is selected AS3, A selection signal is commanded to AS4 to change the output gain to the lower side (steps 19 and 2).
0). The maximum value Xm is equal to the set lower limit value S _GL for gain adjustment.
, The analog switch AS is selected so that an amplifier having a gain one stage higher than the current gain is selected.
3 and AS4 to issue a selection signal to change the output gain to the higher side (steps 22 and 23). When the output gain is changed in this way, the control constant is also appropriately corrected according to the change amount (steps 21 and 24). In this way, the drive control of the electric motor is always performed with an appropriate control constant in accordance with the detected value of the magnetic field strength and the change situation of the output gain, so that hunting of the control and occurrence of a detection error are minimized. I try to suppress it.

Next, the guiding magnetic field sensor functioning as the magnetic field detecting section GK1 for the current traveling route is switched to the opposite one (the right sensor 13R) (step 25). This is because their positional relationship is reversed by a change in the direction of the vehicle body. Next, turning control is performed to turn the vehicle so as to be positioned at the start end of the next running route k (step 2).
6). Then, Steps 2 to 26 are repeated, the work vehicle V is sequentially guided along each traveling route k, and when the set number of routes ns is reached, the guidance control for following the traveling route is terminated, and the next round Shift to control (steps 18 and 2)
7).

Next, the turning control will be described. As shown in FIG. 18, the azimuth sensor 11 is reset, and the front wheel is steered at the maximum turning angle until it is detected that the azimuth of the vehicle body is reversed by 180 degrees. The vehicle is turned with the minimum turning radius by braking with the brake (step 30), and the control target value for guidance is changed to the next running route (step 31). After turning, based on the detection information of the end magnetic field sensors 14R and 14L,
The position of the vehicle body is calculated and obtained. If the vehicle has not reached the position 5 m from the edge of the field, the vehicle is allowed to travel straight until it reaches the position 5 m (steps 32 to 34). When the vehicle reaches a position 5 m from the end of the field, the control target value of the constant magnetic field traveling control for guiding the vehicle is set so as to approach the route start end point sp (step 35), and the steering for steering control is performed. The gain is calculated to be on the large side, the detection gain of the end magnetic field detection sensor is increased, the vehicle speed is changed to low speed, and the constant magnetic field traveling control is executed (steps 36 to 3).
9). When it is determined by the constant magnetic field running control that the vehicle body has reached the route start end point sp based on the detection value of the end magnetic field detection sensor, the control target value for guidance is corrected, and then the steering gain is calculated to the large side. Further, after the vehicle travels a certain distance on the next traveling route, the steering gain is calculated to a small value, the vehicle speed is changed to a high speed, and the turning control is terminated (steps 36 to 45). ), The rotary tilling device is lowered, and the process proceeds to the guided traveling on the next traveling route.

Next, the orbital traveling control will be described.
As shown in FIG. 14, this round running includes three rectangular paths u juxtaposed at intervals along the outer peripheral shape of the field.
The vehicle travels while moving sequentially from inside to outside on 1, u2, and u3. In this way, the tilling work is appropriately performed also on the outer peripheral area of the field, which is the unworked area in the guided traveling on each of the travel paths k, the good work is performed over the entire field, and the unworked area is generated. Not to be.
In other words, the control device 12 includes a corner along two sides adjacent to the corner of the field 1 and having the same distance from each side and having the same or substantially the same shape as the corner. A control target value setting means 101 is provided which sets the guidance route u1 in the field 1 and sets a guidance control target value for the guidance route u1 as information on the isomagnetic field strength. Specifically, as shown in FIG. 13, the first innermost guidance route u1 is set as a rectangular guidance route u1 that is the same as the outer peripheral shape of the rectangular field 1, and the rectangular guidance route u1 is set. The control target value for guidance with respect to u1 is set as the information on the uniform magnetic field strength.

Further, when the work vehicle V is located on the guidance route u1, the control device 12 controls each magnetic field detecting means GK,
Each of the detected values detected by the TK corresponding to each of the guide lines 2a, 2b, 2c, and 2d is calculated according to the set conditions so that the detected values match the set uniform magnetic field strength. Each of the guide wires 2a, 2b, 2c, 2 is detected by the magnetic field detecting means GK, TK.
The detection value detected corresponding to d is configured to be arithmetically processed under the set conditions. Specifically, as the arithmetic processing under the set conditions, each of the guiding lines 2
a, 2b, 2c, 2d, the respective detected values k1, k of the magnetic field
3, k2, and k3 are respectively set to frequencies f a, f b, and f 3 so that currents of the same magnitude are supplied at the same frequency.
By calculating normalized detection values sk1, sk3, and sk2 normalized based on fc and the current values α1, α3, and α2 (see the following formula), each of the obtained normalized detection values is multiplied by a set coefficient. The value is corrected, and the corrected value is added. As can be seen from the following equation, the current value α3 at the frequency fb
The detected value k3 of the guide line 2b (2d) is used as a standard for normalization. In addition, each of the guide wires 2a, 2b, 2c, and 2d is controlled on the ground side so as to be supplied with each of the current values α1, α3, α2, and α3. It is remembered.

[0052]

Sk1 = (fa / fb) · (α1 / α3) · k1 sk2 = (fc / fb) · (α2 / α3) · k2 sk3 = k3

Next, the multiplication and addition processing of the set coefficient is performed when the vehicle is guided along the guide line 2a (or 2c) in the longitudinal direction, and the normalization of the magnetic field from the guide line 2a (or 2c) is detected. A value obtained by multiplying the value sk1 (sk2) by a coefficient 1 and a value obtained by multiplying a normalized detection value sk3 of the magnetic field from the end-side guide wires 2c and 2d by a coefficient smaller than 1 (for example, 0.18). Execute to add. When the vehicle travels along the guide line 2b (or 2d) in the short direction, the normalized detection value sk3 (sk2) of the magnetic field from the guide line 2b (or 2d) is multiplied by a coefficient 1. Normalized detection value sk1 of the magnetic field from guide wires 2a and 2c on both sides
The normalized detection value sk1 with the larger value of (sk2)
(Sk2) multiplied by a coefficient smaller than 1 (for example, 0.18) is added. In other words, in the latter case, the values of the magnetic field normalized detection values sk1 (sk2) from the guide wires 2a and 2c on both sides are compared, and the value is switched to the larger value. The above setting coefficients (for example,
By multiplying by 0.18), simply adding each of the normalized detection values corrects the line of the isomagnetic field to be arc-shaped at the corner, and as shown in FIG. Assuming that a uniform magnetic field exists, the strength of the magnetic field can be detected.

Then, as shown in FIGS. 13 and 14, the control device 12 sets the work vehicle V to the guidance route u1 such that the magnetic field detection value obtained by the arithmetic processing matches the isomagnetic field strength. When the work vehicle V is guided along the guidance route u1, the magnetic field detection value obtained by the arithmetic processing is equal to or greater than the set value from the uniform magnetic field strength. Along with the change, it is detected that the work vehicle V has reached a corner of the guidance route u1 (a corner on the end side of each side of the rectangular guidance route u1). It is configured to move to the start end side of the adjacent side at each corner and execute circling control for circulating around the rectangular guidance route u1.

When traveling on the guide path u1, one of the left and right guide magnetic field sensors 13R and 13L and the end magnetic field sensors 14R and 14L is
The other magnetic field sensor functions as a magnetic field detection unit for the current traveling route that detects the strength of the guidance magnetic field, and the other magnetic field sensor moves along the next guidance route (u2, u3 shown in FIG. 14) adjacent in the vehicle width direction. Functioning as a magnetic field detecting unit for the next traveling route that detects the strength of the guiding magnetic field for the next traveling route that is detected by the magnetic field detecting unit for the current traveling route when the work vehicle V travels. I do.

Then, the control device 12 determines the rectangular shape based on the control target value for guidance set as the information on the uniform magnetic field strength and the detection information of the magnetic field detection unit for the current traveling route. The work vehicle V is guided along the guidance route u1, and when the work vehicle V travels along the rectangular guidance route u1, the detection information of the magnetic field detection unit for the next travel route is transmitted to the travel vehicle V. A first lap control is stored in the memory M as a control target value for guidance in association with the detection information of the distance sensor 10, and after the first lap control,
Based on the control target value for guidance stored in the memory M and the detection information of the magnetic field detection unit for the current traveling route sequentially detected in accordance with the detection information of the traveling distance sensor 10, the vehicle width The second rounding control for guiding the work vehicle V along the next guidance route (u2, u3 shown in FIG. 14) adjacent in the direction is executed. That is,
In each of the guide paths u2 and u3, the control device 12 controls the information of the control target value for guidance stored in the memory M and the guide paths u2 and u3 detected by the traveling distance sensor 10.
The target value of the guide magnetic field strength at each point on the guide paths u2 and u3 is determined based on the travel distance information from the start end of each side of the side, and the target value of the magnetic field strength and the current travel Each guidance magnetic field sensor 1 that functions as a route magnetic field detection unit
The steering electric motor 9 is drive-controlled based on the deviation from the detected value of the magnetic field sensor of the one of the 3R, 13L and the end magnetic field sensors 14R, 14L after the arithmetic processing.

Hereinafter, the control flow will be described with reference to the flowcharts of FIGS. First, when it is determined that the vehicle is located at the first corner (upper left in FIG. 14) at the end side of the last traveling route kx on the field center side, the vehicle speed is reduced, and whether the vehicle is inward or outward (in this embodiment, (Inner circumference) is selected, the number of turns (not shown) is reset to 0, and then the route is moved to the first route u1 (steps 50 to 53). next,
It is determined whether or not three laps have been made based on the number of laps (No. of laps)
If it has not completed three revolutions, the angle value is reset (steps 54 and 55). Note that the rotary tilling device 6 is raised until the vehicle reaches the next corner (lower left in FIG. 14) after moving on the route u1 in the first round. Next, if the angle value is less than 4 (step 56), along the path to the next corner,
Guidance control based on the control target value and storage processing of the target value (magnetic field detection value) for the next route are sequentially executed (steps 57 and 58). Here, when the guided traveling is along the long side of the field, the data buffer of the azimuth sensor 11 is cleared when located at the center of the field (steps 59 to 61). When it is determined that the vehicle is located at the next corner (diagonal position of the field), a control target value from that corner to the next corner is set according to the number of revolutions (circulation NO), The process is performed to increase the angle value by one (steps 62 to 65). Next, the above step 5
The processing from step 7 to step 65 is repeated until the angular value becomes 4, and when the angular value is 4 (step 56), 1
Since the lap has been completed, the number of laps (circulation NO) is increased by one, the control target value is changed to data for the next route, and then the processing at the field corner is performed (steps 66 to 68). If the number of laps is three, the lap traveling ends (step 54).

In the processing of the field corner (FIG. 20), as shown in FIG. 15, when the vehicle is located at the corner, first, the vehicle travels forward a predetermined distance up to the shore, and then raises the rotary tillage device 6 to move the same path through the predetermined path. Travel backward by a distance (a and b in FIG.
-72) Next, the steering wheel is operated to the left by operating the steering wheel 90 degrees to move the vehicle forward, thereby moving the route along the next side (c in FIG.
Step 73) After traveling backward on the route for a predetermined distance to the shore, lower the rotary tilling device 6 and travel forward on the same route for a predetermined distance (d and e in the figure, steps 74 to 74).
76). In the lower left corner of FIG. 14, as indicated by the broken line,
Since the vehicle travels to the next route, the distance between the forward traveling and the reverse traveling is different from the case of the other corners.

[Other Embodiments] (1) In the above-described embodiment, the first and second induction wires are formed in a loop shape. However, both ends of one electric wire are grounded to the ground, and A current return path may be configured.

(2) In the above embodiment, the first guide line for guiding and running is provided on both the left and right sides of the guiding area. However, the first guiding line may be provided on only one side. Alternatively, the vehicle may be guided sequentially from a traveling route closer to the guide line to a farther route, or may be sequentially guided from a traveling route farther from the guide line to a closer route.

(3) In the above-described embodiment, the four-wheel type mobile vehicle is configured such that the left and right front wheels are provided so as to be able to steer and swing. It is possible to adopt a configuration that makes a turn with a small turning radius that swings in different directions from each other, and a running configuration in which the front and rear wheels swing in the same direction and the moving vehicle moves in parallel in an oblique direction. There may be. Further, a configuration in which a pair of left and right crawler traveling devices are provided and a steering operation configuration for applying braking to one side may be employed.

(4) In the above-described embodiment, the working vehicle V for agricultural work provided with the rotary tilling device as the moving vehicle was used. However, the moving vehicle may be provided with a seedling transplanting device, a chemical spraying device, and the like. Alternatively, a mobile vehicle such as a transport vehicle that does not include such a working device may be used.

(5) In the above embodiment, the magnetic field detection information of the magnetic field detecting unit TK2 for the next traveling route in the end magnetic field detecting means TK is used to determine the traveling distance within the range from the starting end to the ending side of each traveling route k. Is stored in association with the detection information of the traveling route k, but not at least in the entire range of the route, but at least at the end side of the traveling route k, so that the traveling vehicle V It may be configured to detect that the end position of the route has been reached.

(6) In the above embodiment, the vehicle is turned around so that the azimuth is reversed by 180 degrees at the end of the route.
The magnetic field detection value of the guidance field detection unit GK1 for the current traveling route is
While performing the constant magnetic field control for controlling the intensity of the guiding magnetic field at the starting end point sp of the next route, the magnetic field detection value of the end magnetic field detecting unit TK1 for the current traveling route is changed to the starting end position. The moving vehicle V is guided to the above-mentioned path starting end point sp by making the strength of the end magnetic field at sp equal to that of the end magnetic field. When the present invention is implemented, such a constant magnetic field control is performed. Not limited to things. For example, each of the magnetic field detection units GK1 and TK for the guidance for the current traveling route and for the end.
The control may be such that each magnetic field detection value of 1 is the same as the intensity of the guiding magnetic field and the end magnetic field at the start end point sp of the next path.

[Brief description of the drawings]

FIG. 1 is a plan view showing a guided state of a moving vehicle.

FIGS. 2A and 2B are a plan view and a cross-sectional view illustrating an installation state of a guide wire.

FIG. 3 is a diagram showing an example of a magnetic field intensity distribution.

FIG. 4 is a plan view of a moving vehicle.

FIG. 5 is a control block diagram.

FIG. 6 is a configuration diagram of a magnetic field detection unit.

FIG. 7 is a configuration diagram of a signal processing unit.

FIG. 8 is an electric circuit diagram of an induction wire.

FIG. 9 is a diagram showing output characteristics when the output gain is switched.

FIG. 10 is a diagram showing a magnetic field detection state.

FIG. 11 is a diagram showing magnetic field detection information stored in a memory;

FIG. 12 is a plan view illustrating a movement operation at an end of the traveling route.

FIG. 13 is a plan view showing a control target value in the circuit running.

FIG. 14 is a plan view showing a guidance traveling route in a circuit traveling.

FIG. 15 is a plan view showing a traveling state of a corner of a field in a circular traveling.

FIG. 16 is a flowchart of a control operation.

FIG. 17 is a flowchart of a control operation.

FIG. 18 is a flowchart of a control operation.

FIG. 19 is a flowchart of a control operation.

FIG. 20 is a flowchart of a control operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Guidance area 2a, 2c 1st guidance line 2b, 2d 2nd guidance line 9 Steering operation means 10 Travel distance detection means 12 Control means GK Guidance magnetic field detection means GK1 Magnetic field detection unit for the current traveling route GK2 For the next traveling route Magnetic field detecting section TK end magnetic field detecting section TK1 magnetic field detecting section for the current traveling path TK2 magnetic field detecting section for the next traveling path M storage means V moving vehicle

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

Claims (5)

[Claims] 1. A first guide line is provided outside a guide area where a mobile vehicle is guided along a predetermined direction, and a second guide line is provided along a direction intersecting the first guide line. A guide line detecting means for detecting the strength of a guide magnetic field formed by a current supplied to the first guide line; and a current supplied to the second guide line, on a moving vehicle side. An end magnetic field detecting means for detecting the strength of the end magnetic field formed by the vehicle; a traveling distance detecting means for detecting a traveling distance of the vehicle body; a steering operation means capable of changing the direction of the vehicle body; Control means for controlling the steering operation means to guide a moving vehicle in each of a plurality of traveling paths along the longitudinal direction of the first guide line and parallel to each other in the guide area; The magnetic field detecting means includes: When traveling along one of the above, when the traveling vehicle travels along the next traveling route adjacent to the magnetic field detection unit for the current traveling route that detects the strength of the guiding magnetic field A magnetic field detecting unit for a next traveling route for detecting the intensity of a guiding magnetic field for the next traveling route to be detected by the magnetic field detecting unit for the current traveling route. When traveling along one of the plurality of traveling routes, the control information for guidance is associated with the detection information of the magnetic field detection unit for the next traveling route in association with the detection information of the traveling distance detection means. When the traveling vehicle travels along the next adjacent traveling route, the guidance control target value stored in the storage unit and the detection of the traveling distance detection unit are stored. For the current traveling route sequentially detected in accordance with the information Performing guidance control for controlling the steering operation means so as to guide the mobile vehicle along the next traveling route, based on the detection information of the magnetic field detection unit of Based on the detection information of the means,
A moving vehicle guidance control device configured to move the moving vehicle toward a starting end of a next traveling route when detecting that the moving vehicle has reached an end portion of the traveling route; A magnetic field detecting unit for a current traveling path that detects the strength of the magnetic field for the end when traveling along one of the plurality of traveling paths; For the next traveling route for detecting the strength of the end magnetic field for the next traveling route that is detected by the magnetic field detecting unit for the current traveling route when the mobile vehicle travels along the traveling route. The magnetic field detecting section, wherein the control means, at least at the end side of the running path, the detection information of the magnetic field detecting section for the next running path in the magnetic field detecting means for the end, the running distance The storage means is associated with the detection information of the detection means. Remember, based on the detection information of the magnetic field detecting unit for the current traveling route in the end magnetic field detecting means, the traveling vehicle detects that the traveling vehicle has reached the end position of each traveling route. Is moved to the next travel route, and when moving to the next travel route, based on information stored in the storage means, the guidance magnetic field corresponding to the start end side location of the next adjacent travel route is determined. The strength and the strength of the end magnetic field are determined, and the detection information of the magnetic field detection unit for the current travel route in the magnetic field detection means for guidance and the detection information of the magnetic field detection unit for the current travel route in the magnetic field detection means for the end are obtained. A guidance control device for a mobile vehicle configured to guide the mobile vehicle toward the start end side based on the control of the vehicle. 2. The control unit according to claim 1, further comprising: when moving the moving vehicle from the end position of each of the traveling routes to a starting end side of the next traveling route, reversing the direction of the moving vehicle by 180 ° from the end position. After turning, the detection value of the magnetic field detection unit for the current traveling route in the guidance magnetic field detection means is the same as that of the guidance magnetic field at the start end side. A constant magnetic field control for controlling the steering operation means is performed, and a value detected by the magnetic field detection unit for the current traveling route in the end magnetic field detection means is stored in the storage means at the start end side location. When it is determined that the moving vehicle has reached the start end side with the strength of the end magnetic field, thereafter, the guidance control is performed based on the guidance control target value stored in the storage means. To run Induction control system of the transport vehicle according to claim 1, wherein is configured. 3. The control means changes a control gain when controlling the steering operation means so as to be larger when performing the constant magnetic field control than when performing the guidance control. 3. The guidance control device for a mobile vehicle according to claim 2, wherein the guidance control device is configured to: 4. The control means is configured to be capable of changing a traveling speed of the moving vehicle, and controls the vehicle speed of the moving vehicle when performing the constant magnetic field control as compared with when performing the guidance control. 4. The guidance control device for a mobile vehicle according to claim 2, wherein the change control is set to a low speed. 5. A magnetic field detecting unit for a current traveling route and a magnetic field detecting unit for a next traveling route in the guiding magnetic field detecting unit are installed at a set interval in a vehicle width direction, and the control unit includes: When the moving vehicle approaches the first guide line as the vehicle travels from the current traveling route to the next traveling route, a control gain for controlling the steering operation means when traveling on one traveling route is determined by the control gain. The moving vehicle is configured to perform correction based on a difference value between a detection value of the magnetic field detection unit for the current traveling route in the traveling route and a detection value of the magnetic field detection unit for the next traveling route. When moving away from the first guide line as the vehicle travels on the next travel route, the control gain for controlling the steering operation means when traveling on one travel route is set to the control gain one immediately before the travel route. On the driving route 5. The apparatus according to claim 1, wherein the correction is performed based on a difference value between a detection value of the magnetic field detection unit for the current traveling route and a detection value of the magnetic field detection unit for the next traveling route. 6. 4. The guidance control device for a mobile vehicle according to claim 1.