CN103246284B - 无人行驶作业车的控制装置 - Google Patents
无人行驶作业车的控制装置 Download PDFInfo
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Abstract
提供一种无人行驶作业车的控制装置,在通过搭载在车体上并从电池通电的电动机驱动作业机进行作业的无人行驶作业车的控制装置中,不会由于为了电池充电而返回充电器时的轨迹而损害作业区域的美观。无人行驶作业车一边通过原动机驱动车轮而在作业区域中行驶,一边通过电动机驱动作业机(刀片)进行作业,检测在作业区域的周边配置的区域缆线的磁场强度(S24),根据所检测到的磁场强度检测与区域缆线的间隔距离(S26),当为了电池充电而返回在作业区域上设置的充电器时,以每次返回都不同的方式选择对应于与区域缆线的间隔距离而预先设定的多个返回行驶轨迹(设定轨迹1至4)中的某一个(S36至S40)。
Description
技术领域
本发明涉及无人行驶作业车的控制装置,更详细地讲涉及在作业区域中无人行驶并使搭载作业机进行作业的装置。
背景技术
提出了各种在作业区域中进行无人行驶并使割草作业用刀片等搭载作业机进行作业的无人行驶作业车的控制装置,作为一例,能够举出下述专利文献1记载的技术。
在专利文献1记载的技术中,由安装在作业车的前端的磁传感器检测配置在作业区域的周边的区域缆线的磁场强度来识别作业区域,在所识别的作业区域中,对搭载了电动机的、由割草作业用刀片构成的作业机进行驱动并使其进行作业。
专利文献1记载的技术的作业车的电动机从所搭载的电池通电而进行动作,为了对电池充电,在区域缆线上设置充电器,当电池的余量下降时,对作业车进行控制,使其通过磁传感器沿着区域缆线返回充电器。
现有技术文献
专利文献
专利文献1:国际公开公报WO2005/074362号公报
发明内容
发明要解决的问题
专利文献1记载的作业车构成为,如上所述,当电池的余量下降时,返回充电器进行充电,但是,其结果是,作业车每次返回充电器都在相同的轨迹上行驶,在区域缆线上,因作业车的车轮而形成车辙,在作业区域的作业结束后有失美观。
因此,本发明的目的在于解决上述课题,提供一种无人行驶作业车的控制装置,所述无人行驶作业车通过搭载在车体并从电池通电的电动机来驱动作业机,使其进行作业,不会由于为了电池充电而返回充电器时的轨迹而损害作业区域的美观。
为了达成上述目的,关于第一方面的无人行驶作业车的控制装置,所述无人行驶作业车具有安装在车体上并从电池通电的电动机和安装在所述车体上的原动机,一边通过所述原动机驱动车轮而在作业区域中行驶,一边通过所述电动机驱动安装在所述车体上的作业机进行作业,所述无人行驶作业车的控制装置构成为,其具有:磁检测单元,其安装在所述车体上,并检测在所述作业区域的周边配置的区域缆线的磁场强度;区域缆线间隔距离检测单元,其根据所述检测到的磁场强度检测与所述区域缆线的间隔距离;以及返回行驶轨迹选择单元,当为了所述电池的充电而返回在所述作业区域上设置的充电器时,该返回行驶轨迹选择单元以每次返回时都不同的方式选择对应于与所述区域缆线的间隔距离沿着所述区域缆线预先设定的多个返回行驶轨迹中的某一个。
在第二方面的无人行驶作业车的控制装置中,构成为,所述多个返回行驶轨迹被设定为与所述区域缆线的间隔距离不同,并且,所述返回行驶轨迹选择单元以每次返回时与所述区域缆线的间隔距离减小的方式,选择所述返回行驶轨迹中的某一个。
在第三方面的无人行驶作业车的控制装置中,构成为,所述返回行驶轨迹选择单元使所述无人行驶作业车每次返回时进入所述充电器的方向不同。
在第四方面的无人行驶作业车的控制装置中,构成为,所述充电器上配置有线圈,所述线圈产生形成以所述充电器为中心的充电器检测区域的磁场。
在第五方面的无人行驶作业车的控制装置中,构成为,当所述无人行驶作业车在返回所述充电器时从所述作业区域出来的情况下,所述返回行驶轨迹选择单元选择所述多个返回行驶轨迹中的内侧的轨迹。
在第六方面的无人行驶作业车的控制装置中,构成为,所述原动机由从搭载在所述车体上的电池通电的第2电动机构成。
在第七方面的无人行驶作业车的控制装置中,构成为,所述作业机由割草机构成。
发明的效果
在第一方面的无人行驶作业车的控制装置中,构成为,检测区域缆线的磁场强度,根据检测到的磁场强度检测与区域缆线的间隔距离,并且,当为了电池的充电返回在作业区域上设置的充电器时,以每次返回时都不同的方式选择对应于与区域缆线的间隔距离沿着区域缆线预先设定的多个返回行驶轨迹中的某一个,因此,能够在每次返回时变更因电池的余量下降而返回充电器时的轨迹,防止在区域缆线上因作业车的车轮而形成车辙,因此在作业区域的作业结束后不会损害美观。此外,不需要追加设备,仅变更控制即可,因此结构简单。
在第二方面的无人行驶作业车的控制装置中,构成为,多个返回行驶轨迹被设定为与区域缆线的间隔距离不同,并且,以每次返回时与所述区域缆线的间隔距离减小的方式选择返回行驶轨迹中的某一个,因此,除上述效果外,还能够更高效地变更轨迹。
在第三方面的无人行驶作业车的控制装置中,构成为,使无人行驶作业车每次返回时进入充电器的方向不同,因此,除上述效果外,还能够更高效地变更轨迹。
在第四方面的无人行驶作业车的控制装置中,构成为,所述充电器上配置有线圈,所述线圈产生形成以所述充电器为中心的充电器检测区域的磁场,因此,除上述效果外,能够容易检测充电器。
在第五方面的无人行驶作业车的控制装置中,构成为,所述返回行驶轨迹选择单元,当所述无人行驶作业车在返回所述充电器时从所述作业区域出来时,选择所述多个返回行驶轨迹中的内侧的轨迹,因此,除上述效果外,能够可靠地返回充电器。
在第六方面的无人行驶作业车的控制装置,构成为,原动机由从搭载在车体上的电池通电的第2电动机构成,因此,除上述效果外,与由发动机构成的情况相比,还能够降低噪音。
在第七方面的无人行驶作业车的控制装置中,构成为,作业机由割草机构成,因此,除上述效果外,在更追求作业结束后的作业区域的美观的割草作业中,不会损害美观,并且不会过度损坏草地。
附图说明
图1是整体地示出本发明实施例的无人行驶作业车的控制装置的无人行驶作业车侧视图。
图2是图1所示的无人行驶作业车的俯视图。
图3是示出在图1所示的无人行驶作业车中搭载的机器的输入/输出关系的框图。
图4是图1所示的无人行驶作业车预定作业的作业区域的俯视图。
图5是示出图4所示的充电ST(充电站)的结构的框图。
图6是示出在图5所示的充电ST中的充电的说明图。
图7是示出在图4所示的作业区域中埋设的区域缆线的磁场的说明图。
图8是示出图1所示的无人行驶作业车的控制装置的动作的流程图。
标号说明
10:无人行驶作业车(作业车),12:车体,12a:底盘,14:车轮,14a:前轮(从动轮),14b:后轮(驱动轮),16:刀片(作业机),20:电动机(作业电动机),22:刀片高度调整机构,24:电动机(行驶电动机。原动机),26:充电单元,30:电池,32:充电端子,34:磁传感器(磁检测单元),42:ECU(电子控制单元),44:Yaw传感器,46:G传感器,50:车轮速度传感器,54:电流/电压传感器,70:作业区域,72:区域缆线,74:充电ST(充电站),76:ST线圈,76a:充电器检测区域,84:充电器,86:充电端子
具体实施方式
以下,根据附图对本发明的无人行驶作业车的控制装置的实施方式进行说明。
【实施例】
图1是整体地示出本发明的实施例的无人行驶作业车的控制装置的无人行驶作业车侧视图,图2是该无人行驶作业车的俯视图,图3是示出在该无人行驶作业车中搭载的机器的输入/输出关系的框图,图4是该无人行驶作业车预定作业的作业区域的俯视图。
如图1和图2所示,标号10表示无人行驶作业车(以下称作“作业车”)。作业车10具有车体12和车轮14。车体12由底盘12a和安装在底盘12a上的车架12b构成。车轮14由直径较小的左右的前轮14a和直径较大的左右的后轮14b构成,前轮14a经由撑杆12a1被固定于底盘12a的前端侧,后轮14b直接安装在底盘12a上。
在作业车10的底盘12a的中央位置附近安装有割草作业用的刀片(旋转刀片。作业机)16,并且,在其上部配置有电动机20。刀片16与电动机20连接,被电动机(以下称作“作业电动机”)20驱动而旋转。
刀片16与用户可以手动操作自如的刀片高度调整机构22连接。刀片高度调整机构22具有螺杆(未图示),刀片高度调整机构22构成为,用户可以通过用手转动该螺杆来调整刀片16距离接地面GR的高度。
此外,在作业车10的底盘12a上,在刀片16的后端侧设置有两个电动机(原动机。以下称作“行驶电动机”)24。行驶电动机24与左右的后轮14b连接,将前轮14a作为从动轮,后轮14b作为驱动轮,并使它们左右独立地正转(向前进方向的旋转)或者反转(向后退方向的旋转)。刀片16、作业电动机20、行驶电动机24等被车架12b包覆。
在作业车10的后部存储有充电单元(包含AC/DC转换器)26和电池30,并且,在车架12b中以向前方突出的方式安装有两个充电端子32。充电端子32在内侧具有触点32a。
充电端子32经由布线与充电单元26连接,并且,充电单元26经由布线与电池30连接。作业电动机20与行驶电动机24构成为,经由布线与电池30连接,并从电池30通电。在图1、2中省略布线的图示。
这样,作业车10构成为4轮电动式无人行驶作业车(割草作业车),例如具有全长600mm、全宽300mm、高度300mm左右的大小。
在作业车10的前端配置有左右两个磁传感器(磁检测单元)34。此外,在车架12b中安装有接触传感器36。当车架12b因与障碍物或异物接触而从底盘12a脱离时,接触传感器36输出接通(ON)信号。
在作业车10的中央位置附近设置有收纳盒,在收纳在其内部的基板40上配置有由具有CPU、ROM、RAM等的微型计算机构成的电子控制单元(ElectronicControlUnit。控制装置。以下称作“ECU”)42,并且,靠近该电子控制单元42设置有Yaw传感器(角速度传感器)44和G传感器(加速度传感器)46,其中,Yaw传感器44产生示出作业车10的重心位置的绕z轴产生的角速度(偏航率)的输出,G传感器46产生示出作用于作业车10的x、y、z(3轴)方向的加速度G的输出。
在后轮(驱动轮)14b的附近配置有车轮速度传感器50,车轮速度传感器50产生示出后轮14b的车轮速度的输出,并且,在底盘12a与车架12b之间配置有提升传感器52,当用户等将车架12b从底盘12a提起(抬起)时,提升传感器52输出接通信号。
此外,在电池30中配置有电流/电压传感器54,电流/电压传感器54产生示出电池30的余量(StateOfCharge:充电状态)的输出。在作业车10上设置有主开关56和紧急停止开关60,用户可以自由操作这些开关。
上述磁传感器34、接触传感器36、Yaw传感器44、G传感器46、车轮速度传感器50、提升传感器52、电流/电压传感器54、主开关56以及紧急停止开关60的输出被发送到ECU42。
作业车10的车架12b在上表面形成大切口,并在切口上设置有显示器62。显示器62与ECU42连接,根据ECU42的指令显示作业模式等。
接着,对作业车10行驶的作业区域70进行说明,如图4所示,作业区域70呈大致矩形状。通过在土地L的周边(边界)上埋设(配置)区域缆线(电线)72来划定作业区域70。在区域缆线72上配置有充电ST(充电站)74。在图4中夸张地示出作业车10的大小。
此外,在充电ST74中配置有ST线圈76。通过从ST线圈76发出的磁场,在以充电ST74为中心、半径约为1m的圆内形成充电器检测区域76a。
如图5所示,充电ST74具有:经由插座82与商用电源80连接的充电器84;以及与充电器84连接并可以经由触点与作业车10的充电端子32的触点32a连接自如的充电端子86。图6中示出充电端子86(触点的图示省略)。
充电器84具有:AC/AC转换器84a;ECU(电子控制单元)84b,其与ECU42同样,由微型计算机构成,控制AC/AC转换器84a的动作;以及对区域缆线72和ST线圈76通交流电而产生信号的信号发生器84c。
充电ST74中构成为,通过插座82而从商用电源80输送的交流通过充电器84的AC/AC转换器84a被降压成适当的电压,当返回的作业车10经由充电端子32、86与充电ST74连接时,被输送到作业车10并经由充电单元26对电池30进行充电。
对作业区域70的检测进行说明,由于信号发生器84c的通电而在区域缆线72产生磁场。磁场强度因区域缆线72的全长不同而不同,并且如图7所示,还因与区域缆线72的间隔距离d不同而不同。
通过安装在作业车10上的磁传感器34检测区域缆线72的磁场强度并发送到ECU42。ECU42根据检测值检测本车(作业车10)相对于区域缆线72的位置(即,本车位于作业区域70内还是外)和与区域缆线72(作业区域70的边界)的间隔距离。
更具体地讲,如图7所示,当本车在作业区域70中从内侧朝向外侧在箭头a所示的方向移动时,随着与区域缆线72的间隔距离的减小(接近),磁场强度在正侧慢慢增加后反转并下降,在区域缆线72上成为零,接着,随着与区域缆线72的间隔距离增大,在负侧示出同样的特性。当本车在作业区域70中从内侧朝向外侧在箭头b所示的方向上移动时,也示出同样的特性。
对作业车10的作业进行说明,用户根据作业区域70的草的生长状况,通过刀片高度调整机构22手动地调整刀片16的高度,并接通主开关56,输出接通信号,此时,ECU42开始动作并进入作业模式,进行割草作业。
在作业模式中,ECU42以从车轮速度传感器50检测到的车速成为预定值的方式计算通电控制值,并经由驱动器24a提供到行驶电动机24而使作业车10行驶,并且,计算使刀片16的转速成为预定值的通电控制值,并经由驱动器20a提供到作业电动机20而通过刀片16进行作业。
更具体地讲,在作业模式中,ECU42使作业车10在作业区域70的内侧随机(或依据作业图案)行驶并进行作业,并且,当根据磁传感器34的输出判断为作业车10行驶到作业区域70以外时,将根据Yaw传感器44的输出检测到的行进方向变更预定的角度,使作业车10朝向作业区域70的内侧返回。
另外,左右的后轮(驱动轮)14b构成为可以通过左右的行驶电动机24独立地在正反两个方向上驱动,因此,当以同一转速使左右的行驶电动机24正转时,作业车10直线前进,当以不同的转速正转时,作业车10向转速小的方向转向。当使左右的行驶电动机24中的一方正转,并使另一方反转时,左右的后轮14b也向该方向旋转,因此作业车10在原地转向(所谓的原地转向)。
这样,ECU42在作业模式中使作业车10行驶(作业),在每次到达区域缆线72时将本车的行进变更为随机方向,并在作业区域70内行驶,驱动刀片16进行作业。
此外,在作业模式中,ECU42根据电流/电压传感器54的输出监视电池30的余量,当余量下降到预定值时,转移到返回模式,在返回模式中,返回行驶到充电ST74,通过充电器84对电池30进行充电。
另外,在作业模式或返回模式中,当从接触传感器36、提升传感器52以及紧急停止开关60中的任意一个输出了接通信号时,ECU42使作业电动机20和行驶电动机24停止,从而停止行驶和作业。
图8是示出ECU42在上述返回模式下的动作的流程图。
首先,参照图4和图7,对在图8流程图的处理中使用的设定轨迹(返回行驶轨迹)进行说明,在该实施例中,如图所示,根据与区域缆线72的间隔距离(间隔距离从小到大的顺序)预先设定多个例如4个设定轨迹1、2、3、4,并存储在ECU42的ROM内。
更具体地讲,如图4和图7所示,按照将相当于与区域缆线72的间隔距离d的距离的磁场强度4等分得到的每个磁场强度,将设定轨迹按照强度从大到小(间隔距离从小到大)的顺序设定为1、2、3、4。考虑充电器检测区域76a的半径,例如将与区域缆线72最远的设定轨迹4设定为与区域缆线72的间隔距离为1m。
在图8流程图所示的处理中,以每次返回都不同的方式选择这些多个设定轨迹中的某一个。具体而言,参照在RAM中准备的计数器等从ROM中检索相应的轨迹,由此进行选择,并使得以设定轨迹为4→1→2→3→4…的顺序进行选择。
更具体地讲,将设定轨迹1、2、3、4设定为与区域缆线72的间隔距离不同,并且,以每次返回时与区域缆线72的间隔距离增大的方式,选择设定轨迹中的某一个。
此外,变更每次返回时向充电ST74的进入方向,使该进入方向在(图4所示的)作业区域70的俯视状态下,在CW(Clockwise。顺时针)和CCW(Counterclockwise。逆时针)之间交替地变更。具体而言,通过在ECU42的RAM中设置适当的标志来进行。
以上述为前提对图8流程图进行说明,图示的处理从为了电池充电而返回时开始,首先,通过行驶电动机24进行直线前进行驶(S10),根据左右的磁传感器34的输出检测区域缆线72,一旦出到作业区域70的外部则停止(S12)。
接着,判断返回充电ST74时的本次的进入方向是否被设定为CW(S14),当被肯定时,重新开始行驶并向CW转向(S16),另一方面,当被否定时向CCW转向(S18),在确认进入了作业区域70的内侧之前(S20)重复上述处理。接着,准备下一次返回,在CW和CCW之间变更进入方向的设定(S22)。
接着,根据磁传感器34的输出检测区域缆线72的磁场强度(S24),根据所检测到的磁场强度控制行驶电动机24的动作,沿着区域缆线72根据设定轨迹中的某一个行驶(S26)。
具体而言,ECU42进行以下控制:根据左右的磁传感器34的输出,使用P项等的反馈控制律控制对行驶电动机24的通电量,使本车沿着区域缆线72,根据设定轨迹1到4中的某一个行驶。
更具体地讲,ECU42检测在所选择的设定轨迹中予定的目标磁场强度与由磁传感器34检测的实际磁场强度之差(误差),以该误差减小的方式,使用反馈控制的P项等计算行驶电动机24的通电控制值。
换言之,ECU42根据所检测到的磁场强度检测与区域缆线72的间隔距离,求出所检测到的间隔距离与在所选择的设定轨迹中予定的与区域缆线72的间隔距离之差,以求出的差减小的方式,使用反馈控制律计算行驶电动机24的通电控制值,驱动行驶电动机24。
接着,通过磁传感器34检测从ST线圈76输出的微弱的磁场强度,并与适当的阈值比较,由此,判断是否检测到充电ST74,即所述充电器检测区域76a(S28),只要被否定时,就返回到S24,重复上述处理。
另一方面,当被肯定时,进行转向等,检测区域缆线72,一边降低行驶速度一边沿着区域缆线72(从CW或CCW方向)进入充电ST74,将作业车10的充电端子32与充电端子86连接(对接),对作业车10的电池30进行充电(S30)。
接着,一边使作业区域70随机行驶,一边通过作业电动机20驱动刀片16,如上所述进行割草作业(S32),在判断为电池30的余量(成为预定的阈值以下)下降之前(S34),返回到S32,继续进行割草作业。
另一方面,在S34中判断为电池30的余量下降了的情况下,向充电ST74进行返回行驶,如上所述,以4→1→2→3→4…的顺序选择设定轨迹(返回行驶轨迹),因此,判断当前的设定轨迹是否为4(S36),当被肯定时,设为(选择)设定轨迹1(S38)。
另一方面,当被否定时,将设定轨迹的编号递增1(S40)。例如当前的设定轨迹为2,则2+1=3,所以设为(选择)设定轨迹3。接着,返回S10。
另外,在行驶的途中,例如当以设定轨迹1行驶时,(判断为)出到作业区域70以外时,ECU42将设定轨迹变更为更靠近内周侧的设定轨迹2,当以设定轨迹2行驶时,(判断为)出到作业区域70以外时,ECU42将设定轨迹变更为更靠近内周侧的设定轨迹3。
这样,通过在每次返回行驶时选择不同的轨迹,能够防止在区域缆线72上因本车的车轮14而形成车辙,在作业区域70的作业结束后不会损害美观,并且能够可靠地在作业区域70的内部行驶。
如上所述,在本实施例中,无人行驶作业车10具有搭载在车体12上并从电池30通电的电动机20和搭载在所述车体12上的原动机(电动机)24,一边通过所述原动机驱动车轮14在作业区域70中行驶,一边通过所述电动机20驱动搭载在所述车体上的作业机(刀片)16作业,无人行驶作业车10的控制装置(ECU42)构成为,其具有:磁检测单元(磁传感器34、ECU42、S24),其安装在所述车体上,检测在所述作业区域的周边配置的区域缆线72的磁场强度;区域缆线间隔距离检测单元(S24),其根据所述检测到的磁场强度,检测与所述区域缆线72的间隔距离;以及返回行驶轨迹选择单元(S36至S40),当为了所述电池30的充电而返回在所述作业区域上设置的充电器(充电ST74(充电器84))时,以每次返回都不同的方式选择对应于与所述区域缆线72的间隔距离沿着所述区域缆线预先设定的多个返回行驶轨迹(设定轨迹1至4)中的某一个,因此,能够在每次返回时变更因电池30的余量下降而返回充电器84时的轨迹,能够防止在区域缆线72上因作业车10的车轮14而形成车辙,因此,在作业区域70的作业结束后不会损害美观。此外,不需要追加设备,仅变更控制即可,因此结构简单。
此外,将所述多个返回行驶轨迹(设定轨迹1至4)设定为与所述区域缆线的间隔距离不同,并且,所述返回行驶轨迹选择单元以每次返回时与所述区域缆线的间隔距离增大的方式选择所述返回行驶轨迹中的某一个,构成为,例如将按照间隔距离从小到大的顺序设定的设定轨迹1、2、3、4选择为4→1→2→3→4…(S36至S40),因此除上述效果外,还能够更高效地变更轨迹。
此外,所述返回行驶轨迹选择单元构成为,使所述无人行驶作业车每次返回时进入所述充电器的方向不同,具体而言,在CW和CCW之间交替地变更(S14至S22),因此除上述效果外,还能够更高效地变更轨迹。
此外,构成为,所述充电器(充电ST74(充电器84))上配置有线圈(ST线圈76),所述线圈产生形成以所述充电器为中心的充电器检测区域76a的磁场,因此除上述效果外,能够容易检测充电器。
此外,构成为,当所述无人行驶作业车在返回所述充电器(充电ST74(充电器84))时从所述作业区域70出来的情况下,所述返回行驶轨迹选择单元选择所述多个返回行驶轨迹中的内侧的轨迹,因此除上述效果外,能够可靠地返回充电器。
此外,构成为,所述原动机由从搭载在所述车体12上的电池30通电的第2电动机24构成,因此除上述效果外,与由发动机构成的情况相比能够降低噪声。
此外,构成为,所述作业机(刀片)16由割草机构成,因此除上述效果外,在更追求作业结束后的作业区域70的美观的割草作业中,不会损害美观,并且,不会过度损坏草地。
另外,在上述中公开了电动机作为原动机,但不限于此,也可以是发动机(内燃机)或发动机与电动机的混合。
示出了割草作业用的刀片作为作业机,但不限于此,只要使作业区域美观,就可以使用任何作业机。
Claims (5)
1.一种无人行驶作业车的控制装置,所述无人行驶作业车具有搭载在车体上并从电池通电的电动机和搭载在所述车体上的原动机,一边通过所述原动机驱动车轮而在作业区域中行驶,一边通过所述电动机驱动搭载在所述车体上的作业机进行作业,所述无人行驶作业车的控制装置的特征在于,其具有:
磁检测单元,其安装在所述车体上,检测在所述作业区域的周边配置的区域缆线的磁场强度;
区域缆线间隔距离检测单元,其根据所述检测到的磁场强度检测所述无人行驶作业车与所述区域缆线的间隔距离;以及
返回行驶轨迹选择单元,当为了所述电池的充电而返回在所述作业区域上设置的充电器时,该返回行驶轨迹选择单元以每次返回时都不同的方式选择对应于所述无人行驶作业车与所述区域缆线的间隔距离沿着所述区域缆线预先设定的多个返回行驶轨迹中的某一个,
在所述无人行驶作业车每次向所述充电器返回时,所述返回行驶轨迹选择单元使所述无人行驶作业车进入所述充电器的方向在顺时针和逆时针之间交替地变更,并且,当所述无人行驶作业车在返回所述充电器时,从所述作业区域出来的情况下,所述返回行驶轨迹选择单元选择所述多个返回行驶轨迹中的内侧的轨迹。
2.根据权利要求1所述的无人行驶作业车的控制装置,其特征在于,
所述多个返回行驶轨迹被设定为与所述区域缆线的间隔距离不同,并且所述返回行驶轨迹选择单元以每次返回时与所述区域缆线的间隔距离增大的方式,选择所述返回行驶轨迹中的某一个。
3.根据权利要求1所述的无人行驶作业车的控制装置,其特征在于,
所述充电器上配置有线圈,所述线圈产生形成以所述充电器为中心的充电器检测区域的磁场。
4.根据权利要求1所述的无人行驶作业车的控制装置,其特征在于,
所述原动机由从搭载在所述车体上的电池通电的第2电动机构成。
5.根据权利要求1所述的无人行驶作业车的控制装置,其特征在于,
所述作业机由割草机构成。
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USD980873S1 (en) | 2021-07-23 | 2023-03-14 | Mtd Products Inc | Robotic mower |
USD980874S1 (en) | 2021-07-23 | 2023-03-14 | Mtd Products Inc | Robotic mower body |
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CN101379368A (zh) * | 2006-02-01 | 2009-03-04 | 杰维斯·B·韦布国际公司 | 可变路径自动导引车辆 |
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JPH05282036A (ja) * | 1992-04-01 | 1993-10-29 | Kawasaki Heavy Ind Ltd | 無人芝刈機の誘導方法 |
SE523080C2 (sv) * | 1998-01-08 | 2004-03-23 | Electrolux Ab | Dockningssystem för självgående arbetsredskap |
GB2358843B (en) * | 2000-02-02 | 2002-01-23 | Logical Technologies Ltd | An autonomous mobile apparatus for performing work within a pre-defined area |
US6442456B2 (en) * | 2000-03-07 | 2002-08-27 | Modular Mining Systems, Inc. | Anti-rut system for autonomous-vehicle guidance |
WO2005074362A2 (en) * | 2004-02-03 | 2005-08-18 | F. Robotics Aquisitions Ltd. | Robot docking station |
US8364366B2 (en) * | 2005-06-24 | 2013-01-29 | Deere & Company | System and method for providing a safety zone associated with a vehicle |
US20070131754A1 (en) * | 2005-12-12 | 2007-06-14 | Brandon Frank L | Method and system of collecting data using unmanned vehicles having releasable data storage devices |
US8433468B2 (en) * | 2010-07-28 | 2013-04-30 | Deere & Company | Robotic mower home finding system |
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CN101379368A (zh) * | 2006-02-01 | 2009-03-04 | 杰维斯·B·韦布国际公司 | 可变路径自动导引车辆 |
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EP2626760A3 (en) | 2013-08-28 |
EP2626760B1 (en) | 2014-12-17 |
EP2626760A2 (en) | 2013-08-14 |
JP2013165588A (ja) | 2013-08-22 |
KR20130092452A (ko) | 2013-08-20 |
CN103246284A (zh) | 2013-08-14 |
US9063547B2 (en) | 2015-06-23 |
KR101454533B1 (ko) | 2014-10-23 |
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