JP2016189170A - Automatic traveling working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic traveling working vehicle capable of performing work traveling in a working area such as a fruit farm in which objects such as trees are arranged, even without preparing an exact map in advance.SOLUTION: An automatic traveling working vehicle includes: an outer shape map generating section for generating an outer shape map of a working area on the basis of a circling traveling result obtained during a period in which the vehicle travels about the working area as first teaching traveling; a function for detecting an object being present in a preset range; an object arrangement information generating function for calculating a position of the object on the basis of an object detection result obtained during a period in which the vehicle travels along the arrangement of objects dotting the working area as second teaching traveling and generates arrangement information of the object; and an automatic traveling function for performing automatic traveling along the object in the working area with reference to the outer shape map and the arrangement information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic traveling work vehicle that automatically travels.

  Attempts have been made in the past to autonomously travel work vehicles that perform work while traveling. For this purpose, the work area to be worked must be recognized through map data or the like. For example, in the unmanned work method for a field work vehicle disclosed in Patent Document 1, first, outer field teaching is performed in which the outer periphery of the field, which is a work area, travels once by manual operation, and the field and the reference travel direction are calculated. Next, by setting a traveling work route for working and traveling in the entire area of the field, and automatically traveling based on the position information and traveling direction information of the vehicle that can be obtained from time to time on the route. Then, work traveling for all areas in the field is performed by automatic control. The field work vehicle handled in this Patent Document 1 is a tractor that performs tilling work, leveling work, cutting work, and the like, and travels throughout the entire area of the field.

  However, in a work area such as an orchard, an object such as a tree that obstructs traveling is arranged in the work area. In such a case, it is necessary to grasp the arrangement of the object in advance, and to consider information regarding the object arrangement when performing an automatic work travel. In the unmanned work method according to Patent Document 1, only the outer periphery teaching that travels around the outer periphery of the work area and obtains the outer shape information of the work area is performed, and the information on the object in the work area is not taken into consideration. It cannot be applied to gardens.

Japanese Patent Laid-Open No. 10-0666406

  In view of the above circumstances, there is a demand for an automatic traveling work vehicle capable of working and traveling in a work area in which objects such as trees are lined up, such as an orchard, without creating an accurate map in advance. .

  An automatic traveling work vehicle according to the present invention includes an outline map generation unit configured to generate an outline map of the work area based on a result of the circular travel obtained while traveling around the work area as the first teaching travel, and a preset Based on the detection result from the object detection unit that detects an object existing in the range and the object detection unit acquired during traveling along the arrangement of the objects scattered in the work area as the second teaching traveling Referring to the object arrangement information generation unit that calculates the position of the object and generates the arrangement information of the object, the outline map, and the arrangement information, and executes automatic traveling along the object in the work area And an automatic traveling control unit.

  According to this configuration, not only the outline map of the work area is generated by the first teaching travel (outer periphery teaching travel), but also the second teaching travel (internal teaching travel) that travels along the line of objects scattered in the work area. ) To obtain arrangement information of an object (for example, a tree). This arrangement information is generated based on a detection result during the second teaching travel of the object detection unit that detects an object existing in a preset range. By referring to the travelable area in the work area obtained by combining the outline map and the arrangement information, it avoids interference with the object in the work area that is the target of work travel, and automatically along the line of objects. It becomes possible to travel. For example, if this automatic traveling vehicle is used for mowing work in an orchard or disinfection work on the fruit tree, automatic work traveling of the entire orchard while being closest to the fruit tree can be realized.

  When multiple objects existing in the work area are two-dimensionally spread, especially in a grid pattern, if the distance between objects and the number of existing objects are known, the detection result from the object detector Based on the above, it becomes easy to automatically travel between the rows of objects. For this reason, in one preferred embodiment, the arrangement information includes the number of objects present and the vertical and horizontal intervals of the objects. As a result, the automatic traveling work vehicle can reciprocate along the line of objects while counting the number of objects, and can automatically travel within the work area while avoiding interference with the objects.

  In one preferred embodiment, the object detection unit transmits a detection signal toward a preset range, acquires a reflection signal with respect to the detection signal, and exists in the preset range. The object arrangement information generation unit sequentially calculates the positional relationship between the two objects and the own vehicle based on the detection results regarding the two objects that are sequentially output as the vehicle travels. The arrangement information is generated. One of the specific devices of the object detection unit configured as described above is a device called a laser range finder, and a scanning angle when a reflected light of a laser beam scanned in a predetermined horizontal angle range is received. The positional relationship between the vehicle and the object is calculated from the propagation time. Furthermore, the distance between the two objects can also be calculated by obtaining the reflection signals from the two objects. By sequentially calculating and accumulating the distance between the two objects calculated in this way, the arrangement information (the number of objects present and the distance between the objects) of the objects (orchards in the orchard) existing in the work area Is obtained.

  When the work area is surrounded by objects that function as boundary identifiers such as fences, walls, and land slopes, the object detector calculates these positions while circling the work area, so that the outline map of the work area Can be created. Therefore, in one preferred embodiment, the outer shape map generation unit is based on a detection result of the object detection unit with respect to a boundary identifier that defines an outer shape of the work area during the first teaching travel. Generate outline map. This configuration is advantageous because the creation of the outer shape map by the first teaching traveling and the object arrangement information by the second teaching traveling can be acquired based on the detection result of the same object detecting unit.

  When the boundary of the work area cannot be detected by the object detection unit or the like, it is necessary to input the outline of the work area to the automatic traveling work vehicle by another method. In this case, a vehicle position detection device using satellite radio waves such as GPS widely used in automobiles and ships is suitable. Therefore, in one preferred embodiment, the outline map generator generates the outline based on the vehicle position information output from the vehicle position detection device using satellite radio waves during the first teaching travel. Generate a map.

  Teaching travel needs to be performed by remote control when there is no cockpit for manual operation by entering a self-driving work vehicle or when the work area environment is inappropriate for human driving. For this reason, in one preferred embodiment, the first teaching travel and the second teaching travel are configured to be executed by an external wireless remote operation.

It is a schematic diagram for demonstrating the flow of the basic process of 1st teaching driving | running | working and 2nd teaching driving | running | working. It is a side view of the automatic mower which is one of the embodiments of an automatic traveling work vehicle. It is a schematic diagram which shows the driving | running route of the automatic mower in a work area. It is the block diagram which showed typically the function part which concerns on the automatic driving | running | working of an automatic mower. It is a figure which shows the detection range of an object detection part. It is a flowchart which shows the automatic travel control of an automatic mower. It is a schematic diagram which shows the automatic running process of an automatic mower.

  Before describing a specific embodiment of the automatic traveling work vehicle according to the present invention, a basic processing flow when acquiring information related to a work area necessary for automatic working traveling by teaching traveling will be described with reference to FIG. I will explain. In FIG. 1, the work area is shown by a simple rectangle defined by a boundary identifier indicated by a white circle, and there are 16 runs arranged in the area in the vertical and horizontal directions. An object as an obstacle is arranged. For example, if the work area is an orchard, this object is a fruit tree.

  Teaching traveling is performed by a radio control (wireless remote control) system. This automatic traveling work vehicle has a function of receiving a remote control signal output from a remote control unit operated by an operator and steering the vehicle based on the remote control signal. The automatic traveling work vehicle also has a function of detecting an object that becomes a traveling obstacle or a traveling reference existing in the work area, and uses this object detecting function to calculate the distance and direction between the own vehicle and the object. be able to.

  In the teaching traveling, the first teaching traveling for generating an outline map that is electronic map data of the work area and the first information for generating the arrangement information of the object including the positions from the reference points of the objects scattered in the work area. It is divided into two teaching runs.

  In the first teaching traveling, the operator causes the automatic traveling work vehicle to travel around the work area along the boundary identification body through the radio control operation. As the boundary identifier, a pile or a fence is used. The traveling locus in this round traveling corresponds to the outer shape of the work area. As a preferred form, the outline map can be generated from the accumulation of the measurement results for the boundary identifier by the running LRF (laser range finder). Alternatively, using a GPS (Global Positioning Network) device or a GNSS (Global Navigation Satellite System) device, it is also possible to generate a travel locus, and consequently an outline map of the work area, from the position of the vehicle in orbit. is there.

  In the second teaching travel, the operator travels the automatic traveling work vehicle along a sequence of objects scattered in the outline map of the work area obtained by the first teaching travel through the radio control operation. The direction and distance from the automatic traveling work vehicle during traveling to each object is calculated based on the detection result from the object detection unit adopting LRF. By accumulating the direction and distance to each object, not only the number of objects in the work area, but also the relative position of the object with respect to the reference point, the vertical and horizontal spacing positions between adjacent objects, etc. Obtained as object placement information. For example, if the object is a fruit tree in an orchard, the arrangement information includes the distance from each corner of the orchard (an example of a reference point) to the shortest fruit tree, the distance between fruit trees, the number of fruit trees per row, This includes the number of fruit trees per row.

  By associating or integrating the outline map obtained by the first teaching run with the arrangement information obtained by the second teaching run, the outline of the work area, the number of objects (fruit trees) existing in the work area, The offset amount (relative position from the reference point) from the work area can be input to the automatic travel control system mounted on the automatic travel work vehicle. Thereby, the automatic traveling work vehicle can automatically travel along the object in the work area, and for example, it is possible to automate the cutting of the farm, the spraying of the medicine on the crops, and the like.

  Next, one specific embodiment of the automatic traveling work vehicle will be described with reference to the drawings. FIG. 2 is a side view of an automatic mower that is an example of an automatic traveling work vehicle. In this embodiment, the automatic mower is equipped with a radio-controlled teaching running that includes the first teaching running and the second teaching running described with reference to FIG. That is, based on the function to execute teaching running in the orchard (a kind of work area) P as shown in FIG. 3 and the information obtained by this teaching running, a plurality of plants planted in the orchard P A function of automatically traveling while cutting grass growing between trees (a kind of objects scattered in the orchard P) K is provided.

  When the automatic mower 1 automatically travels while cutting grass growing between a plurality of fruit trees K planted in the orchard P as shown in FIG. At the both ends of the orchard P in the traveling direction, as shown by the broken line B, repeat the forward and backward movement, and the position of the automatic mower 1 is moved to the side. Switch back to shift. Therefore, the automatic mower 1 is used when traveling from one end of the orchard P toward the other end and when traveling from the other end of the orchard P toward one end. The side facing the direction of travel will be different.

  As shown in FIG. 2, the automatic mower 1 includes a wheel 2 and a vehicle body 3. The wheel 2 includes a first wheel 2A on one end side in the vehicle length direction of the vehicle body 3 and a second wheel 2B on the other end side in the vehicle length direction. The vehicle body 3 includes an engine 4 that is a power source of the automatic mower 1, a fuel tank 5 that stores fuel to be supplied to the engine 4, a generator 6 that is driven by the engine 4, and electric power that is generated by the generator 6. The battery 7 that supplies the electric power to the electric equipment of the automatic mower 1, the control unit 10 that controls the automatic travel of the automatic mower 1, and the steering operation of the first wheel 2 A based on the electric power supplied from the battery 7 The first wheel steering operation mechanism 51 that performs the operation, the second wheel steering operation mechanism 52 that performs the steering operation of the second wheel 2B based on the electric power supplied from the battery 7, and the rotational force of the engine 4 are input to cut the grass. A mowing device 53 having a mowing blade 54 to be used, and a power transmission mechanism 55 for connecting and disconnecting the rotational force of the engine 4 to at least one of the first wheel 2A and the second wheel 2B and the mowing device 53 are provided.

  Further, the automatic mower 1 is configured to be capable of remote operation with a radio control, and the antenna 21 of the communication device 20 that receives a remote control signal output from the remote control unit 200 is disposed in the ceiling area. In the ceiling area, a laser transmission device 111 of the object detection unit 11 which will be described in detail later is also arranged. The remote operation unit 200 is provided with a first operation lever 210 that moves the automatic mower 1 forward or backward, and a second operation lever 220 that operates the steering wheel. In addition, a power switch 230 that controls energization of the remote operation unit 200 is also provided. Remote control signals based on operations by the first operation lever 210 and the second operation lever 220 are transmitted to the control system built in the automatic mower 1 through the antenna 21.

  FIG. 4 shows functional blocks showing functional units for traveling of the control unit 10 which is a core component of the traveling control system of the automatic mower 1. The control unit 10 is configured with a CPU as a core member, and each functional unit is constructed by hardware and / or software. In this embodiment, the control unit 10 includes an object detection unit 11, a detected object calculation module DOM, a teaching travel management unit 100, a travel range setting unit 15, and a travel control unit 16. The detected object calculation module DOM that receives an object detection signal from the object detection unit 11 includes a target setting unit 12, a reference line setting unit 13, a distance calculation unit 14, an object number setting unit 17, an object counting unit 18, and a determination unit 19. It is included.

  The travel control unit 16 includes a remote travel control unit 161 and an automatic travel control unit 162. The remote travel control unit 161 causes the automatic mower 1 to remotely operate based on the remote control signal sent from the remote operation unit 200. In addition to the first teaching traveling and the second teaching traveling described with reference to FIG. 1, this remote control traveling is used when the automatic mower 1 is manually operated by the operator's operation.

  The teaching travel management unit 100 includes an outline map generation unit 101 and an object arrangement information generation unit 102. The outline map generation unit 101 creates an outline map through the boundary detection data of the orchard P obtained through the first teaching run by remote control. The object arrangement information generation unit 102 generates the arrangement information of the fruit tree K through the detection data of the fruit tree K as the detected object obtained through the second teaching traveling by remote control. In this embodiment, the arrangement information includes the number of fruit trees K and the distance from the fruit tree K closest to the boundary of the orchard P.

  The automatic traveling control unit 162 has a function of causing the automatic mower 1 to automatically travel along the row of fruit trees K in the orchard P with the steering algorithm described below with reference to the outline map and the arrangement information.

The object detection unit 11 transmits a detection signal toward a preset range, acquires a reflection signal with respect to the detection signal, and detects an object existing in the preset range. The preset range is a range that can be detected by the object detection unit 11. In this embodiment, the range is configured as a laser range finder, the detection signal is a laser, and an automatic mower as shown in FIG. It has a scanning range R of about 270 degrees around 1. Of course, a range finder using other light or ultrasonic waves may be used instead of the laser. In any case, such a detection signal is transmitted by scanning through a rotating mirror and reflected when it collides with an object. The object detection unit 11 transmits a detection signal in a preset scanning range and acquires a reflection signal generated by a collision. The object detection unit 11 is a direction in which an object exists with reference to the object detection unit 11 (transmission angle: θ1, θ, based on the transmission direction of the detection signal (scan angle during transmission: corresponding to the angle of the rotating mirror).
2), and information indicating the distance from the object detection unit 11 to the object calculated based on the time from when the detection signal is transmitted until the reflection signal is acquired. In the present embodiment, the object detection unit 11 transmits detection signals in the horizontal direction at a scan pitch of 0.5 degrees, for example, with respect to the scanning range R described above.

  The vehicle length direction of the vehicle body 3 is the length direction of the vehicle body 3 of the automatic mower 1. Therefore, the vehicle length extension line corresponds to an extension line connecting the vehicle width direction central portion on one end side in the length direction of the automatic mower 1 and the vehicle width direction central portion on the other end side in the length direction. Of course, it may be an extension line connecting one of the left end and the right end on one end in the length direction of the automatic mower 1 and one of the left end and the right end on the other end in the length direction. The two sides of the vehicle body 3 are the right side and the left side when the front side of the vehicle body 3 is viewed in the traveling direction. Therefore, one side corresponds to the right side or the left side. In the present embodiment, as shown in FIG. 5, the range R detected by the object detection unit 11 is a scanning range of about 270 degrees out of the entire periphery around the automatic mower 1. For this reason, one side means a side that can be detected over the entire region. Specifically, as shown in FIG. 5, when the automatic mower 1 travels in the direction of the upper side of the page. Is the left side when viewed in the direction of travel, and when the automatic mower 1 travels in the direction below the page, the right side corresponds to the direction of travel. In this way, the object detection unit 11 detects an object existing on one side of the automatic mower 1.

  The target setting unit 12 sets the at least two objects as the target O based on the positions of at least two objects among the objects detected by the object detection unit 11. The object detection unit 11 transmits a detection signal within a predetermined range (scanning range of 270 degrees indicated by R in FIG. 5) as indicated by 5. For this reason, the object which exists in this scanning range R is detected. Here, in this embodiment, the automatic mower 1 automatically travels through the orchard where the fruit trees K are planted. For this reason, the target object O is set from the support | pillar which supports the fruit tree K and the fruit tree K in an orchard. In the present embodiment, the automatic mower 1 can set the target O if it can detect at least two objects. Therefore, in the present embodiment, the target object setting unit 12 will be described as setting the target object O using two objects from the objects detected by the object detection unit 11 within the scanning range R.

  As one of the two targets O, an object that is closest to the automatic mower 1 when viewed from the left side is selected. In the example of FIG. 4, the reference numeral O1 corresponds. The other of the two targets O is set by using objects arranged along the traveling direction among the objects detected by the object detection unit 11. The objects lined up in the traveling direction are objects located on the far side in the traveling direction of the automatic mower 1 when viewed from the previously set target object O1. Here, a plurality of lines are arranged on the far side in the traveling direction as shown in FIG. 1, and a plurality of objects may be detected by the object detection unit 11. Therefore, the target setting unit 12 sets a new target O within a preset distance along the vehicle length direction from the currently set target O. As a result, an object at a position close to the currently set target object O can be set as the target object O, so that the automatic mower 1 can be driven according to the form in which the object is arranged. It becomes. Moreover, since the target O is set by filtering within a preset range, the arithmetic processing related to the setting of the target O can be reduced.

  In the present embodiment, the target setting unit 12 selects the closest object in the traveling direction of the automatic mower 1 when viewed from the previously set target O1. In the example of FIG. 5, the one with the symbol O2 corresponds. The coordinate positions of the target object O1 and the target object O2 regarding the automatic mower 1 are the distance between the automatic mower 1 and the target object O1 calculated from the detection result of the object detection unit 11 related to the target object O1, and the automatic mower. The angle of the target O1 centered at 1: θ1, the distance between the automatic mower 1 and the target O2 calculated from the detection result of the object detection unit 11 related to the target O2, and the automatic mower 1 as the center Can be calculated using a trigonometric formula based on the angle θ2 of the target O2. The distance between the target object O1 and the target object O2 is calculated from the coordinate positions of the target object O1 and the target object O2.

  Here, since the automatic mower 1 cannot recognize by itself which direction the traveling direction is, it is preferable that the user sets the traveling direction in advance with respect to the automatic mower 1. Of course, the end portion of the automatic mower 1 in the longitudinal direction may be set with the end portion on the first traveling side, and the side facing the end portion may be set as the traveling direction.

  The reference line setting unit 13 passes through at least two targets O set by the target setting unit 12 and sets a reference line SL serving as a reference for traveling. In the present embodiment, the at least two targets O set by the target setting unit 12 are the target O1 and the target O2 described above. In the coordinate system used in the control unit 10, the reference line setting unit 13 sets the reference line SL by connecting the target object O1 and the target object O2 with a straight line. As will be described later, the reference line SL is used as a reference when the automatic mower 1 automatically travels.

  The distance calculation unit 14 calculates a distance (separation distance) from the reference line SL to the vehicle body 3. The distance from the reference line SL to the vehicle body 3 is a distance connecting the reference line SL and the vehicle body 3 in the shortest distance in the coordinate system. For this reason, it corresponds to the distance on the perpendicular from the reference line SL drawn so as to pass through the vehicle body 3.

  The travel range setting unit 15 sets a travel range allowed for a travel route on which the automatic mower 1 automatically travels. In this embodiment, the automatic mower 1 cuts grass while running automatically. For this reason, the travel route on which the automatic mower 1 automatically travels corresponds to a route for cutting grass. Although not described in detail, the cutting blade 54 is provided on the bottom surface of the central portion of the vehicle body 3 of the automatic mower 1 in the vehicle width direction. When the automatic mower 1 automatically travels from one end of the orchard to the other end, it automatically travels by overlapping a part of the area to be trimmed (for example, 20 to 30 cm) with respect to the previously traveled path. . The allowable travel range described above is preferably set to about 1/2 to 1/3 (for example, 10 to 15 cm) of such overlapping width. Thereby, generation | occurrence | production of a cutting nonuniformity can be prevented.

  The travel control unit 16 is set in advance while maintaining the distance from the reference line SL to the vehicle body 3 within a range set in advance according to the travel route when traveling in the orchard P set in advance. In the orchard P, the vehicle runs along the reference line SL. The distance from the reference line SL to the vehicle body 3 is calculated by the distance calculation unit 14 described above, and sequentially transmitted to the travel control unit 16 in real time. The automatic mower 1 cuts grass while reciprocating in the orchard P.

  As described above, the automatic mower 1 runs using the engine 4 as a power source. Moreover, the 1st wheel 2A and the 2nd wheel 2B are comprised so that steering operation is possible respectively, and steering operation is performed by the 1st wheel steering operation mechanism 51 and the 2nd wheel steering operation mechanism 52, respectively. Further, the rotational force generated by the engine 4 is transmitted to at least one of the first wheel 2A and the second wheel 2B via the power transmission mechanism 55. The transmission of power to the first wheel 2A and the second wheel 2B may be performed on both sides, and the automatic mower 1 may be driven on four wheels, or on one side and may be driven on two wheels. Moreover, each of the 1st wheel 2A and the 2nd wheel 2B may be comprised by left-right pair, and at least one may be comprised by 1 wheel. The traveling control unit 16 includes a first wheel steering operation mechanism 51, a second wheel steering operation mechanism 52, and a power transmission so that the distance from the reference line SL to the automatic mower 1 is within a preset range. The mechanism 55 is controlled to travel along the reference line SL.

  The automatic mower 1 detects an object to be the next target object O while traveling along the reference line SL. When it reaches the vicinity of the target object O2 on the front side in the traveling direction according to the setting of the current reference line SL, the target object O2 is set as the target object O1 on the front side in the traveling direction, and the newly set target object O is the target on the far side in the traveling direction. Set as object O2. The reference line SL is reset by the target object O1 and the target object O2 and travels from one end portion of the orchard P to the other end portion along the reference line SL.

  The automatic mower 1 travels along the reference line SL from one end of the orchard P to the other end, switches back at the end, and travels along the reference line SL set there. (See FIG. 3). The switchback is a traveling mode in which when the own vehicle reaches the end of the orchard P, it moves forward and backward to move the position of the automatic mower 1 to the side from the position of the end. . In this embodiment, the automatic mower 1 is configured to recognize whether or not the vehicle has reached the end of the orchard P by the number of fruit trees K. Therefore, the total number of objects included in the arrangement information generated by the object arrangement information generation unit 102 through the second teaching traveling is set as the number of fruit trees K to be detected by the object detection unit 11 in the orchard P. Is set in the unit 17. Here, the number of fruit trees K detected by the object detection unit 11 in the orchard P is the target detected when the automatic mower 1 travels from one end of the orchard P to the other end. The number of objects O. When the number of fruit trees K existing in the orchard P is set in the object number setting unit 17, the number of objects existing in the orchard P and the number of objects for each column are used. It may be set.

  The object counting unit 18 counts the number of objects used to set the reference line SL when traveling from one end of the orchard P toward the other end. When the target setting unit 12 newly sets the target O, the object counting unit 18 acquires information indicating that fact, and actually sets the reference line SL using the newly set target O. Count the number of objects used. Here, when what was originally set as the target object O2 in the traveling direction back side is set as the target object O1 in the traveling direction front side according to the travel of the automatic mower 1, when both are counted, Since it is the target object O related to the same object, counting is repeated. In order to avoid such overlapping counting, the object counting unit 18 is determined in advance when the automatic mower 1 travels from one end of the orchard P toward the other end. By counting only one of the object related to the target object O1 set on the front side in the traveling direction and the object related to the target object O2 set on the back side in the traveling direction, and adding 1 to the counting result, It becomes possible to count objects related to the setting of the reference line SL from one end of the orchard P to the other end.

  The determination unit 19 determines that the automatic mower 1 has reached the other end of the orchard P when the coefficient result of the object counting unit 18 reaches the number of objects set by the object number setting unit 17. To do. As a result, the traveling control unit 16 temporarily stops the automatic mower 1 at that position, switches back the automatic mower 1 from the stopped position, and then shifts the position by the amount of mowing grass, and again from that position. Then, the reference line SL is set on the basis of the target object O, and the grass is cut while running automatically. In this way, the automatic mower 1 can set the reference line SL as a reference when automatically traveling with the own vehicle and can automatically travel.

  Next, the procedure when the automatic mower 1 performs mowing while automatically running in the orchard will be described with reference to the flowchart of FIG. 6 and the schematic diagram of FIG. First, as a first pretreatment, the operator remotely controls the automatic mower 1 using the remote control unit 200 and travels around the boundary region of the orchard P in the first teaching run (# 01) and the orchard. A second teaching travel (# 02) is performed in which the interior of P travels along the fruit tree K. This teaching running is as already described with reference to FIG. Data for creating an outline map of the orchard P is acquired by the first teaching run, and includes the number of fruit trees K planted in the orchard P by the second teaching run, a distance from a specific position of the outline map, and the like. Placement information is acquired.

  In starting the automatic traveling, the automatic mower 1 is moved to a position suitable for automatic traveling, one end portion of the orchard P using the remote control unit 200 (# 1). At that time, the automatic mower 1 is moved so as to be in a posture along the traveling direction when the automatic traveling is started. When automatic traveling starts, the object detection unit 11 starts detecting an object for a predetermined range (step # 2). Thereafter, the object detection unit 11 continuously detects the object until the automatic mower 1 finishes the automatic travel. The object detected in the vicinity of the automatic mower 1 in this way is indicated by # 101 in FIG. When the detected object satisfies a predetermined condition as the target object O (step # 3: Yes), the object is set as the target object O (step # 4). This detection of the target object O is performed until at least two target objects O are set (step # 5: Yes).

  In # 102 of FIG. 7, as such two targets O, there are a target O1 on the front side in the traveling direction of the automatic mower 1 and a target O2 on the far side in the traveling direction of the automatic mower 1. A set example is shown. In the control unit 10, based on information indicating the direction in which the object exists with reference to the object detection unit 11 acquired by the object detection unit 11 and information indicating the distance from the object detection unit 11 to the object, The coordinates of the target object O1 and the target object O2 are calculated in the coordinate system with the mower 1 as a reference. Specifically, as shown in # 102 of FIG. 7, the coordinates of the automatic mower 1 are set as (0, 0), the coordinates of the target object O1 are (X1, Y1), and the coordinates of the target object O2 are Calculated as (X2, Y2).

  The reference line setting unit 13 sets the reference line SL with reference to the two targets O1 and O2 (step # 6). The reference line SL is set as a line connecting the outer edge portions of the target object O1 and the target object O2 detected by the object detection unit 11, as indicated by # 103 in FIG.

  Next, a travel route based on the reference line SL on which the automatic mower 1 travels is set. This setting is set according to the distance from the reference line SL to the travel route (step # 7). In this case, in order to facilitate the processing of the distance and subsequent processing, the control unit 10 performs coordinate conversion from the coordinate system based on the automatic mower 1 to the coordinate system using the reference line SL as the y axis. Is called. As a result, the coordinates (X1, Y1) of the target object O1 and the coordinates (X2) of the target object O2 are coordinate-transformed, and the coordinates (0, y1) of the target object O1, as indicated by # 103 in FIG. And the coordinates (0, y2) of the target object O2. In the coordinate system after such coordinate conversion, the distance from the reference line SL to the travel route is set as m. In this case, the coordinates of the automatic mower 1 are converted to (x1, 0). Further, an allowable range ± a for this distance is set (step # 8).

  The automatic travel control unit 162 causes the automatic mower 1 to travel so that the distance from the reference line SL to the automatic mower 1 falls within the set “m ± a” (step # 9). When the distance from the reference line SL to the automatic mower 1 does not fall within the set “m ± a” (step # 10: Yes), the automatic travel control unit 162 performs steering so that it falls within the allowable range. Operate (step # 11). As a result, the automatic mower 1 can travel along the intended travel route as indicated by # 104 in FIG. In step # 10, when the distance from the reference line SL to the automatic mower 1 falls within the set “m ± a” (step # 10: No), the automatic travel control unit 162 keeps the steering angle as it is. Let it run. In this case, the detection result of the object detected by the object detection unit 11 differs depending on the position of the automatic mower 1, so that the reference line SL is automatically updated while the coordinates of the targets O1 and O2 are changed each time. Driving is performed.

  As shown in # 105 of FIG. 7, the automatic mower 1 reaches the target O2 on the far side in the traveling direction (step # 12: Yes), and the target O2 is the target O at the end of the orchard P. Otherwise (step # 13: Yes), the target setting unit 12 sets the target O2 on the far side in the traveling direction so far as the target O1 on the near side in the traveling direction (step # 14), and from step # 3 Processing continues.

  In step # 13, if the target object O2 is the target object O at the end of the orchard P (step # 13: No), the automatic travel control unit 162 stops the automatic mower 1 (step # 15), The position of the automatic mower 1 is changed by switchback from the position (step # 16). The switchback is preferably performed in advance because it is performed in a constant operation regardless of the distance from the reference line SL. Thereafter, the above-described traveling is repeated.

[Other Embodiments]
In the above-described embodiment, the object detection unit 11 has been described as detecting the fruit tree K of the orchard P or the support column that supports the fruit tree K. Is also possible. It is also possible to configure the object and other objects within a predetermined distance from the object to be grouped and handled as one object. As a result, for example, the fruit tree K and the support supporting the fruit tree K can be set as one target object O, so that the arithmetic processing related to the setting of the target object O can be reduced.

  In the above embodiment, the target setting unit 12 has been described as setting two targets O from two objects. However, a configuration in which three or more targets O are set from three or more objects is also possible. It is.

  In the above-described embodiment, the automatic mower 1 has been described as automatically traveling while mowing the grass. However, the automatic mower 1 can also be used as another work vehicle such as a drug spreader.

  The present invention can be used for an automatic traveling vehicle that automatically travels.

1: Automatic mower (automatic traveling work vehicle)
4: Engine 10: Control unit 11: Object detection unit 20: Communication device 51: First wheel steering operation mechanism 52: Second wheel steering operation mechanism 53: Mowing device 54: Mowing blade 55: Power transmission mechanism 100: Teaching Travel management unit 101: Outline map generation unit 102: Object arrangement information generation unit 111: Laser transmission device 161: Remote travel control unit 162: Automatic travel control unit 200: Remote operation unit 210: First operation lever 220: Second operation lever

Claims (6)

An outline map generation unit that generates an outline map of the work area based on a result of the orbital running acquired while orbiting around the work area as the first teaching run;
An object detection unit for detecting an object existing in a preset range;
As the second teaching traveling, the position of the object is calculated based on the detection result from the object detection unit acquired during traveling along the arrangement of the objects scattered in the work area, and the arrangement information of the object is generated. An object arrangement information generating unit for
With reference to the outline map and the arrangement information, an automatic traveling control unit that performs automatic traveling along the object in the work area,
A self-driving work vehicle equipped with.   The automatic travel work vehicle according to claim 1, wherein the arrangement information includes the number of the objects present and the vertical and horizontal intervals of the objects. The object detection unit transmits a detection signal toward a preset range, acquires a reflection signal with respect to the detection signal, and outputs a detection result relating to an object existing in the preset range;
The object arrangement information generation unit sequentially calculates a positional relationship between the two objects and the own vehicle based on the detection result regarding the two objects sequentially output as the vehicle travels, and generates the arrangement information. Item 3. The automatic traveling work vehicle according to Item 1 or 2.   The outline map generation unit generates the outline map based on a detection result of the object detection unit with respect to a boundary identification body that defines an outline of the work area during the first teaching travel. The automatic traveling work vehicle according to any one of the above.   4. The outline map generation unit generates the outline map based on own vehicle position information output from an own vehicle position detection device using satellite radio waves during the first teaching travel. The automatic traveling work vehicle according to claim 1.   The automatic traveling work vehicle according to any one of claims 1 to 5, wherein the first teaching traveling and the second teaching traveling are executed by wireless remote operation from outside.

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