JP2018106226A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform teaching processing for acquiring various kinds of information with less effort.SOLUTION: A work vehicle includes: an object detection unit 18 that transmits a detection signal toward a detection range, obtains a reflection signal responding to the detection signal, and detects objects present in the detection range; a teaching processing unit 100 for obtaining the number of objects arranged in a lattice pattern, the distance between objects, and the distance from the nearest object column to a teaching traveling route on the basis of the detection information of the object detection unit 18 when a vehicle body runs on the teaching traveling route in a work area in which a plurality of fixed objects are present in a state in which they are arranged at intervals in a first direction and a second direction orthogonal to the first direction; and a holding unit 101 for holding information obtained by the teaching processing unit 100.SELECTED DRAWING: Figure 4

Description

  In the present invention, for example, a plurality of position-fixed objects (trees) exist in a state of being arranged at intervals along each of a first direction and a second direction orthogonal to the first direction, such as an orchard. The present invention relates to a work vehicle that performs work in an area other than a place where an object is present in a work section.

  Conventionally, as an example of a work vehicle, in an orchard where trees are planted in a state of being arranged at intervals along each of the first direction and the second direction, a plurality of trees positioned between a plurality of tree rows In a work vehicle that performs operations such as drug spraying while traveling in an intermediate region, the vehicle body is manually operated, for example, in the first direction along the first direction, and turned at the end of the tree line. Repeatedly run the running mode of running the straight stroke in the intermediate area adjacent to the first straight run until the entire stroke is completed, and execute the teaching process to measure and store various information such as heading and travel distance There was what was made to do (for example, refer patent document 1). An automatic travel control means for automatically traveling the vehicle body is provided based on information obtained by the teaching process.

JP 63-7705 A

  The above-described conventional configuration requires a troublesome work of sequentially traveling through a plurality of intermediate regions located between the tree rows as a teaching process for acquiring various information, and has a disadvantage that the teaching process is troublesome.

  Therefore, it has been desired that teaching processing for acquiring various information can be performed with less effort.

The feature configuration of the work vehicle according to the present invention is an object that transmits a detection signal toward a preset detection range, acquires a reflection signal with respect to the detection signal, and detects an object present in the detection range. A detection unit;
A vehicle travels on a surrounding teaching travel path in a work section where a plurality of fixed-position objects exist in a state where the objects are aligned at intervals along the first direction and the second direction orthogonal to the first direction. Teaching process for obtaining the number of objects arranged in a grid pattern in the work section, the distance between the objects, and the distance from the nearest object row to the teaching travel path based on the detection information of the object detection unit Means,
And holding means for holding information obtained by the teaching processing means.

  According to the present invention, when performing teaching processing for acquiring various information, the vehicle body is caused to travel along the surrounding teaching travel route in the work section. As the vehicle body travels, the object detection unit detects an object existing in the detection range. The object detection unit can acquire relative position information between the vehicle body and the object by a reflection signal from the object, and the teaching processing means is arranged in a grid pattern in the work section based on the detection information of the object detection unit. The distance between the objects in the first direction and the second direction as well as the distance from the nearest object row to the teaching travel route can be obtained as well as the number of objects arranged in the first direction and the second direction. . The information acquired by the teaching process can be held by the holding means, and after the teaching process is completed, the information held by the holding means can be used effectively.

  Therefore, it is possible to acquire various types of information simply by traveling around the work section, and the teaching process can be performed with little effort.

  In the present invention, it is preferable that a travel control unit that automatically travels the vehicle body along the object row in the working section based on the information held by the holding unit is preferable.

  According to this configuration, the travel control is performed based on the information acquired and held in the teaching process, that is, the number of objects, the distance between the objects, and the distance from the nearest object row to the teaching travel route. The vehicle can automatically run the vehicle body along the object row.

  Therefore, when working in an area other than the place where the object exists in the work section, information about the object, that is, the number of objects, the distance between the objects, and the teaching travel route around the work section Using the information on the separation distance to the row, work automatically in a good manner while avoiding interference with the object while traveling through multiple intermediate areas located between the row of objects and the area around the work section. It can be performed.

  In the present invention, the teaching processing means targets the at least two objects based on positions of at least two objects among the objects detected by the object detection unit when the vehicle travels on the teaching travel route. A target setting process to set as an object, a reference line setting process to set a reference line as a reference when traveling through at least two objects set by the target setting process, and from the reference line to the vehicle body It is preferable that a distance calculation process for calculating a distance is performed, and the travel control unit executes a travel control process for automatically traveling along the reference line while maintaining a distance from the reference line to the vehicle body at a set distance. It is.

  According to this configuration, when the vehicle approaches the front end portion of the object row, the teaching processing means uses the foremost object in the object row and the object adjacent to the object and located on the lower side in the vehicle traveling direction as targets. Set. Then, it passes through the two objects set as the target, sets a reference line as a reference for traveling, and calculates the distance from the reference line to the vehicle body.

  It is possible to obtain a reference line along the alignment direction of objects that is the reference of the direction in which the vehicle should travel, and it is possible to drive the vehicle body along the reference line with the distance from the reference line to the vehicle body set The vehicle body can be automatically driven in a state along an appropriate route along the reference line.

  In the present invention, the teaching processing means is configured such that, in the reference line setting process, when the vehicle is traveling along the object row, two objects in the object row adjacent to the object row corresponding to the reference line are detected. It is preferable to obtain position information about the adjacent object row based on the position and hold it in the holding means.

  According to this configuration, when a reference line based on a predetermined object row is set and the vehicle is traveling automatically, the object detection unit detects objects in the object row adjacent to the object row corresponding to the reference line within the detection range. If it exists, position information about the adjacent object row can be obtained. As a result, after traveling along the reference line is completed, a new reference line can be set for the adjacent object row, and automatic traveling can be performed based on the new reference line.

  In the present invention, it is preferable that the object is a tree planted on the ground.

  According to this configuration, in an orchard or the like where trees are planted in a state of being spaced apart along each of the first direction and the second direction, work on areas other than the trees (for example, mowing work) Etc.) can be performed satisfactorily while the vehicle is running automatically in a state where there is little risk of an unworked area.

It is a figure which shows the area | region where a work vehicle drive | works. It is a figure which shows the driving | running route of a work vehicle. It is a side view. It is a control block diagram. It is a figure which shows the detection range of an object detection part. It is a schematic diagram which shows the process of a work vehicle. It is a schematic diagram which concerns on the outer diameter estimation of an object. It is a schematic diagram which shows an obstacle avoidance process. It is a top view of a small turning state. It is a top view of a straight drive state. It is a float chart which shows control operation. It is a float chart which shows control operation. It is a float chart which shows control operation. It is a float chart which shows control operation.

Hereinafter, an embodiment of a work vehicle according to the present invention will be described based on the drawings.
The work vehicle according to the present invention cuts grass that grows between a plurality of fruit trees (an example of a tree) K in an orchard P as a preset work section as shown in FIG. Do work. In the example shown in FIG. 1, the orchard P is an area partitioned in a rectangular shape, and is spaced at intervals L1 and L2 along a first direction D1 and a second direction D2 orthogonal to the first direction D1. In this state, there are a plurality of fruit trees as fixed-position objects.

〔overall structure〕
As shown in FIGS. 3 and 10, the work vehicle 1 includes a pair of left and right first wheels 3A on one end side in the longitudinal direction of the traveling vehicle body 2, and a pair of left and right second wheels 3B on the other end side in the longitudinal direction. ing. The traveling vehicle body 2 is provided with an engine 4 as a power source, and a grass cutting device 5 is provided between the first wheel 3A and the second wheel 3B in the lower portion of the traveling vehicle body 2. Although not shown, the traveling vehicle body 2 is provided with a transmission mechanism that transmits the power of the engine 4 to the first wheel 3 </ b> A and the second wheel 3 </ b> B and to the mowing device 5. The transmission mechanism is configured to be able to intermittently transmit power to the wheels 3A and 3B and the mowing device 5. The power of the engine 4 is transmitted to the wheels 3A and 3B and the mowing device 5, so that the mowing operation can be performed while the machine is running.

  With the forward / reverse switching device 6 (see FIG. 4) provided in the transmission mechanism, the traveling direction of the traveling vehicle body 2 can be switched back and forth. The first wheel 3A and the second wheel 3B are provided so as to be freely steerable by swinging around a longitudinal axis by a driving force of an electric motor described later. As shown in FIGS. 9 and 10, the first wheel 3 </ b> A and the second wheel 3 </ b> B can be operated to change the direction to a straight traveling posture, a rightward swinging posture, and a leftward swinging posture, respectively.

  The work vehicle 1 detects a manual steering operation state in which a steering operation is performed by remote control by wireless steering and information on positions of a plurality of fruit trees with respect to the traveling vehicle body 2, while traveling along the fruit tree row in the orchard P. 2 can be switched to an automatic traveling operation state in which the vehicle 2 automatically travels.

  As shown in FIG. 4, the traveling vehicle body 2 is operated to switch between an accelerator 7 for adjusting the fuel supply amount to the engine 4 and an accelerator motor 9 for operating a brake 8 for braking the wheels 3A and 3B, and a forward / reverse switching device 6. A forward / reverse motor 10, a first steering motor 11 that is an electric motor for steering the first wheel 3A, and a second steering motor 12 that is an electric motor for steering the second wheel 3B, Is provided. Although not described in detail, the brake 8 is spring-biased toward the braking state. When the accelerator 7 is in an idling state as the accelerator motor 9 is operated, the brake 8 is in a braking state and the accelerator opening increases. The interlocking operation is performed so that the braking state is released.

  As shown in FIG. 4, the traveling vehicle body 2 controls the operation of the accelerator motor 9, the forward / reverse motor 10, the first steering motor 11, and the second steering motor 12, so that the entire driving state of the work vehicle 1 is achieved. Is provided with a control device 13 for controlling. A transmitter 14 that can be operated while being carried by an operator is provided, and the traveling vehicle body 2 is provided with a receiver 15 that can receive an operation signal wirelessly transmitted by the transmitter 14. Information received by the receiver 15 is input to the control device 13.

  The traveling vehicle body 2 includes an operation stop switch 16, an automatic on / off switch 17, an object detection unit 18, and an obstacle sensor 19, and these pieces of information are input to the control device 13. The driving stop switch 16 can forcibly stop the driving operation of the traveling vehicle body 2 and the driving operation of the mowing device 5. The automatic on / off switch 17 can switch the control state of the control device 13 between a manual steering control state and an automatic traveling control state. Although the detailed configuration will be described later, the object detection unit 18 can detect an object outside the traveling vehicle body 2. The obstacle sensor 19 is a contact type sensor that is attached to the bumper 20 of the traveling vehicle body 2 and can detect the presence of an obstacle such as a tree stump in a low position that cannot be detected by the object detection unit 18.

  As shown in FIG. 3, the object detection unit 18 is provided in the upper part of the traveling vehicle body 2. The object detection unit 18 is configured to transmit a detection signal toward a preset detection range, acquire a reflection signal for the detection signal, and exist in the detection range. Specifically, the object detection unit 18 is configured by a laser scanner sensor. The preset range is a range that can be detected by the object detection unit 18, and in the present embodiment, as shown in FIG. 5, a range R of about 270 degrees centering on the longitudinal axis in the traveling vehicle body 2. It is. The detection signal is a laser beam that propagates in the air. The detection signal is projected in the horizontal direction at a predetermined height from the vehicle ground contact surface. When this detection signal is projected onto the object, it is reflected from the surface of the object. The object detection unit 18 transmits a detection signal to a preset range and acquires a reflection signal. The object detection unit 18 is based on information indicating the direction in which the object is present with reference to the object detection unit 18 based on the transmission direction of the detection signal, and the time from when the detection signal is transmitted until the reflection signal is acquired. Information indicating the calculated distance from the object detection unit 18 to the object is acquired. In the present embodiment, the object detection unit 18 transmits a detection signal in the horizontal direction and for each minute unit angle with respect to the range R described above.

  As shown in FIG. 5, the object detection unit 18 transmits a detection signal toward one lateral outer side with respect to the vehicle body traveling direction, and detects an object present on one side of the traveling vehicle body 2. In addition, it can replace with this structure and can also comprise so that the object which exists in the both sides of the traveling vehicle body 2 may be detected. In addition, the entire object detection unit 18 may be rotated as necessary, and the range R may be reversed on the left and right with respect to the scheduled travel route S of the traveling vehicle body 2.

  As shown in FIG. 4, the control device 13 is obtained by the teaching processing unit 100 as teaching processing means for obtaining various information in teaching traveling based on manual operation performed prior to automatic traveling, and the teaching processing unit 100. Based on the holding unit 101 as a holding unit for holding information and the information obtained by the teaching processing unit 100 and held in the holding unit 101, the vehicle body automatically travels along the fruit tree row in the orchard P. And a travel control unit 102. In this embodiment, the control device 13 includes a microcomputer, and the teaching processing unit 100 and the travel control unit 102 are configured in a control program format. The holding unit 101 includes a nonvolatile memory that can store and hold various data.

[Teaching processing section]
When the vehicle travels on the teaching travel route TL, the teaching processing unit 100 determines the number of fruit trees (objects) arranged in a lattice pattern in the orchard P based on the detection information of the object detection unit 18, the interval between the fruit trees, Then, the distance from the nearest fruit tree row to the teaching travel route TL is obtained. Teaching traveling is performed based on manual operation by the driver operating the transmitter 14. That is, as shown in FIG. 1, the vehicle travels in the first direction and the second direction along the outer periphery of the orchard P.

  In other words, the teaching processing unit 100 counts the number of objects based on the detection information of the object detection unit 18 when the vehicle travels on the teaching travel route TL, and the traveling vehicle body 2 is connected to the end of the orchard P. The number of objects counted up to when it is detected that the part has been reached is set as the number of fruit trees in the fruit tree row.

  Further, when the traveling vehicle body 2 travels on the teaching travel route TL, the at least two fruit trees K based on the positions of at least two fruit trees K (objects) among the fruit trees K detected by the object detection unit 18. A target setting process for setting as a target O is executed. As a result, the interval between the two fruit trees K can be obtained using the triangulation method based on the information on the positions of the two targets O (fruit trees K) and the position of the traveling vehicle body 2. As for the interval between the two fruit trees K, not only the interval in the first direction but also the interval in the second direction can be obtained.

  The teaching processing unit 100 passes through at least two fruit trees K (objects) set by the target object setting process, sets a reference line SL as a reference when traveling, and a traveling vehicle body from the reference line SL. A distance calculation process for calculating a distance up to 2 is executed. In addition, based on the detection result of the object detection unit 18, an outer shape estimation process for estimating the outer diameter of the fruit tree K is also executed.

The reference line setting process will be described.
A reference line SL passing through at least two targets O set by the target setting process is set. That is, as shown in FIG. 5, in the coordinate system used in the control device 13, the reference line SL is set by connecting the first target object O1 and the second target object O2 with a straight line. The reference line SL is connected by a straight line so as to pass through each central portion of the detection results detected as one object by the object detection unit 18. At this time, information on the outer diameter of the fruit tree, which will be described later, is also taken into consideration.

The distance calculation process will be described.
In the coordinate system as described above, the distance from the reference line SL to the traveling vehicle body 2 is obtained by calculation. This distance is the shortest distance between the reference line SL and the traveling vehicle body 2 in the coordinate system, in other words, from the closest fruit tree row located on the reference line SL to the teaching traveling route TL where the traveling vehicle body 2 is located. Corresponds to distance.

The outer diameter estimation process will be described.
As described above, the object detection unit 18 transmits a detection signal for each predetermined minute unit angle (pitch) in the horizontal direction. For example, if the outer diameter of the object is calculated for each step, as shown in FIG. 7, the width of the object related to one step can be approximately calculated by “L3 × tan θ” (L3 : Distance to the object, θ: detected angle in 1 step). The outer diameter of the object can be estimated by multiplying the width of the object for one step by the number of steps at which the reflected signal from the object is received. In addition, said calculation may be performed for every several pitch, and can also be performed for every pitch.

  The teaching processing unit 100 executes the processing as described above, and based on the detection information of the object detection unit 18, the number of fruit trees K arranged in a lattice pattern in the orchard P and the interval between the fruit trees K (first direction) D1 and L2 in the second direction D2) and the distance m from the nearest fruit tree row to the teaching travel route TL are obtained, and the information is held in the holding unit 101. In other words, other areas other than the place where the fruit tree K exists in the orchard P (area where the mowing work should be performed), that is, the outer area up to the outer peripheral edge of the orchard P and the outermost row of fruit trees, Information on the work width such as an intermediate area between the fruit tree rows can be acquired.

  In the reference line setting process, the teaching processing unit 100 is adjacent based on the positions of two objects in the fruit tree row adjacent to the fruit tree row corresponding to the reference line when the traveling vehicle body 2 is traveling along the fruit tree row. The position information about the fruit tree row to be obtained can be obtained and held in the holding unit 101.

(Run control unit)
The travel control unit 102 moves the vehicle body in each of the first direction and the second direction based on information obtained by the teaching processing unit 100 and held in the holding unit 101 and detection information from the object detection unit 18. The vehicle body automatically travels along the orchard row in the orchard P in the form of automatically traveling along the orchard.

  In other words, the traveling control unit 102 executes the same processing as the target setting processing and the reference line setting processing in the teaching processing unit 100 based on the detection information of the object detection unit 18. That is, a reference line along the arrangement direction of the fruit tree rows is set. Furthermore, the traveling control unit 102 executes processing similar to the distance calculation processing in the teaching processing unit 100, and obtains the distance between the traveling vehicle body 2 and the reference line SL. Then, for each of the first direction D1 and the second direction D2, travel that reciprocates along the reference line SL while maintaining the distance m from the reference line SL to the traveling vehicle body 2 at a set distance corresponding to the target travel route. Execute control processing.

  The target travel route is set as a travel route suitable for performing the mowing work in the orchard P using the work vehicle 1 based on the information acquired by the teaching processing unit 100 and held in the holding unit 101. Is done. As shown in FIG. 2, a plurality of target travel routes are set along each of the first direction D1 and the second direction D2. That is, considering the width of the area to be mowing and the mowing work width by the work vehicle, the target travel route is set in a state where the work areas slightly overlap so as not to cause uncutting.

  When the number of detected fruit trees reaches the number held in the holding unit 101 during traveling on one target travel route, the travel control unit 102 determines that the route end portion has been reached, and the travel route The travel at the end is completed and the vehicle moves toward the next target travel route. When moving to an adjacent target travel route within one work area, it is moved by switchback. The switchback is a traveling mode in which when the traveling vehicle body 2 reaches the end of the orchard P, the vehicle body repeats forward and backward movement and moves the position of the traveling vehicle body 2 from the position of the end portion to the side. . After moving by switchback, the detection direction by the object detection unit 18 remains the same, so automatic traveling is performed for the same fruit tree row.

In the traveling control process, the traveling control unit 102 moves the vehicle body 2 to the vehicle body traveling direction side end of the fruit tree row when the traveling vehicle body 2 is traveling along the first direction D1 in the second direction D2 side of the fruit tree row. When passing through the side of the end-side fruit tree that is positioned, the first turning process is performed to move to the other side of the second direction D2 in the fruit tree row and turn along the first direction D1.

The first turning process will be described with respect to the fruit tree row arranged in the vertical direction on the rightmost side in FIG. However, the direction of the paper surface will be described assuming that the first direction is set as the vertical direction of the paper surface.
In the right region of the fruit tree row as the one side location in the second direction D2 in the fruit tree row, when traveling along the traveling path closest to the fruit tree row upward on the paper surface, The vehicle is turned so as to move to the left region of the fruit tree row as the other side portion in the two directions D2. At this time, the vehicle turns while traveling forward on a substantially U-shaped route. After that, the traveling vehicle body 2 travels downward in the drawing in the left area of the fruit tree row. At this time, when traveling upward on the paper surface before turning, the object detection unit 18 operates to detect the fruit tree row located on the left side (left side in the traveling direction) as a detection target, and travels downward on the paper surface after turning. The object detection unit 18 operates to detect the fruit tree row located on the right side (left side in the direction of travel) as a detection target.

  The traveling control unit 102, when traveling along the first direction D1 in the middle portion of the pair of fruit tree rows that are separated in the second direction D2, the end side located at the vehicle body traveling direction side end of the fruit tree row When passing through the side of the fruit tree, a second turning process is performed to change the direction of the vehicle body so as to be reversed.

The second turning process will be described with respect to an intermediate region between the fruit tree row arranged in the vertical direction on the rightmost side in FIG. 2 and the fruit tree row on the left side thereof.
When the traveling vehicle body 2 is traveling with the intermediate region facing upward on the paper surface, if the next target traveling route exceeds the center position in the width direction of the intermediate portion, the traveling vehicle body 2 moves to the side of the end side fruit tree. After passing, it turns 90 degrees to the right so that it will be in the left-right orientation, then goes straight back in a straight distance, and then turns 90 degrees to the right so that it is in the vertical orientation on the page. Change direction so that the direction is reversed. By turning in this way, the object to be detected by the object detection unit 18 becomes the left fruit tree row, and the fruit tree row can be detected and the reference line SL for the next run can be set.

  The travel control unit 102 is located on the side of the end side fruit tree K located at the end of the fruit tree row in the vehicle travel direction side when traveling on the last travel path among the plurality of travel paths along the first direction D1. As the vehicle passes, the third turning process for turning the vehicle so that the traveling vehicle body 2 turns in the direction along the second direction D2 is executed.

The third turning process will be described with respect to the travel route along the vertical direction on the leftmost side of FIG.
When the traveling vehicle body 2 is traveling toward the lower side of the paper surface along a travel route (corresponding to a part of the teaching travel route TL) along the leftmost paper surface in the vertical direction, if the vehicle body 2 passes the side of the end side fruit tree K, The vehicle body 2 is turned in a substantially L shape so that the direction of the traveling vehicle body 2 is in the direction along the left-right direction of the drawing. At this time, the target travel route (corresponding to a part of the teaching travel route TL in the present execution) located on the outermost side among the travel routes along the right and left direction of the paper, that is, the second direction D2, is set.

When the third turning process is completed and the automatic traveling along the second direction D2 is started, the same processing as the automatic traveling along the first direction D1 is performed thereafter.
That is, after the traveling vehicle body 2 has changed its direction by the third turning process, when the traveling vehicle body 2 is traveling along the second direction D2 in the first direction D1 of the fruit tree row, As it passes through the side of the end side fruit tree located at the end in the traveling direction, it moves to the other side of the first direction D1 in the fruit tree row and travels along the second direction D2. A fourth turning process for turning in a letter shape, and an end portion on the vehicle body traveling direction side of the fruit tree row when traveling along the second direction D2 in the middle part of the pair of fruit tree rows separated in the first direction D1 A fifth turning process is performed to change the direction of the vehicle body so that the direction of the vehicle body is reversed as it passes through the side of the end side fruit tree located at the side.

  The fourth turning process and the fifth turning process are the same as the first turning process and the second turning process except that the vehicle body traveling direction is different between the first direction D1 and the second direction D2.

  As shown in FIG. 1, a plurality of supports 21 are installed in a fixed state along the outer edge of the orchard P. For example, the support 21 may be configured to also serve as a post such as a fence or a fence. Of the plurality of supports 21, the support 22 positioned at the four corners of the orchard P is provided with a reflector 22 as a detected body that reflects the laser light. The reflector 22 is configured to reflect light in the same direction as the incident direction of the irradiation light when the irradiation light enters. Therefore, the laser beam is reflected toward the object detection unit regardless of the angle at which the laser beam is received.

  The object detection unit 18 is configured to detect that the traveling vehicle body 2 has reached the end of the orchard P by detecting any of the reflectors 22 at the four corners. The reflector 22 is also provided on the support 21 located on the front side in the traveling direction by a predetermined distance with respect to the support 21 located at the four corners. By detecting the reflector twice during straight traveling, it can be reliably detected that the end of the orchard P has been reached. With this configuration, it is possible to accurately detect that the orchard P has been approached to the outer end using the detection information of the object detection unit 18. The reflector 22 is provided not only on the support 21 but also on the fruit tree K corresponding to the work start position described later.

  The traveling control unit 102 executes the traveling control process and automatically travels the traveling vehicle body 2. When the obstacle sensor 19 detects and operates, the traveling control unit 102 travels the traveling vehicle body 2 so as to avoid the obstacle G. Execute avoidance processing.

The obstacle avoidance process will be described with reference to FIG.
When the obstacle sensor 19 detects and operates while traveling along the target travel route on the right side of a predetermined fruit tree row, the travel of the traveling vehicle body 2 is temporarily stopped at that time. Then, based on the information on the position of the two fruit trees K detected by the object detection unit 18 and the detection result of the object detection unit 18, the position of the obstacle is determined by triangulation and the position is maintained. Stored in the unit 101. After that, the traveling vehicle body 2 is moved backward by a predetermined distance, and then travels away from the row of fruit trees while avoiding an obstacle to return to the target traveling route.

[Control contents]
Hereinafter, the specific control content by the control apparatus 13 is demonstrated based on a flowchart.

  When teaching traveling is performed, the traveling vehicle body 2 is positioned at the work start position set in advance in the orchard P, and the traveling vehicle body 2 is moved to the outer periphery of the orchard P based on manual operation of the transmitter 14. On the teaching travel route TL. The control device 13 executes the teaching process shown in FIG. 11 while the traveling vehicle body 2 travels along the teaching travel route TL. This teaching process is performed based on a command operation of a command switch (not shown) provided in the transmitter 14.

Teaching processing will be described.
The object detection unit 18 starts detecting an object for a predetermined range (step # 1). Thereafter, the object detection unit 18 continuously detects the object until the teaching process is completed. When at least two objects are detected around the traveling vehicle body 2 (step # 2), the two objects are set as the target object O (step # 3). When the traveling vehicle body 2 is located at the work start position ST, the object detection unit 18 detects the reflector 22 provided on the fruit tree K corresponding to the work start position ST, thereby confirming that it is at the start position. Can be recognized.

  Here, the control device 13 is based on the information obtained by the object detection unit 18 indicating the direction in which the object exists with reference to the object detection unit 18 and the information indicating the distance from the object detection unit 18 to the object. The coordinates of the target object O1 and the target object O2 are calculated in the coordinate system with the traveling vehicle body 2 as a reference. In this case, as shown by # 101 and # 102 in FIG. 6, when the coordinates of the traveling vehicle body 2 are set as (0, 0), the coordinates of the target object O1 are (X1, Y1) and the coordinates of the target object O2. Is calculated as (X2, Y2). However, in order to facilitate the subsequent processing, coordinate conversion is performed from a coordinate system based on the traveling vehicle body 2 to a coordinate system using the reference line SL as the y axis. Thereby, as shown by # 103 in FIG. 6, 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 and The coordinates of the target object O2 are (0, y2).

  Next, a reference line SL is set based on the two targets O1 and O2 (step # 4). The reference line SL is set as a line connecting the center positions of the target object O1 and the target object O2 detected by the object detection unit 18. At this time, information on the outer diameter of the target estimated by the outer diameter estimation process is also taken into consideration.

  The distance from the reference line SL to the traveling vehicle body 2 is obtained by calculation (step # 5). Further, an interval L1 (or L2) between the fruit trees K along the arrangement direction of the fruit tree rows is obtained by calculation based on the triangulation method (step # 6). Further, the number of fruit trees K detected by the object detection unit 18 is counted and obtained by calculation (step # 7).

  When it is detected that the object detection unit 18 has detected the reflector 22 to reach the end of the travel route, the separation distance, the intervals L1 and L2 between the fruit trees K, and the fruit tree K obtained as described above. Is stored and held in the holding unit 101 (steps # 8 and # 9). The processes from Step # 1 to Step # 9 are repeatedly executed until the transmitter 14 instructs to end (Step # 10).

Next, automatic traveling control for automatically traveling the traveling vehicle body 2 along the fruit tree row will be described.
When performing automatic traveling, the traveling vehicle body 2 is moved to the work start position by radio control, and the mowing device 5 is operated and set in a state where traveling in the first direction D1 is possible. When the automatic on / off switch 17 is switched to the automatic mode, automatic traveling control is executed.

The automatic travel control will be described.
As shown in FIG. 12, the object detection unit 18 detects an object (step # 11), discriminates two object detections (step # 12), and sets a target (step # 13), similar to the teaching process. Further, the reference line SL is set based on the positions of the two targets O (step # 14), and the distance from the set reference line SL to the traveling vehicle body 2 is obtained by calculation (step # 15). In addition, the number of fruit trees K in the currently traveling route is counted (step # 16). Next, a travel control process (step # 17) along the first direction D1 and a travel control process (step # 18) along the second direction are executed. The traveling control process along the first direction D1 and the traveling control process along the second direction will be described later.

The travel control process along the first direction D1 will be described.
As shown in FIG. 13, the traveling vehicle body 2 is traveled along the first direction D1, and the distance from the reference line SL obtained in step # 14 (see FIG. 12) to the traveling vehicle body 2 falls within the target range. Thus, the automatic steering process is executed (steps # 21 and # 22). The target range is a set distance m set in a state corresponding to the target travel route (m ± α) having a predetermined allowable range. Therefore, the work vehicle 1 performs the mowing work while traveling along the target travel route. In this automatic steering process, when the direction change operation of the traveling vehicle body 2 is performed, only the wheel located on the front side in the traveling direction of the first wheel 3A and the second wheel 3B is swung to change the direction. When the obstacle sensor 19 detects and operates while the traveling vehicle body 2 is traveling along the target steering route, the obstacle avoidance process as described above is executed.

  When the number of fruit trees K being counted has reached the number set by the teaching process, or by detecting the reflector 22 located at the end of the orchard P, reaching the end of the travel path Is determined, the number of travel routes on which the travel has ended is counted, and the number of fruit trees counted during the travel on the route is reset (steps # 23, # 24, # 25, # 26).

  The travel route in which the travel has ended is not the final route of the plurality of travel routes in the first direction D1, and the next target travel route does not exceed the center position in the intermediate region between the fruit trees, When the travel route is not the closest to the fruit tree line, it moves to the adjacent target travel route by switchback (steps # 27, # 28, # 29, # 30).

  When traveling along a route close to a fruit tree row, object detection is performed not only on the fruit tree row to be detected but also on the fruit tree row adjacent to the fruit tree row, and information on the adjacent fruit tree row is also detected. It is good to keep. Based on the detection result, a reference line SL can be set for adjacent fruit tree rows.

  When step # 11 to step # 23 are executed and it is determined that the vehicle has traveled along the target travel route and has reached the end of the route, the travel route that has finished traveling is the travel route closest to the fruit tree row. When there is, the first turning process as described above is executed (steps # 29 and # 31). That is, the vehicle body 2 turns while traveling forward on a substantially U-shaped route so as to move to a region opposite to the corresponding row of fruit trees.

  In this first turning process, when turning, both the first wheel 3A on one end side in the longitudinal direction of the vehicle body and the second wheel 3B on the other end side are steered in the opposite direction. That is, as shown in FIG. 9, among the first wheel 3A and the second wheel 3B, the one located on the front side in the traveling direction is swung toward the turning direction side, and the one located on the rear side in the traveling direction is turned. Swing toward the opposite side of the direction. By operating in this way, the turning radius can be made as small as possible, and the amount of uncut residue around the fruit tree K at the end can be reduced.

  Step # 11 to Step # 23 are executed, the vehicle travels while performing the automatic steering process along the target travel route, and when it is determined that the end of the route has been reached, When the next target travel route exceeds the center position in the intermediate region between the fruit tree rows, the second turning process as described above is executed (steps # 28 and # 32). That is, the vehicle body turns 90 degrees to the right, goes straight back by a predetermined distance, turns 90 degrees to the right again, and turns the vehicle body in the opposite direction. By operating in this way, the direction of detection by the object detection unit 18 becomes the opposite direction, and a state is reached in which object detection is performed using the adjacent fruit tree rows as detection targets.

  When step # 11 to step # 23 are executed and the vehicle travels while performing the automatic steering process along the target travel route, and it is determined that the end of the route is reached, the travel route that has finished traveling is When it is the final route among the plurality of travel routes in the first direction D1, the third turning process as described above is executed (steps # 27 and # 33). That is, the direction of the vehicle body is switched from the traveling state along the first direction D1 to the traveling state along the second direction D2.

  And after a 3rd turning process is complete | finished, the traveling control process along the 2nd direction D2 as shown in FIG. 14 is performed (step # 41- # 52). The travel control process along the second direction D2 is substantially the same as the travel control process along the first direction D1, except that the travel direction of the vehicle body is different. The fourth turning process and the fifth turning process are different in the traveling direction, but are the same as the first turning process and the second turning process, respectively, and thus the description thereof is omitted here. In the travel control process along the second direction D2, when the final route of the plurality of travel routes in the second direction D2 ends, the automatic travel control ends.

[Another embodiment]
(1) In the above-described embodiment, in the target setting process, two target objects O are set from two fruit trees K. Instead of this configuration, three or more target objects from three or more fruit trees are used. A configuration in which O is set is also possible.

(2) In the above embodiment, when the traveling vehicle body 2 is traveling along the fruit tree row, the position information about the adjacent fruit tree row is obtained based on the detection information of the object detection unit 18. Such processing may not be performed.

(3) In the above embodiment, the coordinate system is converted from the coordinate system based on the traveling vehicle body 2 to the coordinate system based on the target object O, and the arithmetic processing related to the automatic travel is performed. It is also possible to perform arithmetic processing related to automatic travel without performing it.

(4) In the above-described embodiment, in automatic traveling control, the first turning process or the fourth turning process in which the work vehicle turns while traveling in a substantially U shape at the end of the traveling route at a predetermined position, the direction of the vehicle body The second turning process or the fifth turning process for changing the direction so as to be reversed is executed. Instead of this configuration, for example, at the end of the travel route, the position is changed only by the switchback travel. A form may be adopted.

(5) In the above-described embodiment, the case where the work section to be worked by the work vehicle is an area partitioned into a rectangular shape has been described. However, instead of such a configuration, for example, the outer shape is trapezoidal. It may have a shape other than a rectangle, such as a formed region or a region whose outer shape is substantially L-shaped.

(6) In the above embodiment, the travel control unit 102 that automatically travels the vehicle body based on the information obtained by the teaching processing unit 100 and held by the holding unit 101 is provided. Instead, for example, the vehicle control is performed manually, and the travel control unit 102 is not provided, such as displaying the target route set based on the information held in the holding unit 101 on the display monitor. It is good also as a structure.

(7) In the above embodiment, the work vehicle 1 is configured to travel while mowing the grass. However, the work vehicle can be used as, for example, a transport vehicle or can be used for other purposes. .

  The present invention can be applied to, for example, a working vehicle for mowing used in an orchard or the like.

18 Object Detection Unit 100 Teaching Processing Unit 101 Holding Unit 102 Travel Control Unit D1 First Direction D2 Second Direction P Work Section SL Reference Line TL Teaching Travel Path

Claims (5)

An object detection unit that transmits a detection signal toward a preset detection range, obtains a reflection signal for the detection signal, and detects an object present in the detection range;
The vehicle body travels on the surrounding teaching travel path in a working section where there are a plurality of fixed-positioned objects arranged at intervals along the first direction and the second direction orthogonal to the first direction. Teaching process for obtaining the number of objects arranged in a grid pattern in the work section, the distance between the objects, and the distance from the nearest object row to the teaching travel path based on the detection information of the object detection unit Means,
A work vehicle comprising holding means for holding information obtained by the teaching processing means.   The work vehicle according to claim 1, further comprising a travel control unit that automatically travels the vehicle body along the object row in the work section based on information held by the holding unit. The teaching processing means is a target for setting at least two objects as targets based on the positions of at least two objects among the objects detected by the object detection unit when the vehicle body travels on a teaching travel route. An object setting process, a reference line setting process for setting a reference line as a reference when traveling through at least two objects set by the target object setting process, and a distance for calculating a distance from the reference line to the vehicle body Execute arithmetic processing,
The work vehicle according to claim 2, wherein the travel control unit executes a travel control process for automatically traveling along the reference line while maintaining a distance from the reference line to the vehicle body at a set distance.   In the reference line setting process, the teaching processing unit is adjacent based on the positions of two objects in the object row adjacent to the object row corresponding to the reference line when the vehicle body is traveling along the object row. The work vehicle according to claim 3, wherein position information about the object row to be obtained is obtained and held in the holding means.   The work vehicle according to claim 1, wherein the object is a tree planted on the ground.

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