JP2019106939A - Automatic-travel working machine - Google Patents

Abstract

To provide an automatic-travel working machine capable of automatically traveling even on an inclined slope face without any deviation from a travel route by highly accurately receiving a positioning signal from a navigation satellite.SOLUTION: The automatic-travel working machine includes: a travel machine body 1; a positioning receiver 4 for receiving a positioning signal from a navigation satellite; an inclination detection part detecting an inclination of the travel machine body 1 and outputting inclination angle information; an inclination angle determination part determining the inclination angle on the basis of the inclination angle information; and a rotation control mechanism 5 rotating the positioning receiver 4 at one or more degree of freedom, where the rotation control mechanism 5 horizontally retains the positioning receiver 4 on the basis of the inclination angle.SELECTED DRAWING: Figure 6

Description

  The present invention is an automatic traveling work machine provided with a traveling vehicle, a positioning receiver for receiving a positioning signal from a navigation satellite, and an automatic traveling control device for automatically traveling along a traveling route based on the positioning signal. About.

  For example, in Patent Document 1, a traveling body ("frame 1-5" in the document), a positioning receiver ("GPS device 4" in the document) for obtaining position information of the mowing machine, and There is disclosed a remote control type mower provided with an automatic travel control device ("Control device 3" in the literature) which performs travel and mowing work following the travel route.

JP, 2011-142900, A

  However, when the traveling vehicle travels on the sloped slope, the number of navigation satellites that can be supplemented by the positioning receiver may decrease due to the inclination of the positioning receiver, and the positioning accuracy of the positioning receiver may decrease. In addition, when a river or paddy field exists in the lower direction of the sloped slope, the positioning signal transmitted from the navigation satellite is diffusely reflected by the river or paddy field, making the positioning receiver susceptible to multipath effects The accuracy may be reduced.

  In view of the above-described circumstances, an object of the present invention is an automatic traveling working machine capable of receiving a positioning signal from a navigation satellite with high accuracy even on an inclined slope, and capable of automatically traveling without departing from the traveling route. It is to provide.

The automatic traveling work machine according to the present invention is
With the traveling aircraft,
A positioning receiver that receives positioning signals from navigation satellites;
An automatic travel control device that automatically travels along a travel route based on the positioning signal;
A tilt detection unit that detects the tilt of the traveling body and outputs tilt angle information;
An inclination angle determination unit that determines an inclination angle based on the inclination angle information;
A rotation control mechanism that rotates the positioning receiver with one or more degrees of freedom;
Is equipped with
The rotation control mechanism holds the positioning receiver horizontally based on the tilt angle.

  In the present invention, since the rotation control mechanism for holding the positioning receiver horizontally is provided, the positioning receiver is held horizontally by the rotation control mechanism even when the traveling vehicle travels on the sloped slope. Therefore, the positioning receiver never tilts. This enables the positioning receiver to accurately capture a sufficient number of navigation satellites and is less susceptible to multipath effects. As a result, it is possible to realize an automatic traveling work machine that can receive a positioning signal from a navigation satellite with high accuracy even on a sloped slope and can automatically travel without departing from the traveling route.

In this configuration,
Preferably, the rotation control mechanism is provided immediately below the positioning receiver.

  In this configuration, compared with the configuration in which the rotation control mechanism is provided above or to the side of the positioning receiver, the positioning receiver is sufficient without the positioning signal transmitted from the navigation satellite being blocked by the rotation control mechanism. A large number of navigation satellites can be accurately captured.

In this configuration,
It is preferable that a shield plate which covers the lower side of the positioning receiver and which blocks the propagation of the positioning signal is provided.

  In this configuration, even if the positioning signal transmitted from the navigation satellite is irregularly reflected by the river or the paddy field, the irregularly reflected positioning signal is blocked by the blocking plate. This makes the positioning receiver less susceptible to multipath.

In this configuration,
A travel route setting unit configured to preset a travel route of the traveling aircraft body;
It is preferable that the traveling route setting unit generates a plurality of line traveling routes parallel to the teaching traveling trajectory based on a teaching traveling trajectory by manual operation of the traveling machine body.

  According to this configuration, a plurality of line travel routes are generated based on the teaching travel trajectory. For this reason, in the operation target of the automatic traveling work machine, the line traveling path is generated by the manual operation of only a part of the work target area, and the automatic traveling based on the line traveling path becomes possible.

In this configuration,
The tilt angle determination unit determines the tilt angle based on the tilt angle information detected over the teaching travel locus,
It is preferable that the rotation control mechanism rotates the positioning receiver at a timing before the start of the automatic traveling on the line traveling route.

  If the positioning receiver rotates during automatic traveling, the number of navigation satellites supplemented by the positioning receiver may easily change, and the positioning accuracy of the positioning receiver may not be stable. With this configuration, the positioning receiver is rotated at the timing before the start of automatic traveling, so the positioning accuracy of the positioning receiver can be easily stabilized compared to the configuration in which the positioning receiver rotates during automatic traveling.

In this configuration,
The tilt angle determination unit updates the tilt angle based on the tilt angle information detected along one of the line travel routes,
It is preferable that the rotation control mechanism rotates the positioning receiver at a timing before the start of the automatic traveling on the next line traveling route.

  The inclination angle of the slope is not always constant, and the inclination angle may be different between the upper side and the lower side of the slope. However, the difference between the inclination angles of the slopes of two adjacent line travel paths is often smaller than the difference of the inclination angles of the slopes of two non-adjacent line travel paths. In the case of this configuration, for example, the inclination angle can be updated based on the inclination angle information detected over the line traveling route traveled immediately before. Therefore, as the inclination angle close to the inclination angle of the slope in the next line traveling route, the inclination angle of the slope in the line traveling route which traveled one before can be used.

In this configuration,
A storage unit for storing the tilt angle;
The storage unit stores the traveling route and the inclination angles for each of a plurality of preset points on the traveling route.
The automatic travel control device automatically travels along the travel path stored in the storage unit,
Preferably, the rotation control mechanism rotates the positioning receiver at a timing when the traveling vehicle passes the point.

  According to this configuration, since the inclination angle of the slope can be stored for each point, for example, the rotation control mechanism can be rotated at a portion of the slope where the inclination angle greatly changes during the automatic traveling. As a result, the positioning receiver can be held horizontally even if there is a place where the inclination angle changes greatly during automatic traveling.

In this configuration,
A communication unit is provided to communicate information with the outside of the machine,
It is preferable that the travel route and the inclination angle can be transmitted to an external terminal via the communication unit and can be displayed on the external terminal.

  With this configuration, it is possible to notify the operator of the change in the inclination angle by displaying the traveling route and the inclination angle on the external terminal. Thus, the operator can check the degree of change of the inclination angle and the like, and the operator can switch between automatic traveling and manual traveling of the automatic traveling work machine.

It is a side view showing composition of an automatic run mowing machine. It is a top view of a turning state. It is a top view of a rectilinear state. It is a block diagram showing an automatic travel control device and an inclination angle deciding part. It is a perspective view which shows the traveling path on a slope. It is a front view of an automatic traveling mowing machine showing attitude control of a positioning receiver at the time of slope traveling of an automatic traveling mowing machine. It is a figure showing the relationship between a traveling path and an inclination angle. It is a figure showing another embodiment of a traveling path and an inclination angle. It is a figure showing another embodiment of a run route.

[Basic configuration of automatic traveling work machine]
An embodiment of an automatic traveling work machine according to the present invention will be described based on the drawings.
As shown in FIG. 1, an automatic traveling mowing machine as an automatic traveling work machine exemplified in the present embodiment includes a traveling body 1, a first wheel 2A, a second wheel 2B, and a mowing apparatus 3. The positioning receiver 4 and the rotation control mechanism 5 are provided. The first wheels 2 </ b> A are provided on the one end side in the longitudinal direction of the traveling body 1 in a left-right pair. The second wheels 2 </ b> B are provided on the other end side in the longitudinal direction of the traveling airframe 1 in a left-right pair. The mowing device 3 is provided between the first wheel 2A and the second wheel 2B in the lower part of the traveling body 1. The positioning receiver 4 is provided on the traveling body 1. The rotation control mechanism 5 is rotatable with multiple degrees of freedom, and is provided between the positioning receiver 4 and the traveling body 1. The positioning receiver 4 uses GPS (Global Positioning System) which is a well-known technology as an example of a satellite positioning system (GNSS: Global Navigation Satellite System) that receives radio waves from navigation satellites and detects the position of the vehicle. And configured to receive the positioning signal. The positioning receiver 4 is not limited to the GPS, and may be configured to support multi-GNSS. A shield plate 6 is provided between the positioning receiver 4 and the rotation control mechanism 5. The blocking plate 6 is provided directly below the positioning receiver 4.

  Above the traveling body 1, an antenna 8 capable of communicating with the transmitter 7 (see FIG. 4) is provided. The transmitter 7 is configured such that the operator can manually operate the automatic traveling work machine while carrying it. The transmitter 7 may be, for example, an operation by a proportional type transmitter operated by the operator at hand or an operation by a portable terminal device having a touch panel display screen.

  Although not shown, the traveling body 1 is provided with a transmission mechanism that transmits the power of the engine E to the first wheel 2A and the second wheel 2B and also transmits the power to the mowing device 3. The power transmission mechanism is configured to be able to interrupt power transmission to the first wheel 2A, the second wheel 2B, and the mowing device 3. The power of the engine E is transmitted to the first wheel 2A, the second wheel 2B, and the mowing apparatus 3, so that mowing work can be performed while the vehicle is traveling. A first steering motor 9A is provided on the first wheel 2A, and the first wheel 2A is configured to swing around a longitudinal axis center by the driving force of the first steering motor 9A so as to be steerable. In addition, the second steering motor 9B is provided on the second wheel 2B, and the second wheel 2B is configured to swing around the longitudinal axis center by the driving force of the second steering motor 9B so that steering operation is possible. There is. As shown in FIG. 2 and FIG. 3, the first wheel 2A and the second wheel 2B can be changed in direction to a straight advance posture, a rightward swing posture, and a left swing posture, respectively.

[Automatic travel control device]
As shown in FIG. 4, the automatic traveling mowing is carried out, for example, in a state where a control unit U for enabling automatic traveling of the automatic traveling mowing machine along a preset traveling path is incorporated in a microcomputer, for example. The machine is equipped. The control unit U includes a travel mode determination unit 10, a storage unit 11, a travel route setting unit 12, and an automatic travel control device 13. The storage unit 11 is configured to be able to store position information based on a positioning signal received by the positioning receiver 4. The travel route setting unit 12 sets a travel route for the traveling machine body 1 to automatically travel. The automatic travel control device 13 is configured such that the traveling body 1 travels along the travel route set by the travel route setting unit 12. Further, the control unit U is configured to be able to switch between an automatic travel mode and a manual travel mode by the determination of the travel mode determination unit 10. In the manual traveling mode, the automatic traveling work machine carries out mowing traveling etc. based on the manual operation of the transmitter 7, so the automatic traveling control device 13 is invalidated, but the traveling route setting in conjunction with the automatic traveling control device 13 The unit 12 may also be invalidated.

  The output targets of the automatic travel control device 13 are the travel control motor 15, the forward / reverse motor 16, the first steering motor 9A, and the second steering motor 9B. The travel control motor 15 operates an accelerator 20 that adjusts the amount of fuel supplied to the engine E, and a brake 21 that brakes the first wheel 2A and the second wheel 2B. The forward / reverse motor 16 switches the forward / reverse switching mechanism 22. Although not shown, the forward / reverse switching mechanism 22 is provided in a transmission that transmits the power of the engine E to the first wheel 2A and the second wheel 2B, and switches the power of the engine E between forward and reverse directions. Gear mechanism. The first steering motor 9A steers the first wheel 2A, and the second steering motor 9B steers the second wheel 2B. Each of the traveling control motor 15 and the forward and reverse motor 16 may be an electric motor or an electromagnetic switch.

  The automatic cruise control device 13 specifies the position and orientation of the traveling vehicle 1 from the positioning signal received by the positioning receiver 4. Then, by outputting control signals to the traveling control motor 15, the forward / reverse motor 16, the first steering motor 9A, and the second steering motor 9B, the traveling machine body 1 is driven along the traveling route described later. The automatic travel control device 13 is configured to travel. Further, the automatic travel control device 13 is configured to be switchable between an automatic travel mode based on a control signal of the automatic travel control device 13 and a manual travel mode based on a control signal by manual operation.

  The traveling body 1 is provided with a communication unit 17 capable of information communication via the antenna 8. The communication unit 17 is configured to be able to receive an operation signal wirelessly transmitted from the transmitter 7, and the reception information of the communication unit 17 is input to the control unit U.

  The state of the automatic traveling mowing machine can be transmitted from the communication unit 17 to the device outside the machine body, and for example, it is also possible to display the current position or the state of the automatic traveling mowing machine on the display screen of the mobile terminal device. The state of the automatic traveling mowing machine may be, for example, the vehicle speed of mowing traveling, the remaining amount of fuel, or may indicate a malfunction of various devices mounted on the automatic traveling mowing machine.

[Traveling route setting unit]
As shown in FIG. 4, the control unit U is provided with a traveling route setting unit 12. A travel route for the traveling machine body 1 to automatically travel is preset by the travel route setting unit 12. As shown in FIG. 5, a plurality of linear line traveling routes L are set as traveling routes for automatically traveling on a slope. In the present embodiment, each line traveling route L is generated by the traveling route setting unit 12 in the following procedure.

  First, teaching traveling is performed in the manual traveling mode along the upper end edge of the slope. The teaching travel is performed based on a manual operation by the operator operating the transmitter 7. In the present embodiment, the operator performs the start point setting operation with the transmitter 7 in a state where the traveling machine body 1 is positioned at the start point position Ts. Then, the operator causes the traveling body 1 to travel along a linear shape from the start position Ts to the end position Tf, and the operator performs the end point setting operation with the transmitter 7 in a state where the traveling body 1 is positioned at the start position Ts. . Thus, the teaching process is performed. That is, from the position coordinates based on the positioning data acquired by the positioning receiver 4 at the start position Ts and the position coordinates based on the positioning data acquired by the positioning receiver 4 at the end position Tf, the start position Ts and the end position Tf And a teaching path T connecting them.

  The position of the traveling vehicle 1 during teaching traveling may be sequentially positioned by the positioning receiver 4, and the positioning signal may be stored in the storage unit 11. A teaching path T is obtained by extracting positional coordinates of the traveling vehicle body 1 with time, from a set of positioning signals ranging from the start position Ts of teaching traveling and the end position Tf of teaching traveling. This configuration is particularly useful when the teaching path T is curvilinear.

  A plurality of line travel paths L are generated at equal intervals toward the lower side of the slope as travel paths parallel to the teaching path T. In the present embodiment, line traveling paths L (1) to L (10) along the teaching path T are generated at equal intervals downstream of the teaching path T on the slope. In addition, the line travel route L is set in a state where the work width slightly overlaps so as not to leave uncuts in consideration of the width of the area to be mowing work and the mowing work width by the work vehicle.

  The start position Ls and the end position Lf are assigned to the respective line travel routes L (1) to L (10), and the direction from the start position Ls to the end position Lf is the traveling direction of the traveling airframe 1 The respective line travel routes L (1) to L (10) are configured. In addition, a traveling route for traveling body 1 to travel in each of line traveling routes L (1) to L (10) in order is set, and in the present embodiment, traveling is performed while turning from the upper side to the lower side of the slope. A route in which the airframe 1 repeats linear reciprocating travel is set. That is, the line travel route L (n + 1) to which the next route is allocated on the slope downstream side of the end point position Lf in any one of the line travel routes L (1) to L (9) The travel route is set such that the start positions Ls of) are adjacent to each other.

  The automatic traveling mowing machine travels automatically while mowing along the line traveling route L. For example, when the traveling body 1 reaches the end point position Lf of one line traveling route L (1), the automatic traveling control device 13 sets the starting point Ls of the line traveling route L (2) to which the next turn is assigned. It outputs a control signal to move. At this time, the automatic traveling control device 13 may output a control signal to move to the start position Ls of the next line traveling route L (2) while the traveling airframe 1 makes a U-turn, or the traveling airframe The control signal may be output to move to the start position Ls of the next line traveling route L (2) while repeating the switchback without changing the direction of 1. When the traveling body 1 reaches the end point position Lf, the switchback in the present embodiment is repeatedly moved forward and backward by the switching operation of the forward / reverse switching mechanism 22, and the position of the traveling body 1 is determined. It is a traveling mode of moving to the start position Ls so as to be shifted to the lower side of the slope from the position of the end position Lf. Alternatively, the movement from the end position Lf to the next start position Ls may be performed by the manual travel mode. In this case, after the traveling body 1 moves to the next starting position Ls, switching from the manual traveling mode to the automatic traveling mode may be performed by human operation or may be performed automatically.

  When the traveling body 1 reaches the start position Ls of the line traveling route L (2) and the traveling direction of the traveling airframe 1 is along the traveling direction of the line traveling route L (2), the automatic traveling mowing machine follows the line traveling route L (2) run automatically while mowing along.

[Rotation control mechanism]
Although the automatic travel control device 13 is configured to specify the position and orientation of the traveling vehicle 1 from the positioning signal received by the positioning receiver 4, the slope on which the automatic traveling mowing machine in this embodiment is inclined is When traveling, the positioning receiver 4 is also inclined according to the inclination degree of the slope. The inclination of the positioning receiver 4 may reduce the number of navigation satellites that can be captured by the positioning receiver 4. In addition, when a river or a paddy field exists in the lower direction of the slope slope, the positioning signal transmitted from the navigation satellite is irregularly reflected by the river or the paddy field, so that the positioning receiver 4 becomes susceptible to multipath. The positioning accuracy may be reduced. In particular, in the positioning receiver 4 mounted on the automatic traveling mowing machine in the present embodiment, the distance between the positioning receiver 4 and the ground is often short, and such a problem is likely to occur. From this, the blocking plate 6 is provided immediately below the positioning receiver 4, and the blocking plate 6 blocks the positioning signal diffusely reflected in the river or the paddy field below the positioning receiver 4. That is, the propagation to the positioning receiver 4 of the positioning signal irregularly reflected in the river or the paddy field is blocked by the blocking plate 6. As a result, the positioning receiver 4 is less susceptible to the influence of multipath, and the possibility of lowering the positioning accuracy is reduced. Further, a rotation control mechanism 5 for reducing the inclination of the positioning receiver 4 is provided below the positioning receiver 4.

  As shown in FIG. 6, the shielding plate 6 is provided below the positioning receiver 4, and the rotation control mechanism 5 is provided below the shielding plate 6, and the positioning receiver 4 and the shielding plate are provided. The reference numeral 6 is configured to be able to pivot integrally with the axis of rotation of the rotation control mechanism 5. In the present embodiment, the rotation control mechanism 5 is configured to rotate with two degrees of freedom. That is, the rotation control mechanism 5 is configured to be rotatable about two axes of a roll axis along the longitudinal direction of the traveling body 1 and a pitch axis along the lateral direction of the traveling body 1. ing. As a result, the positioning receiver 4 rotates with multiple degrees of freedom. As described above, even when the traveling body 1 travels on a slope, the rotation control mechanism 5 rotates so as to hold the positioning receiver 4 in the horizontal attitude.

[Inclination angle determination unit]
The traveling body 1 is provided with an inclination angle detection unit 30 as an inclination detection unit, and the inclination angle detection unit 30 is, for example, an IMU (Inertial Measurement Unit) which is an example of an inertial sensor, and detects the inclination of the traveling body 1. Tilt angle information Im. The angle for the positioning receiver 4 to hold the horizontal attitude is determined by the inclination angle determination unit 31, and the inclination angle determination unit 31 determines the inclination angle I to be output to the rotation control mechanism 5 based on the inclination angle information Im. Do. The inclination angle I includes a roll angle along the longitudinal direction of the traveling body 1 and a pitch angle along the lateral direction of the traveling body 1. The determined inclination angle I is output to the rotation control mechanism 5, and the rotation control mechanism 5 adjusts the rotation angle of the roll axis and the pitch axis based on the input inclination angle I.

  The tilt angle determination unit 31 may be configured to directly determine the tilt angle information Im detected by the tilt angle detection unit 30 as the tilt angle I and output the tilt angle I to the rotation control mechanism 5 as it is. Furthermore, the rotation control mechanism 5 may be configured to horizontally hold the positioning receiver 4 in real time by immediately rotating the positioning receiver 4 based on the input inclination angle I. However, in such a configuration, the positioning receiver 4 continues to rotate with respect to the traveling body 1 following the unevenness of the ground during traveling of the traveling body 1, and the inclination of the positioning receiver 4 relative to the traveling body 1 There is a risk that the posture may not be stable. Due to this, there is a possibility that the number of navigation satellites that can be measured may change during traveling, and the positioning accuracy may not be stabilized. Therefore, it is desirable that the timing at which the positioning receiver 4 pivots with respect to the traveling machine body 1, that is, the timing at which the rotation control mechanism 5 pivots, be while the traveling machine body 1 stops.

  As shown in FIG. 7, when teaching traveling is being performed, the inclination angle detection unit 30 continues detection of the inclination angle information Im across the start position Ts and the end position Tf of the teaching traveling, The output of the tilt angle information Im to the tilt angle determination unit 31 is continued. Then, the inclination angle determination unit 31 calculates the average value of the inclination angle information Im detected over the start position Ts and the end position Tf, and determines this average value as the inclination angle I (0).

  When the traveling body 1 automatically travels on the first line traveling route L (1), the rotation control mechanism 5 performs positioning so that the positioning receiver 4 holds the inclination of the inclination angle I (0) with respect to the traveling body 1 Positioning and holding the receiver 4 The timing at which the rotation control mechanism 5 rotates the positioning receiver 4 is from when the traveling body 1 moves from the end point position Tf to the starting point position Ls of the first line traveling route L (1).

  When the traveling body 1 travels along the first line traveling route L (1), the inclination angle detection unit 30 performs the inclination angle across the start position Ls and the end position Lf in the line traveling route L (1). The detection of the information Im is continued, and the output of the inclination angle information Im to the inclination angle determination unit 31 is continued. Then, the inclination angle determination unit 31 calculates the average value of the inclination angle information Im detected across the starting point Ls and the end point Lf on the first line traveling route L (1), and calculates the average value as the inclination angle. Determined as I (1). That is, the inclination angle determination unit 31 updates the inclination angle I from the inclination angle I (0) to the inclination angle I (1). After the traveling body 1 reaches the end point Lf of the first line traveling route L (1), it is based on the inclination angle I (1) until it moves to the starting point Ls of the next line traveling route L (2) The rotation control mechanism 5 rotates. That is, the rotation control mechanism 5 rotates the positioning receiver 4 at the timing before the start of the automatic traveling on the line traveling route L (2).

  When the traveling body 1 travels along the line traveling path L (2), the rotation control mechanism 5 is configured to maintain the inclination of the inclination angle I (1) with respect to the traveling body 1 when the positioning receiver 4 holds the inclination. Positioning receiver 4 is positioned and held. In addition, in order for the inclination angle determination unit 31 to calculate the inclination angle I (2), the inclination angle detection unit 30 may generate inclination angle information Im across the start position Ls and the end position Lf on the line travel route L (2). Continues to output the tilt angle information Im to the tilt angle determination unit 31. Then, when the traveling body 1 reaches the end point position Lf of the line traveling route L (2), the inclination angle determination unit 31 updates the inclination angle I from the inclination angle I (1) to the inclination angle I (2).

  As described above, when the traveling body 1 travels along any one of the line travel paths L (2) to L (10) along the line travel path L (n), the rotation control mechanism 5 The positioning receiver 4 is configured to be positioned and held at the inclination angle of the inclination angle I (n-1) determined by the previous line traveling route L (n-1). The difference between the slope angles of the slopes between adjacent line travel paths L (n-1) and L (n) is the slope angle of the slopes of the two line travel paths L which are separated without being adjacent to each other. Often less than the difference. For this reason, even when the degree of inclination differs greatly between the upper side and the lower side of the slope, positioning reception is performed using the inclination angle I (n-1) in the previous line traveling route L (n-1). The attitude of the machine 4 can be held substantially horizontal.

  When the transmitter 7 is, for example, a portable terminal device and has a display screen, the transmitter 7 is configured to be able to display the tilt angle information Im and the tilt angle I on the display screen via the communication unit 17 ing. In addition, a travel route including a teaching travel locus and a line travel route L can also be displayed on the display screen.

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and hereinafter, another representative embodiment of the present invention will be illustrated.

[1] In the embodiment described above, the line travel routes L (1) to L (10) are generated from the teaching route T based on the positioning signal stored in the storage unit 11 during teaching travel. It is not limited to the embodiment described above. For example, all travel routes including the teaching route T and the line travel route L are stored in the storage unit 11, and automatic travel is performed along the travel route stored in the storage unit 11 at the next automatic travel by the automatic travel mowing machine. It may be a configuration to be performed. As a result, it is not necessary to perform teaching traveling before the next automatic traveling, and it is possible to omit labor of human operation. Further, each of the inclination angles I (0) to I (9) may be stored in the storage unit 11 as well as the traveling route. Then, the traveling airframe 1 is moved from the end point position Lf of any one of the line traveling paths L (1) to L (9) to the starting point Ls of the next line traveling path L (n + 1) In the meantime, the rotation control mechanism 5 may be configured to rotate the positioning receiver 4 based on the inclination angle I (n) corresponding to the line travel route L (n + 1).

  Further, the teaching route T, the line travel route L, and the inclination angle I are not limited to the storage unit 11, but may be managed by an external terminal, for example. In this case, the communication unit 17 is configured to be able to communicate with an external terminal via a WAN (Wide Area Network) or the like, and the teaching route T, the line travel route L, and the inclination angle I via the communication unit 17. It may be configured to be read from the external terminal, or may be configured to be stored in the external terminal via the communication unit 17 through the teaching route T, the line travel route L, and the inclination angle I. good.

[2] In the embodiment described above, the inclination angle determination unit 31 is configured to update the inclination angle I when reaching the end point position Lf of each line traveling route L, but in the embodiment described above It is not limited. For example, the tilt angle I is stored in the storage unit 11 in a linked state with position information based on the positioning signal received by the positioning receiver 4 and the rotation control mechanism when the traveling body 1 passes a specific position 5 may rotate and the positioning receiver 4 may be hold | maintained horizontally. For example, as shown in FIG. 8, along the line travel routes L (1) to L (5), the position information of the points P1 to P11 is stored in the storage unit 11, and the position information of the points P1 to P11 The storage unit 11 may be configured to store the inclination angles I (P1) to I (P11) corresponding to each of the above. Every time the traveling vehicle 1 passes the points P1 to P11, the inclination angle determination unit 31 reads the inclination angles I (P1) to I (P11) corresponding to each of the position information of the points P1 to P11, and the rotation control mechanism The 5 rotates the positioning receiver 4. As a result, for example, in a mortar-like land, the positioning receiver can be held horizontally even if there is a place where the inclination angle greatly changes during automatic traveling.

[3] In the above-described embodiment, each line traveling route L is set based on the linear teaching route T, but may be set based on the curvilinear teaching route T. For example, as shown in FIG. 9, curved line traveling paths L parallel to the teaching path T may be set at equal intervals based on the curvilinear teaching path T.

[4] In the embodiment described above, the inclination angle determination unit 31 is configured to update the inclination angle I when reaching the end point position Lf of each line traveling route L, but in the embodiment described above It is not limited. For example, the inclination angle determination unit 31 calculates the average value of the inclination angle information Im detected across the start position Ts and the end position Tf of the teaching travel, determines this average value as the inclination angle I, and thereafter The tilt angle I may not be updated.

[5] Although IMU is illustrated as the above-mentioned inclination angle detection part 30, it is not limited to an embodiment mentioned above. For example, as the inclination angle detection unit 30, a pendulum type or float type inclination angle detector may be used. Further, the inertial sensor may be a gyro sensor or an acceleration sensor.

[6] The positioning receiver 4 and the rotation control mechanism 5 illustrated in the above-described embodiment may be configured in an integral form.

[7] In the above embodiment, the automatic traveling mowing machine has been described as traveling automatically while mowing the grass, but it is also possible to use the automatic traveling mowing machine as another working vehicle such as a drug sprayer.

  The present invention is applicable to an automatic traveling work machine capable of traveling on sloped terrain such as a slope.

DESCRIPTION OF SYMBOLS 1: driving | running | working body 2A: 1st wheel 2B: 2nd wheel 3: mowing apparatus 4: positioning receiver 5: rotation control mechanism 6: blocking plate 11: memory part 12: driving path setting part 13: automatic traveling control apparatus 17: Communication unit 31: Inclination angle determination unit E: Engine I: Inclination angle Im: Inclination angle information T: Teaching travel locus L: Line travel path

Claims (8)

With the traveling aircraft,
A positioning receiver that receives positioning signals from navigation satellites;
An automatic travel control device that automatically travels along a travel route based on the positioning signal;
A tilt detection unit that detects the tilt of the traveling body and outputs tilt angle information;
An inclination angle determination unit that determines an inclination angle based on the inclination angle information;
A rotation control mechanism that rotates the positioning receiver with one or more degrees of freedom;
Is equipped with
The automatic travel working machine, wherein the rotation control mechanism holds the positioning receiver horizontally based on the tilt angle.   The automatic traveling work machine according to claim 1, wherein the rotation control mechanism is provided immediately below the positioning receiver.   The automatic traveling work machine according to claim 1 or 2, further comprising a blocking plate that covers the lower side of the positioning receiver and blocks the propagation of the positioning signal. A travel route setting unit configured to preset a travel route of the traveling aircraft body;
4. The automatic transmission according to any one of claims 1 to 3, wherein the traveling route setting unit generates a plurality of line traveling routes parallel to the teaching traveling trajectory based on a teaching traveling trajectory by manual operation of the traveling machine body. Traveling work machine. The tilt angle determination unit determines the tilt angle based on the tilt angle information detected over the teaching travel locus,
The automatic traveling work machine according to claim 4, wherein the rotation control mechanism rotates the positioning receiver at a timing before the start of the automatic traveling on the line traveling route. The tilt angle determination unit updates the tilt angle based on the tilt angle information detected along one of the line travel routes,
The automatic traveling work machine according to claim 4 or 5, wherein the rotation control mechanism rotates the positioning receiver at a timing before starting automatic traveling on the next line traveling route. A storage unit for storing the tilt angle;
The storage unit stores the traveling route and the inclination angles for each of a plurality of preset points on the traveling route.
The automatic travel control device automatically travels along the travel path stored in the storage unit,
The automatic travel working machine according to any one of claims 1 to 6, wherein the rotation control mechanism rotates the positioning receiver at a timing when the traveling vehicle passes the point. A communication unit is provided to communicate information with the outside of the machine,
The automatic traveling work machine according to any one of claims 1 to 7, wherein the traveling route and the inclination angle can be transmitted to an external terminal via the communication unit and can be displayed on the external terminal.

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