JP2543025Y2 - Automatic driving guidance device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling guidance device in which a guide cable is buried along a traveling path of a vehicle, and the vehicle travels automatically along the guidance cable.

[0002]

2. Description of the Related Art Conventionally, there is known a traveling work vehicle that automatically travels between furrows of a horticultural facility or the like to spray pesticides or the like.

[0003] Such a traveling work vehicle has a traveling path of 30 to 60 cm.
Travels along an induction cable buried at a depth of 1,000 Hz to 10 kHz.
AC current is flowing. And the traveling work vehicle,
A detection coil for detecting the position of the induction cable from an induced voltage induced by an alternating current of 1000 Hz to 10 KHz, and a control device for turning a wheel based on the detection of the detection coil are provided. The control device turns the wheels based on the detection of the detection coil so that the traveling work vehicle travels along the guide cable, and causes the traveling work vehicle to travel on the traveling road.

[0004]

However, when the traveling path is long, the length of the induction cable is also long, and the impedance of the induction cable is increased. For this reason, a large-capacity power amplifier is required to supply a predetermined current to the induction cable, and there has been a problem that the cost is increased.

The current flowing through this induction cable is 1
Since it is a high frequency current of 000 Hz to 10 KHz, if the induction cable is long, the attenuation in the middle of the induction cable is large,
There is also a problem that an amplifier or a coil must be inserted in the middle to compensate for the attenuation.

In addition, if the length of the guide cable is long, there is a problem that it is difficult to control the traveling work vehicle by passing a signal to the guide cable due to a large attenuation on the way.

The present invention has been made in view of the above problems, and has as its object to control a vehicle traveling on a traveling path by passing a signal through an induction cable without having to compensate for a power amplifier or an intermediate attenuation. It is an object of the present invention to provide an automatic traveling guidance device capable of performing the above-mentioned operations.

[0008]

SUMMARY OF THE INVENTION This invention, in order to achieve the object, in the invention of claim 1, embedded inductive cable along the travel path of the vehicle, automatically the vehicle along the induction cable In an automatic travel guidance device to run,
A current supply means for supplying a current of a commercial frequency to the induction cable, the induction by intermittent current flowing through the cable, and a transmission means for sending driving control signal for causing the driving and stopping of the vehicle, the induction cable Depending on the flowing current
Induced voltage induced in the distance to the induction cable
The first and second cable detecting means for outputting according to the vehicle
The first and second cable detection means are provided at both ends in the width direction.
An electric current flowing through the induction cable is provided at an intermediate position between the steps.
The induced voltage induced by the current
A third cable detection means for outputting in accordance with the distance of the
Between the first cable detecting means and the third cable detecting means
And induced by a current flowing through the induction cable.
Induced voltage depending on the distance to the induction cable
A fourth cable detecting means for outputting, and the second cable detecting means.
Provided between the informing means and the third cable detecting means,
Induction voltage induced by current flowing in induction cable
Output according to the distance to the induction cable.
And Buru detecting means, induced the third cable detection means for outputting
The electromotive voltage and the electromotive voltage output by the first cable detecting means
The first comparing means for comparison and the third cable detecting means output
Induced voltage and the induced voltage output by the second cable detecting means.
Second comparing means for comparing the pressure with the third cable detecting means
Output voltage and the fourth cable detecting means output
A third comparing means for comparing the induced voltage with a third cable detection signal;
The induced voltage output by the detection means and the fifth cable detection means
A fourth comparison means for comparing the induced voltage force, the first
First and second cables compared by first and second comparing means
The induced voltage of the detecting means is the induced voltage of the third cable detecting means
If greater, the vehicle will travel along the guidance cable
Steer the wheel at a large angle so that
The fourth and fifth cables compared by the third and fourth comparing means
The induced voltage of the detecting means is the induced voltage of the third cable detecting means
If greater, the vehicle will travel along the guidance cable
Steering control to steer the wheels at a small angle so that
Means , receiving means for receiving a traveling control signal sent to the guide cable, and traveling control means for causing the vehicle to travel or stop based on the traveling control signal received by the receiving means are provided in the vehicle. It is characterized by the following.

According to a second aspect of the present invention, there is provided an automatic traveling guidance device for burying a guidance cable along a traveling path of a vehicle and automatically traveling the vehicle along the guidance cable. Current supply means for flowing, and transmission means for transmitting a work signal for controlling a work machine mounted on the vehicle as an interrupted signal obtained by interrupting the current flowing in the induction cable,
The induced voltage induced by the current
First and second cable detection output according to the distance to the cable
Means are provided at both ends in the vehicle width direction of the vehicle, and the first and second means are provided.
The guide cable is provided at an intermediate position of the cable detecting means.
The induced voltage induced by the current flowing through the
Third cable detection output according to the distance to the conductive cable
A knowledge unit, said first cable detection unit and the third cable test
Between the guidance cable and the
The induced voltage induced by the current
A fourth cable detection means for outputting in accordance with the distance of the
Between the second cable detection means and the third cable detection means
And induced by a current flowing through the induction cable.
Induced voltage depending on the distance to the induction cable
Fifth cable detecting means for outputting, and third cable detecting means
The induced voltage output by the stage and the output by the first cable detection means
First comparing means for comparing an induced voltage with a third cable,
The induced voltage output by the detection means and the second cable detection means
A second comparing means for comparing the induced voltage to be output, and a third
Voltage detected by cable detection means and detection of fourth cable
Third comparing means for comparing the induced voltage output by the means,
Induced voltage output by third cable detecting means and fifth cable
Comparison means for comparing the induced voltage output from the
And the first, the first, the second,
The induced voltage of the second cable detecting means is equal to the third cable detecting means.
If the vehicle is higher than the induced voltage of the
The wheels are steered at a large angle to travel along
So, the third, fourth and compared by the fourth comparisons means, the
5 Induced voltage of the cable detecting means is the third cable detecting means
If the vehicle is connected to an induction cable,
Steer the wheels at a small angle so that
Steering control means , receiving means for receiving a work signal sent to the guide cable, and work machine control means for controlling the work machine based on the work signal received by the receiving means, for the vehicle. It is characterized by having been provided.

[0010]

According to the first and second aspects of the present invention,
The vehicle deviates significantly from the guidance cable (regular road)
Is compared with the first comparing means or the second comparing means.
Of the first cable detecting means or the second cable detecting means
The induced voltage is larger than the induced voltage of the third cable detecting means
As a result, the steering control means allows the vehicle to connect to the guidance cable.
The wheels are steered at a large angle to run along.

The transmitting means transmits a work signal for controlling the work machine mounted on the vehicle as an intermittent signal obtained by intermittently flowing a current flowing through the induction cable, and the work machine control means transmits the work signal based on the work signal received by the receiving means. The work machine is controlled.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of an automatic traveling guidance apparatus according to the present invention.

FIG. 2 is a plan view showing a horticultural facility. In FIG. 2, reference numeral 1 denotes a cultivation field for cultivating fruit trees, flowers and the like, and 2 denotes a traveling path on which a work vehicle (vehicle) 10 travels. The road 2 has an induction cable 3 along the running path 2 as shown.
Is buried at a depth of 30 to 60 cm.

As shown in FIG. 3, the induction cable 3 is connected to a secondary terminal 5a of an insulating transformer (current supply means) 5 via an information transmitter (transmitting means) 4, and a primary terminal 5b is connected to a commercial terminal. It is connected to a power supply of a frequency so that a current of a commercial frequency (50 Hz or 60 Hz) f can flow through the induction cable 3. 7 is an automatic circuit breaker.

The information transmitter 4 is composed of, for example, a switch circuit made of a semiconductor, and transmits a signal to the induction cable 3 by interrupting the current flowing through the induction cable 3 based on a command from the command device 6.

This signal interrupts the current by turning on / off the switch circuit.
As shown in FIG. 4, at a time point t0, a predetermined time T1 is turned off, and thereafter, it is turned on for a time t1. After that, it is turned off for T1 time and t
Turn on for 2 (> t1) hours. Further, thereafter, it is turned off for T1 and turned on for t2. Thereafter, it is turned off and turned on for T1 time.

As described above, for example, [011] depending on the on-time, that is, the length of the conduction times t1 and t2 of the switch circuit.
Is transmitted. Then, the traveling and stop of the work vehicle 10 or the work machine 92 (see FIG. 1) mounted on the work vehicle 10 is controlled by this signal.

FIGS. 5 to 7 show a working vehicle 1 traveling on a traveling path 2.
In FIG. 5 to FIG. 7, reference numeral 11 denotes a vehicle body frame, and a loading platform 12 is provided on the vehicle body frame 11. For example, a work machine 92 (see FIG. 1) for spraying pesticides is mounted on the carrier 12.

At the front and rear of the working vehicle 10, cores 13 and 14 having a length substantially equal to the vehicle width are provided in parallel with the vehicle width direction. The protrusions 13a and 14a are provided at predetermined intervals. And
Detection coils 21 to 25 and 26 to 30 for detecting the induction cable 3 are wound around the cores 13 and 14 between the protrusions 13a and 14a. Detection coil (third cable detection means)
Reference numerals 23 and 28 are wound around the center of the vehicle width of the work vehicle 10, and the other detection coils 21 (the first cable detection
Step), 22 (fourth cable detecting means), 24 (fifth cable detecting means)
The coil detecting means) and 25 (second cable detecting means) are wound at positions away from the detecting coil 23 by the same distance in the vehicle width direction. The same applies to the detection coils 26, 27, 29, 30. A signal coil 20 for signal detection is wound around the position of the detection coil 23.

Reference numeral 31 denotes a bottom plate attached to the bottom of the vehicle body frame 11. The front and rear sides of the bottom plate 31 extend in the vehicle width direction and have front ends fixed to the frame 11.
Is provided. The bearings 36, 3 are provided on the holding portions 32, 33.
7 are provided rotatably with respect to the vertical shafts 38, 39, and the axles 42, 4 of the front wheels 40, 41 are provided on the bearings 36, 37.
3 are held.

Arm portions 36a, 37a extending rearward are formed in the bearing portions 36, 37, and both ends of a connecting rod 44 are pivotally connected to the arm portions 36a, 37a. The center of the connecting rod 44 is pivotally supported by a protruding portion 45 a of a swing member 45, and the swing member 45 has a semicircular gear 4.
5b is provided. The swing member 45 is swingable around a shaft 46 provided at the center of the gear 45b.
A gear 47 is meshed with the gear 45b, and the gear 47 is rotated by a steering motor 50 (see FIG. 1).

When the gear 47 is rotated by the steering motor 50, the swing member 45 swings around the shaft 46 as a fulcrum by the gear 45b, and the swing causes the connecting rod 4 to rotate.
4 moves left and right. By moving the connecting rod 44 left and right,
The bearings 36 and 37 rotate around the vertical shafts 38 and 39 as a fulcrum, and as a result, the front wheels 40 and 41 are steered in the left and right directions. Reference numeral 49 denotes an encoder for detecting a turning angle of the front wheels 40 and 41.

The holding portions 34 and 35 are provided with bearing portions 51 and 52 rotatably with respect to the vertical shafts 57 and 58, respectively.
The axles 55, 56 of the rear wheels 53, 54 are held by the bearings 51, 52.

Similarly to the above, arm portions 51a, 52a extending rearward are formed on the bearing portions 51, 52, and both ends of a connecting rod 59 are pivotally supported by the arm portions 51a, 52a. Are linked. The center of the connecting rod 59 is pivotally supported by a projecting portion 60a of the swing member 60, and the swing member 60 is provided with a semicircular gear 60b. The swing member 60 is swingable about a shaft 61 provided at the center of the gear 60b. A gear 62 meshes with the gear 60b, and the gear 62 is a steering motor 70 (see FIG. 8).
Is to be rotated.

Then, similarly to the above, the rear wheels 53 and 54 are steered by the rotation of the steering motor 70. Reference numeral 71 denotes an encoder for detecting a turning angle of the rear wheels 53 and 54.

The rear wheels 53, 54 are driven by drive motors 72, 73 attached to the rear wheels 53, 54, and the drive motors 72, 73 are constituted by print motors. Reference numeral 75 denotes a control box provided on the bottom plate 31.
A control device 80 for controlling 0, 70, 72, 73 and the work machine 92 is built in.

As shown in FIG. 1, the control device 80 detects the positions of the induction cables based on the induced voltages output from the respective detection coils 21 to 30, and the detection units 81 and 82 that are induced by the signal coil 20. Receiver (receiving means) 90 for receiving a signal sent to induction cable 3 from the induced voltage generated
And the motors 50, 70, 72, 73 and the work machine 92 based on the detection of the detection units 81 and 82 and the reception of the information receiver 90.
And a control circuit 91 for controlling the

As shown in FIG. 8, the detecting section 81 includes amplifiers 83a to 83e for amplifying induced voltages induced in the detecting coils 21 to 25, rectifiers 84a to 84e for rectifying the amplified induced voltages, and rectifiers 84a to 84e. The output voltage of the rectifier 84a, 84b, 84d, and 84e is compared with the output voltage of the rectifier 84a as a reference voltage, and when the output voltage is equal to or higher than the reference voltage, a comparator 85a that outputs an H-level signal (first comparing means) ),
85b (third comparing means), 85c (fourth comparing means), 85d
(Second comparing means) .

The detection unit 81 is arranged such that the front side of the work vehicle 10 is largely rightward of the guide cable 3 (in FIG. 8).
When the detection coil 21 comes closest to the induction cable 3 and the induced voltage of the detection coil 21 becomes maximum, the output shown in State 1 of Table 1 below is obtained.

[0030]

[Table 1]

The front side of the working vehicle 10 is slightly shifted to the right with respect to the guide cable 3 so that the detection coil 22
, The induced voltage of the detection coil 22 becomes maximum, so that the output shown in the state 2 of Table 1 is obtained.
In addition, when the working vehicle 10 is not displaced to the left or right with respect to the induction cable 3, the detection coil 23 is in the state closest to the induction cable 3, so that the induced voltage of the detection coil 23 becomes maximum and the state shown in Table 1 is obtained. The output indicated by 3 is obtained.

The front side of the working vehicle 10 is slightly displaced to the left (in FIG.
Is closest to the induction cable 3, the induced voltage of the detection coil 24 becomes maximum, and the output shown in the state 4 of Table 1 is obtained. The front side of the work vehicle 10 is the induction cable 3
When the detection coil 25 comes to the position closest to the induction cable 3 with a large shift to the left, the induced voltage of the detection coil 25 becomes maximum, and the output shown in the state 5 in Table 1 is obtained.

As shown in FIG. 9, the detection unit 82 has the same configuration as that of FIG. 8, and a description thereof will be omitted.

When the rear side of the work vehicle 10 is shifted with respect to the guide cable 3, the output is as shown in Table 2 below, similarly to the above.

[0035]

[Table 2]

The information receiver 90 receives the signal sent to the induction cable 3 from the induced voltage induced in the signal coil 20, and as shown in FIG. To output a pulse signal representing [0] [1].

The control circuit 91 is constituted by a microcomputer or the like.
Is in state 1, the front wheels 40, 41 are turned to the left by an angle β, and in state 2, the front wheels 40, 41 are turned to the left by an angle α.
(<Β) The vehicle is steered. Further, when the output of the detecting unit 81 is in state 3 of Table 1, the front wheels 40, 41 are not steered, in state 4, the front wheels 40, 41 are steered to the right by an angle α, and in state 5, the front wheels 40, 41 are steered. 40 and 41 are turned to the right by an angle β.

The control circuit 91 turns the rear wheels 53, 54 to the left by an angle γ when the output of the detecting section 82 is in state 1 in Table 2, and shifts the rear wheels 53, 54 to the left when in state 2. Angle δ
(<Γ) steer. When the output of the detection unit 82 is in state 3 in Table 1, the rear wheels 53, 54 are not steered, and in state 4, the rear wheels 53, 54 are steered to the right by an angle δ. Then, the rear wheels 53 and 54 are steered to the right by an angle γ.

The steering angles of the front wheels 40, 41 and the rear wheels 53, 54 are obtained from signals output from the encoders 49, 71. For example, the encoders 49 and 71
The control circuit 91 counts the pulses each time the motor 7, 62 rotates by a predetermined angle, and obtains the steering angle.

The control circuit 91 has functions as turning control means for turning wheels, running control means for running and stopping the work vehicle 10, and machine control means for controlling the work machine 92. ing.

Next, the operation of the automatic traveling guidance device of the embodiment configured as described above will be described.

The traveling work vehicle 10 will be described as, for example, as shown in FIG. 2, automatically traveling along a direction indicated by an arrow P from a point Q1 to a point R.

First, as shown in FIG.
An AC current having a commercial frequency is supplied to the control cable 6 and a drive signal for driving the drive motors 72 and 73 by the command device 6 is transmitted as a signal obtained by interrupting the AC current flowing through the induction cable 3 as shown in FIG.

The signal coil 20 outputs an induced voltage corresponding to the intermittent current flowing through the induction cable 3, and the information receiver 90 receives a drive signal transmitted to the induction cable 3 from the induced voltage of the signal coil 20. Then, a pulse signal corresponding to the intermittent current is output.

The control circuit 91 drives the drive motors 50 and 70 in response to the pulse signal. By this drive, the work vehicle 10 travels straight from the point Q1 to the right (in FIG. 2). On the other hand, an induced voltage corresponding to the current flowing through the induction cable 3 is generated in the induction coils 21 to 30 as in the signal coil 20.

When the work vehicle 10 is traveling straight in the state shown in FIG. 2, since the induced voltage induced in the detection coils 23 and 28 becomes the largest, each comparator 8
Outputs E1 to E4 and F1 to F4 of 5a to 85d and 88a to 88d are at the L level as shown in State 3 of Tables 1 and 2. In this state, the control circuit 91 controls the steering motors 50, 7
0 is not driven, and only the drive motors 72 and 73 continue to be driven. As a result, the work vehicle 10 keeps traveling straight.

Now, when the front side of the work vehicle 10 is displaced as shown by the broken line in FIG. 2, the induced voltage of the detection coil 22 becomes the maximum voltage, and the outputs E1 to E4 of the comparators 85a to 85d become As shown in state 2 of [1], [LHL
L]. Further, since the induced voltage of the detection coil 28 is the maximum, the outputs F1 to F4 of the comparators 88a to 88d are output.
Remains at the L level as shown in State 3 of Table 2.

The control circuit 91 drives the steering motor 50 on the basis of the output of the detecting section 81 to control the front wheels 40, 4
1 is turned to the left by a predetermined angle α.

Since the outputs F1 to F4 of the comparators 88a to 88d are at the L level, the steering motor 70 is not driven, and the rear wheels 53 and 54 are not steered.

The traveling direction of the work vehicle 10 is corrected by turning the front wheels 40 and 41, and the work vehicle 10 returns to the regular traveling path 2. In this case, if the deviation of the traveling vehicle 10 from the traveling path 2 is large, the induced voltage of the detection coil 21 becomes maximum, the outputs E1 to E4 of the comparators 85a to 85d become the state 1 in Table 1, and the front wheels 40 and 41 are at the angle α. The vehicle is steered to the left by a larger angle β. As a result, the work vehicle 10 is quickly returned to the regular traveling path 2 even if the deviation amount is large.

When the work vehicle 10 returns to the regular traveling path 2, the induced voltage of the detection coil 23 becomes maximum. Thereby, the control device 91 rotates the steering motor 50 in the reverse direction,
The turning angles of the front wheels 40 and 41 are returned to zero. Thereby, the work vehicle 10 travels straight again.

When the front of the work vehicle 10 is shifted to the right (with respect to the induction cable 3) and the rear is shifted to the left as shown in FIG. 10, the induced voltage of the detection coil 21 becomes maximum, and the comparators 85a to 85d. Output E1 to E4 are as shown in state 1 of Table 1. Further, since the induced voltage of the detection coil 30 becomes maximum, the outputs F1 to F4 of the comparators 88a to 88d are output.
Is as shown in State 5 of Table 2.

The control circuit 91 includes comparators 85a-8
The front wheels 40, 41 are steered to the left by an angle β based on the outputs E1 to E4 of 5d, and the rear wheels 53, 54 are turned right by δ based on the outputs F1 to F4 of the comparators 88a to 88d. Steer. As a result, the work vehicle 10 is corrected so as to rotate in the counterclockwise direction, and returns to the regular traveling path 2. As described above, the steering control is performed according to the state of the deviation amount of the vehicle.
The means steers the wheels so that the vehicle speeds up to the regular
You can go back quickly.

Further, as shown in FIG. 11, the working vehicle 10
When the front part and the rear part are shifted to the left, the detection coil 25
And the detection voltage of the detection coil 29 becomes the maximum, the outputs E1 to E4 of the comparators 85a to 85d become as shown in the state 5 of Table 1, and the outputs F1 to E4 of the comparators 88a to 88d.
1 to F4 are as shown in State 4 of Table 2. Based on these outputs, the control circuit 91 moves the front wheels 40, 41 to the right by an angle β.
The rear wheels 53 and 54 are steered to the right by an angle δ.

As a result, the working vehicle 10 is corrected so as to move in parallel in the direction of the arrow S, and returns to the regular traveling path 2.
The vehicle travels along the guidance cable 3.

While the work vehicle 10 is traveling straight, for example, as shown in FIG.
As shown in FIG. 2, when the front wheel 40 rides on the convex portion 2a on the traveling path 2 and the work vehicle 10 is tilted, each of the detection coils 21 to
The induced voltage at 30 varies depending on the slope. But,
Even in this case, as long as the induced voltage of the detection coil 23 is the maximum, each of the comparators 85a to 85d and 88a to 88d
The outputs E1 to E4 and F1 to F4 of d remain at the L level as shown in State 3 of Tables 1 and 2.

Therefore, the front wheels 40 and 41 and the rear wheels 5
3, 54 is not steered, and the work vehicle 10 travels straight. In other words, the control device 91 determines that the work vehicle 10 is deviated from the regular travel path 2 even if the work vehicle 10 is tilted due to the unevenness of the travel path 2 and determines that the front wheels 40 and 41 and the rear wheels 53 and 54
Will not be steered.

When the work vehicle 10 reaches the corner Q2, the induced voltage of the detection coil 22 or the induced voltage of the detection coil 21 becomes the maximum, and the comparators 85a to 85a to 85d.
The outputs E1 to E4 of 5d are as shown in state 2 or state 1 in Table 1. Based on this output, the control circuit 91 steers the front wheels 40 and 41 to the left by an angle α or an angle β.
As a result, the work vehicle 10 turns left along the guide cable 3.

While the work vehicle 10 is running, the work machine 92
Is operated, the operation signal for operating the work machine 92 is sent to the guide cable 3 by the command device 6 shown in FIG. The transmission of this work signal
As shown in FIG. 4, the current flowing through the induction cable 3 is interrupted.

The signal coil 20 outputs an induced voltage corresponding to the intermittent current flowing through the induction cable 3, and the information receiver 90 receives a work signal transmitted to the induction cable 3 from the induced voltage of the signal coil 20. Then, a pulse signal corresponding to the intermittent current is output. Then, the control circuit 91
Operates the work machine 92 in response to the command of the pulse signal to spray the pesticide.

When the work vehicle 10 has traveled to the point R along the guide cable 3, a stop signal for stopping the work vehicle 10 is transmitted by the command device 6. This transmission is also performed by interrupting the alternating current flowing through the induction cable 3 as described above. By this transmission, the signal coil 20 outputs an induced voltage according to the intermittent current flowing through the induction cable 3, and the information receiver 90 outputs a pulse signal according to the intermittent current. The control circuit 91 stops the driving of the drive motors 72 and 73 according to the command of the pulse signal, and
Stop running at 0.

Since the frequency of the current flowing through the induction cable 3 is the commercial frequency f (50 Hz or 60 Hz), even if the length of the induction cable 3 is long, the impedance is not so large. The transformer 5 may be small. Further, since only the current of the commercial frequency is supplied, there is almost no attenuation in the middle of the induction cable 3. Therefore, there is no need to insert an amplifier or a coil in the middle of the induction cable 3 to compensate for the attenuation, so that the cost is low.

Further, the earth leakage circuit breaker, the protection relay, and the like can be used as they are with a commercial power supply, which is convenient.

Also, since the signal is transmitted with intermittent alternating current, the signal can be reliably transmitted to the work vehicle 10 even if the induction cable 3 is long, and the control of the work vehicle 10 and the work machine 92 can be performed. Can be easily performed.

In the above embodiment, the detection coils 21 to 30 are provided at the front and rear of the vehicle. However, only the detection coils 21 to 25 provided at the front may be used. In this case, the rear wheels 53 and 54 may not be configured to be steered. The detection coil 21
Although five to 25 are provided, the number is not limited to this, and for example, two may be provided. In this case, one detection coil is provided on each of the left and right sides, and the front wheels are steered so that the difference between the induced voltages of the detection coils becomes zero.

Further, in the above-described embodiment, the description has been given of the work vehicle for agriculture. However, the present invention is not limited to this and can be applied to a vehicle for construction work, a golf cart, and the like.

[0067]

According to the present invention, as described above, since the current of the commercial frequency flows through the induction cable, the impedance does not increase so much even if the induction cable is long. Therefore, the current supply means for supplying the current to the induction cable is not provided. A small one is acceptable. Also, since only the current of the commercial frequency flows, there is almost no attenuation in the middle of the induction cable.
There is no need to insert an amplifier or coil in the middle of the induction cable to compensate for the attenuation, so that the cost is low.

Further, since the earth leakage breaker, the protection relay and the like can be used as they are with the commercial power supply, it is convenient.

Furthermore, since the signal flowing through the induction cable is a signal obtained by interrupting the alternating current, it can be reliably transmitted to the vehicle even if the induction cable is long, and the vehicle and the working machine can be easily controlled. it can.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a control device according to the present invention;

FIG. 2 is a plan view showing a horticultural facility on which a work vehicle runs;

FIG. 3 is a circuit diagram showing a circuit for supplying a current to an induction cable;

FIG. 4 is an explanatory diagram showing a current and a signal flowing through an induction cable,

FIG. 5 is a front view showing the front of the work vehicle,

FIG. 6 is a plan view showing a plane of the working vehicle;

FIG. 7 is an explanatory diagram showing a configuration of a drive mechanism of wheels of a work vehicle,

FIG. 8 is a block diagram illustrating a configuration of a detection unit.

FIG. 9 is a block diagram illustrating a configuration of a detection unit;

FIG. 10 is an explanatory diagram showing an example of a state in which the work vehicle is displaced from the guidance cable,

FIG. 11 is an explanatory view showing another example of a state in which the work vehicle is displaced from the guide cable,

FIG. 12 is an explanatory view showing a state in which the work vehicle is tilted.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 2 Runway 3 Induction cable 4 Information transmitter (transmission means) 5 Isolation transformer (current supply means) 21-30 Detection coil (cable detection means) 90 Information receiver (reception means) 91 Control circuit (steering control means, travel) Control Means,
Machine control means)

 ──────────────────────────────────────────────────続 き Continuing on the front page (73) Utility model holder 591234765 Mori Kazuhiko 109-2 Nishi-Haze-cho, Takamatsu City, Kagawa Prefecture (73) Utility model holder 000238441 Yasuo Takeda 937-21 Asano, Kagawa-cho, Kagawa-gun, Kagawa Prefecture (72) Device Author Takeshi Imoto 368-4 Ichinomiya-cho, Takamatsu City, Kagawa Prefecture (72) Inventor Atsushi Yamashita 51-128, Fukukaku-cho Ko, Matsuyama-shi, Ehime Prefecture 72) Kazuhiko Mori 109-2, Nishi-Haze-cho, Takamatsu City, Kagawa Prefecture (72) Mitsuaki Hikita 1632-20 Mure-cho, Kure-gun, Kagawa Prefecture Shinpachi Kuridai housing complex (72) Yasuo Takeda Kagawa-gun, Kagawa Kagawa Prefecture 937-21, Town Asano (56) References JP-A-61-272809 (JP, A)

Claims (2)

(57) [Scope of request for utility model registration] 1. An automatic traveling guidance device for burying a guidance cable along a traveling path of a vehicle and automatically traveling the vehicle along the guidance cable, comprising: a current supply means for supplying a commercial frequency current to the guidance cable; Transmission means for intermittently intermitting a current flowing through the induction cable and transmitting a travel control signal for causing the vehicle to run or stop, wherein an induction induced by the current flowing through the induction cable is provided.
A voltage is output according to the distance to the induction cable.
1. Install the second cable detection means at both ends in the vehicle width direction.
Provided at an intermediate position between the first and second cable detecting means.
Induced by the current flowing through the induction cable
Outputs the induction voltage according to the distance to the induction cable.
Third cable detecting means, and the first cable detecting means and the third cable detecting means
Between the induction cables
The induced voltage induced depends on the distance to the induction cable.
Between the second cable detecting means and the third cable detecting means.
Between the induction cables
The induced voltage induced depends on the distance to the induction cable.
Fifth cable detecting means that outputs the same signal, and the induced voltage and the first cable that are output by the third cable detecting means.
First comparing means for comparing the induced voltage output from the
And the induced voltage output by the third cable detecting means and the second cable.
Second comparing means for comparing the induced voltage output from the
And the induced voltage output by the third cable detecting means and the fourth cable
Comparison means for comparing the induced voltage output from the
And the induced voltage output by the third cable detecting means and the fifth cable
Comparison means for comparing the induced voltage output from the
And the first and second bits compared by the first and second comparing means.
The induced voltage of the cable detection means is induced by the third cable detection means.
If it is higher than the electromotive voltage,
Steer the wheels at a large angle so that
Serial third, fourth, fifth cases compared by the fourth comparisons means
The induced voltage of the cable detecting means is induced by the third cable detecting means.
If the voltage is higher than the voltage,
Steering to steer the wheels at a small angle to run
Control means ; receiving means for receiving a travel control signal sent to the guide cable; and travel control means for causing the vehicle to travel or stop based on the travel control signal received by the reception means. An automatic driving guidance device, characterized in that: 2. An automatic traveling guidance device for burying a guidance cable along a traveling path of a vehicle and automatically traveling the vehicle along the guidance cable, comprising: a current supply means for supplying a commercial frequency current to the guidance cable; Transmitting means for transmitting a work signal for controlling a work machine mounted on the vehicle as an intermittent signal obtained by intermittently intermitting a current flowing through the induction cable , wherein an induction induced by the current flowing through the induction cable is provided.
A voltage is output according to the distance to the induction cable.
1. Install the second cable detection means at both ends in the vehicle width direction.
Provided at an intermediate position between the first and second cable detecting means.
Induced by the current flowing through the induction cable
Outputs the induction voltage according to the distance to the induction cable.
Third cable detecting means, and the first cable detecting means and the third cable detecting means
Between the induction cables
The induced voltage induced depends on the distance to the induction cable.
Between the second cable detecting means and the third cable detecting means.
Between the induction cables
The induced voltage induced depends on the distance to the induction cable.
Fifth cable detecting means that outputs the same signal, and the induced voltage and the first cable that are output by the third cable detecting means.
First comparing means for comparing the induced voltage output from the
And the induced voltage output by the third cable detecting means and the second cable.
Second comparing means for comparing the induced voltage output from the
And the induced voltage output by the third cable detecting means and the fourth cable
Comparison means for comparing the induced voltage output from the
And the induced voltage output by the third cable detecting means and the fifth cable
Comparison means for comparing the induced voltage output from the
And the first and second bits compared by the first and second comparing means.
The induced voltage of the cable detection means is induced by the third cable detection means.
If it is higher than the electromotive voltage,
Steer the wheels at a large angle so that
The fourth and fifth cases compared by the third and fourth comparing means.
The induced voltage of the cable detecting means is induced by the third cable detecting means.
If the voltage is higher than the voltage,
Steering to steer the wheels at a small angle to run
Control means ; receiving means for receiving a work signal sent to the guide cable; and work machine control means for controlling the work machine based on the work signal received by the receiving means, provided in the vehicle. Automatic driving guidance device characterized by the above-mentioned.