JP2554134Y2 - Automatic safety devices for self-driving vehicles - 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 safety device for an automatic traveling vehicle such as an automatic traveling chemical sprayer (speed sprayer) in an orchard or the like.

[0002]

2. Description of the Related Art Conventionally, in an orchard or the like, in an automatic traveling type chemical sprayer (speed sprayer) or the like, an alternating current is applied to an induction cable buried underground along a work path (induction path). A change in the intensity of the AC magnetic field generated from this induction cable is detected by a magnetic sensor such as a pair of left and right pickup coils attached to the front of the traveling vehicle, etc.
By taking the difference between the output values (voltage values) of the pair of left and right magnetic sensors generated in accordance with the magnitude of the lateral displacement of the traveling vehicle with respect to the guide cable, the magnitude of the lateral displacement (deviation amount) and the direction of the lateral displacement ( From the detection results, steering control is performed by changing the direction of the steered wheels of the traveling vehicle so that the traveling vehicle travels along the guide cable (actually, left or right). See JP-A-2-84909).

Further, Japanese Patent Application Laid-Open No.
In Japanese Patent Application Laid-Open No. 196709, in an automatic traveling vehicle, power from an engine is transmitted to a pair of left and right traveling crawler traveling devices via a pair of left and right steering clutches and steering brakes, and the pair of left and right steering clutches and steering wheels are controlled. When the directional brake is operated via the left and right steering hydraulic cylinders,
A configuration is disclosed in which the steering clutch is disengaged first, and then the steering brake is actuated to enable steering, and the pair of steering hydraulic cylinders is controlled by a control valve of a hydraulic circuit.

[0004]

When the traveling device is a four-wheel type or the like, the steering device (steering device), the traveling clutch device for disconnecting the power from the engine, and the forward movement of the traveling vehicle Usually, a brake device for stopping (retreat) is provided. When the traveling vehicle is moved to a predetermined work start position, it is necessary for an operator to board the vehicle and perform a normal so-called manual operation (driving) such as a steering operation, a disconnection operation of a traveling clutch, and a brake operation. In that case, the travel clutch device and the brake device execute separate manual operations (petal operations).

[0005] On the other hand, in the case of automatic traveling control, it is usual that only steering is automatically controlled while the traveling speed is kept substantially constant.
When an emergency stop is performed by detecting an obstacle or the like, in the related art, measures have been taken to stop the engine while controlling the automatic steering device to avoid the obstacle. In such a measure, the distance until the progress stops due to the inertia of the running becomes long, and there is a risk of colliding with an obstacle. Also, stopping the engine only on the slope does not completely stop the vehicle, and the traveling vehicle may slide on the slope.

Further, even if the brake is operated in a state where the power of the engine is transmitted to the traveling device, the braking distance cannot be shortened. A person cannot easily know the position of the traveling vehicle, and must walk to the location of the traveling vehicle body to restart the engine, which is inconvenient. It is also necessary to maintain a state in which the engine is not stopped when the traveling vehicle body is stopped when shifting from manual operation to automatic steering control.

Therefore, when it is desired to stop the traveling vehicle body during automatic steering control or the like, it is preferable to operate the traveling clutch device and the brake device simultaneously. On the other hand, when shifting from the manual operation to the automatic steering control, when the operator (pilot) gets off the traveling vehicle body, in order to prevent the traveling vehicle body from inadvertently moving, both operations of the traveling clutch device and the brake device are required. Section is in automatic mode,
And it is necessary to be in the operating state (petal depressed state). However, it is detected that both the operation units of the traveling clutch device and the brake device are in the connected state, and the automatic switch for setting the automatic steering control is turned on. Suddenly, when both the operation units of the traveling clutch device and the brake device suddenly enter the petal depressed state, there is a case where the operator's foot or the like exists at the petal part or below it, and the foot is forcibly It is dangerous because it is narrowed by a petal moved downward.

The present invention has been made in view of such circumstances, and has as its object to provide an automatic traveling vehicle that can safely execute traveling control.

[0009]

In order to achieve this object, according to the present invention, an automatic steering control device for controlling a steering device so that a traveling vehicle body travels along a guidance route is provided while the vehicle is mounted on the traveling vehicle body. In an automatic traveling vehicle including a traveling clutch device for disconnecting power transmission from a power source to a traveling device and a brake device for stopping the traveling device, both operating portions of the clutch device and the braking device are connected. A connection sensor for detecting a connection state by the connection means, a safety sensor for detecting that both of the operation units have been activated, and an automatic switch for activating an automatic steering control device. When the connection sensor, the safety sensor and the automatic switch are turned on, the automatic steering mode is set and the connection sensor and the automatic switch are turned on. Those having a control means for setting the manual mode when the either off operation of Re.

[0010]

Next, an embodiment in which the present invention is applied to an automatic traveling type chemical sprayer (speed sprayer) will be described. The speed sprayer has a driving operation unit 2 provided with a handle 3 on the front side of the traveling vehicle body 1, and the traveling vehicle body 1 includes a chemical liquid tank 4 having a substantially L-shape in plan view and a spraying unit 5 at a rear portion thereof. ing.

The spraying section 5 is provided with a large number of spray nozzles 6 facing radially outward at appropriate intervals on the outer peripheral surface of the traveling vehicle body 1 excluding the lower surface, and a blower 7 for sending wind outward in the radial direction.
The spray nozzle 6 can be spray-controlled so as to execute a spraying operation every three sections or two sections on the left and right and on the upper surface of the traveling vehicle body 1. Reference numerals 8 and 8 indicate left and right front wheels,
Reference numerals 9 and 9 denote left and right rear wheels. These four wheels are so-called four-wheel drive types that can be driven by power transmitted from an engine 10 through a traveling speed change mechanism 11, respectively.
0 from the blower 7 through another power transmission mechanism 12.
And the power pump 13 for the spray nozzle 6
Drive.

The steering device 14 with the steering wheel 3 is a power steering mechanism 15 including a mechanical or hydraulic system as shown in FIG. 3, and the power steering mechanism 15 is a double-acting hydraulic cylinder 17 in a hydraulic circuit 16. When the hydraulic cylinder 17 is operated and the hydraulic cylinder 17 is extended, the rear wheels 9 and 9 are changed to the left through a W-shaped bell crank 18 in a plan view, and via a connecting rod 19 and a V-shaped bell crank 20 in a plan view. So that the front and rear four wheels can be turned left and right to change their directions, such as changing the front wheels 8, 8 to the right (when the hydraulic cylinder 17 contracts, the front wheels are changed to the left and the rear wheels are changed to the right). It is a wheel steering type.

The hydraulic circuit 16 is shown in FIG.
Numeral 29 is an electromagnetic solenoid type control valve for the hydraulic cylinder 17 for automatic steering, numeral 29 is an electromagnetic solenoid type control valve for controlling the hydraulic cylinder 30 for operating the traveling clutch and brake, and numeral 23 is for manual steering operation. This is the control valve used in the case. The control valves 29 and 28 are connected to a hydraulic pipe 31 branched from the upstream of the control valve 23 for manual steering when hydraulic oil is fed from the hydraulic pump 22, and furthermore, a control valve for operating a traveling clutch and a brake. 29
Are connected in series so as to be upstream of the control valve 28 for automatic steering.

Accordingly, when the travel clutch and the brake are actuated via the control valve 29,
The hydraulic cylinder 30 operates preferentially, and the operation of the steering hydraulic cylinder 17 is secondary. At the time of manual steering, the oil sent from the hydraulic pump 22 is sent to the hydraulic motor 21 via the control valve 23, and the amount of oil sent from the hydraulic motor 21 is made to be proportional to the rotation angle of the handle 3. The oil is sent to a double-acting hydraulic cylinder 17 which is attached to the steering mechanism 15. At the time of automatic steering control, the hydraulic cylinder 1 is controlled by the hydraulic pump 22 via the neutral position of the control valve 29 and the electromagnetic solenoid type control valve 28.
7 to send hydraulic oil.

Reference numeral 25 denotes a steering angle sensor such as a potentiometer capable of detecting the steering angle of the front wheel 8. In this case, the average value of the direction angles of the left and right wheels may be obtained and detected. The front wheels and the rear wheels may be connected via separate hydraulic cylinder type power steering mechanisms so that the front wheels and the rear wheels may be individually controlled. A pair of right and left magnetic sensors 26a, 26
6b is provided. Each of the magnetic sensors 26a and 26b may be a pickup coil in which a conductor is wound in a coil shape, or may be a Hall element, a Hall IC, a magnetoresistive element, or a magnetic transistor. The intensity of an AC magnetic field generated around the induction cable 27 can be detected by an AC current having an appropriate frequency applied to the AC cable 27. The guide cable 27 is laid in a groove formed along a guide path, which is a work path in the orchard, or buried in the ground.

Reference numeral 60 shown in FIGS. 5 to 8 denotes a traveling clutch (not shown) provided in connection with the traveling speed change mechanism 11.
The reference numeral 61 designates a brake petal for a conventionally known hydraulic type or the like brake mechanism, and these petals are provided in a control section. A boss 64 to which the base of the brake petal 61 is fixed is fixed by a pin 65 fitted to one end of a support shaft 63 rotatably inserted into a bearing cylinder 62 having a fixed position and integrally rotated. The configuration is as follows. The base of the clutch petal 60 is fixed to a cylinder 66 rotatably fitted to a support shaft 63 extending from the other end of the bearing cylinder 62, and a support shaft is provided on the opposite side of the cylinder 66 with respect to the cylinder 66. A boss 67 fitted to 63 is fixed via a pin 68, and a brake operating rod 71 is attached to an arm 69 fixed to the boss 67 via a buffer spring 70.

An operating rod 73 connected to a traveling clutch mechanism (not shown) is connected to an arm 72 protruding from the cylinder 66 to which the clutch petal 60 is attached. Code 7
Reference numeral 4 denotes a connecting pin for connecting the cylindrical body 66 and the support shaft 63 when integrally rotating. The connecting pin 74 is slidable on an L-shaped cross-section bracket 76 projecting from the outer peripheral surface of the cylindrical body 66. And a front end portion 74a of the coupling pin 74 is supported from a support hole 78 in the cylindrical body 66 by an urging spring 75 interposed between a bracket 77 and a bracket 76 fixed to the distal end side of the coupling pin 74. Advancing toward the coupling hole 79 drilled in the shaft 63,
The traveling clutch and the brake are operated almost simultaneously (power cutoff and braking) by the depression of one of the support shaft 63 and the cylinder 66, and eventually one of the brake petal 61 and the clutch petal 60.

A boss 8 provided on the outer surface of the bracket 76
0 is an engaging pin 81 penetrated through the shaft of the coupling pin 74.
Is formed, and the coupling pin 74 is retracted (moves in a direction in which the distal end portion 74a comes out of the coupling hole 79), and the coupling pin 74 is removed in a state where the engagement pin 81 comes out of the concave groove 82. When the connecting pin 7 is rotated around its axis and brought into contact with the outer surface of the boss 80 (see the dashed line in FIG. 8),
4 can be held in a state in which the front end 74a is disengaged from the coupling hole 79. Reference numeral 83 denotes a sensor such as a limit switch for detecting a state in which the support shaft 63 and the cylindrical body 66 are integrally rotatably coupled by the coupling pin 74. Approaching 83 (contact)
It is detected that it is in the connection state when it is done.

The piston rod 30a of the hydraulic cylinder 30 for integrally and substantially simultaneously operating the clutch and the brake is rotatable via a bracket 85 on an engaging shaft 84 protruding from the operating rod 60a of the clutch petal 60. And the base end of the hydraulic cylinder 30 is attached to the fixed frame 86 by the rotating shaft 8.
7 so as to be rotatable. As a result, when the hydraulic cylinder 30 is operated in the coupled state by inserting the coupling pin 74, the support shaft 63 and the cylindrical body 66 are integrally and forcibly driven to rotate, and the power is applied by the traveling clutch. Shutting off and braking are performed substantially simultaneously. In addition,
By forming the diameter of the coupling hole 79 larger than the diameter of the tip end portion 74 a of the coupling pin 74 (at least in the direction of rotation about the axis of the coupling pin 74), the support shaft 63 is rotated after the cylinder 66 is appropriately rotated by an angle. As a result, the turning off (power cutoff) of the traveling clutch can slightly precede the braking operation, and it is possible to prevent the engine from stopping at the time of sudden braking (at the time of emergency stop).

The safety sansey 90 includes a support shaft 63 and a cylindrical body 66.
When the clutch petal 60 or the brake petal 61 is depressed with a foot or is depressed by the operation of the hydraulic cylinder 30 (projection of the piston rod) in a state where the two are integrally rotated. Sometimes, it is to detect the state. The safety sensor 90 is
As shown in FIG. 7, it is provided at a position associated with an engagement shaft 84 or a bracket 85 protruding from the piston rod 30a of the hydraulic cylinder 30 or the operating rod 60a of the clutch petal 60.

FIGS. 9 and 10 show a control device 3 in the case where the above control is executed by software of a microcomputer.
2 is a functional block diagram, and a central processing unit 33 such as a microcomputer has a readable / writable memory (RAM).
34 and a read-only memory (ROM) 35 are connected. Further, the central processing unit 33 transmits the detection signals from the magnetic sensors 26a and 26b to the A / D converter 36,
After being converted into a digital signal at 36, the digital signal is input, and the central processing unit 33 calculates the amount of deviation of the lateral displacement of the center line of the traveling vehicle body 1 with respect to the axis of the guide cable 27 and whether the lateral displacement direction of the vehicle body is left or right. It is.

A pair of left and right magnetic sensors are provided before and after the traveling vehicle body 1 to operate the front steering device based on the detection and calculation results of the front pair of magnetic sensors, while detecting and calculating results of the rear magnetic sensor. , The rear steering device may be configured to operate. Reference numeral 40 denotes a level sensor of an electric resistance type or the like for detecting the level of the chemical solution (water surface height) in the chemical solution tank 4, and reference numeral 41 denotes a flow rate detection sensor for detecting the consumption of the chemical solution at the time of spraying. An emergency stop signal input unit 88 or the like by a wireless operation device (radio controller) not shown is connected to an input terminal of an interface in the central processing unit 33.

The connection sensor 83, the safety sensor 91, and an automatic switch 92 for setting an automatic steering state are connected as shown in FIG.
3 input terminal. Reference numeral 93 denotes a relay associated with closing the contact (opens the contact when turned off) by turning on the connection sansey 83, and reference numeral 94 denotes a relay associated with closing the contact (opens the contact when turned off) when the safety sensor 90 is turned on. Reference numeral 95 denotes a relay associated with closing the contact when the automatic switch 92 is turned on (opening the contact when the automatic switch 92 is turned off). When the connection sensor 83, the safety sensor 90, and the automatic switch 92 are simultaneously turned on, the central processing unit 95 33 automatic mode terminal 96 is "high (H)"
And enters the automatic steering mode. When either one of the connection sensor 83 and the automatic switch 92 is in the off state, the automatic mode terminal 96 becomes "low (L)", and the operation mode is the manual mode.

In the manual mode, the hydraulic cylinder 30 is not normally operated, and the traveling clutch device and the brake device are separately operated by depressing the petals 60 and 61 with feet. Steering is performed by the operator manually turning the steering wheel 3. In the automatic steering mode, the automatic steering control is executed and the emergency stop signal is output from the input unit 88.
Then, the electromagnetic solenoid 29a of the control valve 29 operates, and the traveling clutch device and the brake device operate substantially simultaneously (power transmission cutoff and control are executed). When the power transmission cutoff and the braking are released, the electromagnetic solenoid 29b operates.

In the above embodiment, the connection sensor 83
, A safety sensor 90, an automatic switch 92, and relays 93, 94, 95 connected in relation thereto.
Although the control means for selecting (determining) the manual mode and the automatic steering mode is constituted by the hardware electric circuit of the above, the control program stored in the central processing unit 33 in advance, the connection sensor 83 and the safety sensor 90 The control may be executed by determining whether the automatic switch 92 is on or off.

The following are connected to the output terminals of the interface in the central processing unit 33. That is, a drive circuit 43 for the electromagnetic clutch of the power pump 13 for sending the chemical solution from the liquid tank 4 to the spray nozzle 6, and an adjustment valve 44 provided in the middle of the chemical solution flow pipe to adjust the flow rate of the liquid and to shut off the same. Drive circuit 45 and the control valve 28 for automatic steering
Drive circuit 46 for right-hand steering electromagnetic solenoid 28R
Drive circuit 47 for the left steering electromagnetic solenoid 28L
And an indicator lamp 48 which lights when the chemical level in the chemical tank 4 becomes minimum, and a control valve 2 of the hydraulic cylinder 30 for the traveling brake and the clutch of the traveling body 1.
9 is connected to the actuator drive circuit 50 for operating the electromagnetic solenoid.

Then, a pair of left and right magnetic sensors 26a, 26b provided on the traveling vehicle body 1 are processed by the central processing unit 33.
Calculates the lateral shift amount with respect to the induction cable 27 detected in the above, and from this detected lateral shift amount and the detection value of the steering angle sensor 25, obtains a steering correction command amount signal for performing steering control so as to reduce the lateral shift amount, Electric drive circuit 4
6, 47 are given drive pulse signals.

Based on the detected value, the induction cable 27
, The so-called electromagnetic induction steering control is executed. In this configuration, first, the connecting pin 74 of the connecting mechanism is retracted (moves in a direction in which the tip portion 74a comes out of the connecting hole 79), and the engaging pin 81 protruding from the connecting pin is removed from the concave groove 82 of the boss 80. In a state where the connecting pin 74 is pulled out, the connecting pin 74 is rotated about its axis to make contact with the front surface of the boss 80 (see the dashed line in FIG. 8).
Thus, the distal end portion 74a of the coupling pin 74 can be kept out of the coupling hole 79. As a result, the integral relationship between the support shaft 63 and the cylindrical body 66 is released, and the operator can separately operate the petal 60 for the traveling clutch and the petal 61 for the brake device, and the connecting sansey 83 is turned off.

Then, the operator sitting on the seat of the driving operation unit sets the automatic switch 92 to off, and the engine 10
Is started, and the traveling vehicle body 1 is positioned at the work start position along the guide cable 27. Next, in order for the traveling vehicle body 1 to travel unattended to perform the medicine spraying operation, the connecting pin 7
4 is inserted into the coupling hole 79 of the support shaft 63 and the traveling clutch and the brake are set so that they can be operated substantially simultaneously.

Next, the operator sets the traveling speed, performs the initial setting of the medicine spraying direction and the like, turns on the clutch of the blower fan 7 and rotates the same. Then, the operator turns the clutch petal 60 or the brake petal 61 on. The automatic switch 92 is turned on while the foot is depressed. As a result, the safety sensor 90 is turned on and the drive circuit 5
0 to operate the piston rod 30 of the hydraulic cylinder 30
a is protruded to maintain the state in which the braking is activated, that is, the position stop state of the traveling vehicle body 1.

In the above operation, the connection sensor 83
Since all three of the safety sensor 90 and the automatic switch 92 are on, the automatic steering mode is entered. Next, the operator descends from the traveling vehicle body 1 and then turns on the power spray driving circuit 43 and turns on the driving circuit 50 by remote control (wireless steering operation) or by turning on a switch (not shown) provided on the traveling vehicle body. Activate, release the traveling clutch and release the brake, and move the traveling vehicle body 1 forward.

In this way, the spraying operation is performed while the vehicle body 1 is automatically controlled to steer along the guide cable 27. When an emergency stop is desired, a stop signal is transmitted from a remote control wireless operation device (radio controller), and when the stop signal is received by the emergency stop signal input unit 88, the control signal is located upstream of the steering control valve 28 in the hydraulic circuit. Since the control valve 29 provided on the side is operated, the control valve 29 can be preferentially controlled so as to operate the hydraulic cylinder 30 even when the steering control valve 28 is performing the circulating control. Irrespective of the execution or non-execution of, the traveling of the traveling vehicle can be reliably stopped and the engine can be prevented from being stopped.

Since the traveling clutch and the brake are operated substantially simultaneously, braking can be performed with the power from the engine shut off, the braking distance can be shortened, and braking can be reliably performed when stopped on a slope. it can. When the central processing unit 33 calculates a detection signal from an optical sensor for detecting an obstacle, an ultrasonic sensor 92 or the like instead of the emergency stop signal input unit 88 and determines that there is an obstacle, the control valve 29 may be activated.

It is needless to say that the present invention can be applied not only to the medicine spraying machine but also to other automatic traveling vehicles for work. In addition, the detection of the guidance route may be such that an obstacle is avoided by using an optical sensor or an ultrasonic sensor, or control is performed so as to follow the target.

[0035]

In the present invention, an automatic steering control device for controlling a steering device so that a traveling vehicle body travels along a guidance route is provided, and power transmission from a power source mounted on the traveling vehicle to the traveling device. Connecting means for connecting both operating parts of the clutch device and the brake device in an automatic traveling vehicle including a traveling clutch device for disconnecting the vehicle and a brake device for stopping the traveling device, and the connecting device A connection sensor for detecting a connection state by the control unit, a safety sensor for detecting that both of the operation units are in an operation state, and an automatic switch for operating an automatic steering control device. When three of the switches are turned on, set to the automatic steering mode,
When one of the connection sensor and the automatic switch is turned off, a control unit is set to a manual mode. Then, since both the operation units of the clutch device and the brake device can move in the manual mode or the automatic steering mode, when shifting from the manual mode to the automatic steering mode, if the automatic switch is turned on as in the conventional technology,
If both the operation units of the clutch device and the brake device are forcibly shifted to the operating state, the operator (operator) may still be in a state of manual operation (manual mode), which may be dangerous.

On the other hand, in the present invention, the operator (operator) previously activates both the operation units of the clutch device and the brake device by manual operation (manual mode) and then shifts to the automatic steering mode. Since the control is performed such that the setting can be performed as described above, the operation procedures of both the operation units of the clutch device and the brake device are not confused, and the safety of the operator (operator) operating this operation unit can be ensured.

Therefore, there is an effect that the traveling vehicle can be shifted to the automatic steering mode under a safe condition.

[Brief description of the drawings]

FIG. 1 is a side view of a medicine sprayer.

FIG. 2 is a plan view of the medicine sprayer.

FIG. 3 is a schematic plan view of the steering device 14;

FIG. 4 is a control hydraulic circuit diagram of the steering device.

FIG. 5 is a perspective view showing a connection mechanism of a petal to a traveling clutch and a brake.

FIG. 6 is a plan view showing a partial cross section of a petal connection mechanism.

7 is a side view taken along the line VII-VII in FIG. 6;

FIG. 8 is an enlarged sectional view taken along the line VIII-VIII in FIG. 5;

FIG. 9 is a functional block diagram of a control device.

FIG. 10 is a functional block diagram of a control device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 traveling vehicle body 3 handle 6 spray nozzle 7 blower 8,8 front wheel 9,9 rear wheel 10 engine 11 traveling transmission mechanism 12 power transmission mechanism 13 power pump 14 steering device 16 hydraulic circuit 17 hydraulic cylinder 22 hydraulic pump 23 control valve 25 steering angle Sensor 26a, 26b Magnetic sensor 27 Induction cable 28 Control valve for automatic steering 29 Control valve 30 Hydraulic cylinder 32 Control device 33 Central processing unit 43, 45, 46, 47 Drive circuit 60 Clutch petal 61 Brake petal 63 Support shaft 66 Cylindrical body 74 Coupling pin 83 connection sensor 88 emergency stop signal input section 90 safety sensor 92 automatic switch 93,94,95 relay

Claims (1)

(57) [Scope of request for utility model registration] An automatic steering control device for controlling a steering device so that a traveling vehicle body travels along a guidance route, and for interrupting power transmission from a power source mounted on the traveling vehicle body to the traveling device. In an automatic traveling vehicle including a traveling clutch device and a brake device for stopping the traveling device, a coupling unit for coupling both operation units of the clutch device and the brake device, and a coupling state by the coupling unit is detected. A connection sensor, a safety sensor for detecting that both of the operation units have been activated, and an automatic switch for activating an automatic steering control device, wherein the connection sensor, the safety sensor, and the automatic switch are turned on. Control to set to the automatic steering mode when operating, and to set to manual mode when turning off either the connection sensor or the automatic switch An automatic safety device for an automatic traveling vehicle, comprising: