JP2643101B2 - Unmanned traveling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned traveling device such as an unmanned lawn mower.

[0002]

2. Description of the Related Art If a lawn mower or the like is completely unmanned, it is necessary to take measures against off-track, but conventionally, it has not been possible to sufficiently cope with such a problem.

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to cope with an emergency departure which occurs when a lawn mower or the like is completely unmanned.

[0004]

According to a first aspect of the present invention, there is provided an unmanned traveling apparatus that automatically travels on a predetermined traveling route by detecting an object buried in the ground by a detection sensor installed on the unmanned traveling vehicle. The control means causes the unmanned traveling vehicle to move backward for a predetermined time when the detection sensor does not detect the guidance guide for a predetermined time or more, and stops the unmanned traveling vehicle if the detection sensor does not detect the guidance guide during that time. It is an unmanned traveling device characterized by.

[0005]

[0006]

[0007]

[0008]

[0009]

[0010]

[0011]

FIG. 1 is a schematic plan view of an unmanned lawn mower using a travel control device according to an embodiment of the present invention, and FIG. 2 is a schematic front view thereof. It comprises two axles 3 rotatably supported by the vehicle body 2 and wheels 4 fixed to both ends of the axle 3. The traveling vehicle body 2 is provided with a magnetic field generator 5 for generating an alternating magnetic field, and detection sensors 6 a and 6 b located on both sides of the magnetic field generator 5 and detecting a change in the alternating magnetic field of the magnetic field generator 5. I have. The magnetic field generator 5 includes, for example, a coil wound around a core and an oscillator that supplies an alternating current to the coil. The detection sensors 6a and 6b include, for example, coils.

As shown in FIG. 3, the traveling vehicle body 2 further includes an engine 8, clutches 9, 10, a transmission 11, and a speed reducer 12, as shown in FIG.
And a lawn mower 13. Power of the engine 8 is transmitted to the wheels 4 via a clutch 9, a transmission 11 for switching between forward and reverse, and an axle 3, and a clutch 10 and a speed reducer 12. And the cutter unit 14 of the lawn mower 13
To the lawn mower 13
The cutter section 14 is rotated to perform the lawn mowing operation.

As shown in FIGS. 3 and 4, the traveling vehicle body 2 further includes a control device 16 including a microcomputer or the like as control means for controlling operations of the unmanned traveling vehicle 1 and the lawnmower 13, and an end point described later. An end point detection sensor 17 for detecting a signal from the signal generator, an obstacle detection sensor 18 for detecting an obstacle in front of the unmanned vehicle 1 using, for example, ultrasonic waves or light, and a weight or pressure for example Fullness detecting sensor 19 for detecting that the herbage bag (not shown in this embodiment) containing the cut grass cut by the lawn mower 13 using light or sound waves or the like is full. A cutter unit rotation speed detection sensor 20 that detects the rotation speed of the cutter unit 14 directly or indirectly from the rotation speed of the engine 8;
A receiving device 21 that receives a signal from a transmitting device described below,
An automatic / manual switch 22 for switching between automatic operation and manual operation of the unmanned traveling vehicle 1 and the lawnmower 13 is mounted. The traveling vehicle body 2 (FIG. 2) includes a transmission actuator 23 that operates in response to an electric control signal to switch the transmission 11 between forward and reverse, an ignition system 24 of the engine 8, and electrical control. Unmanned traveling vehicle 1 operated by signal
Actuator 25 for driving the clutch 9
And a clutch actuator 2 which is operated by an electric control signal to turn on / off the clutch 10 of the lawn mower 13.
6, a brake actuator 27 that is activated by an electric control signal to drive a brake (not shown) of the unmanned traveling vehicle 1, and a lawn mower 1 that is activated by an electric control signal.
3, a brake actuator 28 for driving a brake (not shown), a steering actuator 29 for operating a steering device (not shown) of the unmanned vehicle 1 in response to an electric control signal, and an electric actuator. A notifying unit 30 which is activated by a control signal and continuously or intermittently issues an alarm by, for example, light or sound until a reset operation is performed is mounted. The control device 16 includes a CPU 32 and a CPU 3
Input interface 3 for supplying various input signals to 2
3, an output interface 34 for supplying a control signal from the CPU 32 to various control targets, and a memory 35 for storing various information. Detection sensor 6
a, 6b (FIG. 2), end point detection sensor 17, obstacle detection sensor 18, fullness detection sensor 19, cutter section rotation speed detection sensor 20, receiving device 21, automatic / manual changeover switch 22
From the CPU via the input interface 33
The control signal from the CPU 32 is input to the transmission actuator 2 via the output interface 34.
3, ignition system 24, clutch actuators 25, 2
6, output to the brake actuators 27 and 28, the steering actuator 29, and the notification means 30 as appropriate.

As shown in FIG. 5, a linear ferromagnetic body 38 is continuously buried as a guide in the traveling route of the unmanned traveling vehicle 1, and a home position serving as an end point and a starting point of the unmanned traveling vehicle 1 is provided. In the vicinity of the upstream side of P, an end point signal generator 39 that emits light or ultrasonic waves and notifies that the home position P is near is installed. The ferromagnetic material 38
May be intermittently buried along the traveling route of the unmanned traveling vehicle 1. At each corner of the work area 40 for lawn mowing work by the unmanned traveling vehicle 1, an intruder detection sensor 43, which includes a transmitter 41 and a receiver 42 and detects an external intruder using, for example, light or ultrasonic waves, is provided. is set up. The intruder detection sensor 43 can be switched between an operating state and a non-operating state by manual operation. The output terminal of the intruder detection sensor 43 is connected to the input terminal of the transmission device 44, and the transmission device 44 transmits the fact that the intruder detection sensor 43 has detected the intruder using, for example, radio waves or light, This is received by the receiving device 21 (FIG. 4) of the unmanned traveling vehicle 1.

Next, the operation will be described. The unmanned traveling vehicle 1 travels from the home position P in the direction of the arrow in FIG. 5 along the ferromagnetic material 38, and the lawn mower 13 cuts the lawn. At this time, the magnetic field generated by the magnetic field generator 5 and the ferromagnetic material 3
8 and the magnetic field generator 5 is located directly above the ferromagnetic body 38, the magnetic flux linked to the detection sensor 6a is equal to the magnetic flux linked to the detection sensor 6b. In this case CP
U <b> 32 causes the unmanned traveling vehicle 1 to go straight without operating the steering actuator 29. When the unmanned traveling vehicle 1 shifts to the left with respect to the ferromagnetic body 38 as shown in FIG. 6, the magnetic flux linked to the detection sensor 6a becomes larger than the magnetic flux linked to the detection sensor 6b. The CPU 32 detects this by signals from the detection sensors 6a and 6b, and operates the steering actuator 29 to move the unmanned traveling vehicle 1 to the right. Conversely, when the unmanned traveling vehicle 1 shifts to the right with respect to the ferromagnetic body 38 as shown in FIG. 7, the magnetic flux linked to the detection sensor 6b becomes larger than the magnetic flux linked to the detection sensor 6a. The CPU 32 detects this by signals from the detection sensors 6a and 6b, and operates the steering actuator 29 to move the unmanned traveling vehicle 1 to the left. Thus, the unmanned vehicle 1 travels along the ferromagnetic body 38 while automatically correcting the trajectory. When the unmanned traveling vehicle 1 travels by itself while doing lawn mowing work and returns to just before the home position P, the end point detection sensor 17
Detects the signal of the end point signal generator 39, the CPU 32 shuts off the ignition system 24 and stops the engine 8. Thereby, the unmanned traveling vehicle 1 slightly travels by inertia and stops at the home position P.

If an obstacle is present in front of the unmanned traveling vehicle 1 while traveling, the obstacle detecting sensor 18 detects this, and the traveling of the unmanned traveling vehicle 1 is temporarily stopped. When the detection state is continued for a predetermined time or more, the engine 8 is stopped and an alarm is issued by the notification means 30. CPU at this time
The operation of No. 32 will be described with reference to the flowchart of FIG. Normally, the CPU 32 enters an obstacle detection routine at predetermined time intervals, first sets a program timer in step a, and proceeds to step b to proceed to the obstacle detection sensor 18.
It is determined whether or not an obstacle is detected based on the detection signal from the vehicle. If detected, the process proceeds to step c, where a control signal is output to the brake actuators 27 and 28, and the unmanned traveling vehicle 1 and the lawn mower 13 are controlled. The brake is operated, and the process further proceeds to step d, where the clutch actuator 25,
A control signal is output to 26 and the clutch 9 of the unmanned traveling vehicle 1 and the clutch 10 of the lawnmower 13 are disengaged. Then, the process proceeds to step e to determine whether the program timer has timed out. If the time is over, proceed to step f to shut off the ignition system 24 to stop the engine 8, further proceed to step g to start the operation of the notifying means 30, and proceed to step h to reset the program timer. And return. If no obstacle is detected in step b, the process proceeds to step i to output a control signal to the clutch actuators 25 and 26 to connect the clutch 9 of the unmanned vehicle 1 and the clutch 10 of the lawnmower 13, and further to step j To output control signals to the brake actuators 27 and 28 to release the brakes on the unmanned vehicle 1 and the lawnmower 13,
Proceed to step h. If the time has not elapsed in step e, the process returns to step b. The operation timing of the notification means 30 may be located between step f and step h as described above, or may be located between step d and step e.

If the load on the cutter unit 14 increases during the lawn mowing operation and the number of revolutions falls below a set value, the unmanned traveling vehicle 1
Moves backward until the rotation speed of the cutter section 14 exceeds the set value, and then advances again. The operation of the CPU 32 at this time will be described with reference to the flowchart of FIG. Normally, the CPU 32 enters a routine for detecting the rotation speed of the cutter unit at predetermined time intervals. First, in step a, it is determined whether or not the rotation speed of the cutter unit 14 has exceeded a set value by a detection signal from the sensor 20 for detecting the rotation speed of the cutter unit. If the value is equal to or less than the set value, the process proceeds to step b to output a control signal to the clutch actuator 25 to disengage the clutch 9, and further proceeds to step c to output a control signal to the transmission actuator 23 and The forward gear 11 is turned off, the process further proceeds to step d, and a control signal is output to the transmission actuator 23 to turn on the reverse gear of the transmission 11, and further proceeds to step e to send a control signal to the clutch actuator 25. It returns after outputting and connecting the clutch 9. If it is determined in step a that the rotational speed exceeds the set value, the process proceeds to step f to determine whether or not the transmission 11 is in a reverse state. 25, the control signal is output to the transmission actuator 23, and the control signal is output to the transmission actuator 23.
1 to turn off the reverse gear, and further proceeds to step i to output a control signal to the transmission actuator 23 so that the transmission 1
The first forward gear is turned on, and the process further proceeds to step j to output a control signal to the clutch actuator 25 to connect the clutch 9, and then returns. If it is determined in step f that the transmission 11 is not in the reverse state, the routine returns.

When the grass bag is full with the cut grass cut by the lawn mower 13, the unmanned traveling vehicle 1 stops running and the alarm means 30 is activated to issue an alarm. CPU at this time
The operation of No. 32 will be described with reference to the flowchart of FIG. Normally, the CPU 32 enters a full capacity detection routine at predetermined time intervals.
It is determined whether or not the herb bag is full based on the detection signal from the controller, and if it is, the process proceeds to step b to output a control signal to the brake actuators 27 and 28 to output the unmanned vehicle 1
Then, the brake of the lawn mower 13 is operated, and further proceeds to step c to shut off the ignition system 24 to stop the engine 8, and further proceeds to step d to start the operation of the notifying means 30, and then returns. If it is determined in step a that the herb bag is not full, the routine returns. The operation timing of the notifying means 30 may be positioned after step c as described above, or may be set at step b and step c.
And may be located between them. In this case, step d is set to be continued for a certain period of time.

If an outside intruder enters the work area 40, the unmanned traveling vehicle 1 stops traveling and the informing means 30
Activates and issues an alarm. The operation of the CPU 32 at this time will be described with reference to the flowchart of FIG. Normally, the CPU 32 enters an intruder detection routine at predetermined intervals. First, in step a, it is determined whether or not there is an intruder based on a signal received by the receiving device 21. To activate the brakes of the unmanned traveling vehicle 1 and the lawnmower 13, further proceeds to step c, shuts off the ignition system 24 and stops the engine 8, further proceeds to step d, and proceeds to step d. After starting the operation, return. If it is determined in step a that there is no intruder, the process returns. The operation timing of the notification means 30 may be located after step c as described above, or may be located between step b and step c. In this case, step d is set to be continued for a certain period of time.

As described above, the ferromagnetic material 38 is embedded in the ground, and the magnetic field generator 5 and the detection sensors 6a, 6a,
6b to control the automatic traveling, so that the production cost can be reduced as compared with the remote control as in the conventional device, and the alternating current can be applied to the electric wire over the entire running path as in the conventional device. In this way, energy is saved and running costs can be reduced as compared with those that generate an alternating magnetic field.

As shown in FIGS. 12 to 14, the magnetic field generator 5 may be a non-magnetic one having a permanent magnet 48 attached to the outer periphery of a rotating body 47 fitted and fixed to the axle 3. Good. In this case, no power is required to generate the alternating magnetic field, and the running cost can be further reduced. Moreover, since the ferromagnetic material 38 is simply buried in the ground, the manufacturing cost can be reduced as compared with the case where the magnet is buried. Further, if the rotating body 47 to which the permanent magnet 48 is attached and the detection sensors 6a and 6b are attached to the front and rear of the traveling vehicle body 2 as in this embodiment, the same control can be performed when the vehicle is traveling backward as when traveling forward. Become. 15 and FIG.
As described above, two rotating bodies 47 to which the permanent magnets 48 are attached may be fitted and fixed to one axle 3.

As shown in FIGS. 17 and 18, permanent magnets 51 are embedded as guides at predetermined intervals along the traveling path of the unmanned traveling vehicle 1, and are coupled to the traveling vehicle main body 2 with the magnetic field of the permanent magnets 51. A magnetic body 52 may be provided. Also in this case, as shown in FIG. 19 and FIG. 20, a difference is generated between the magnetic flux linking the detection sensor 6a and the magnetic flux linking the detection sensor 6b due to the bias of the unmanned vehicle 1, similar to the first embodiment. The traveling can be controlled. In this case, power is not required to generate the magnetic field, and the running cost can be further reduced. The permanent magnet 51 may be continuously embedded along the traveling route of the unmanned traveling vehicle 1. As shown in FIGS. 21 and 22, the cutter unit 14 of the lawn mower 13 may be used as a ferromagnetic material. The cutter portion 14 has a substantially swastika shape as shown in FIG. 23, and also in this case, as shown in FIGS. 24 and 25, the magnetic flux linked to the detection sensor 6a and the magnetic flux linked to the detection sensor 6b due to the bias of the unmanned traveling vehicle 1. And a travel control can be performed in the same manner as in the first embodiment. Further, as the ferromagnetic substance, a ferromagnetic substance attached to a rotating body made of a non-magnetic substance that rotates around the vertical axis may be used. In the case where the permanent magnet 51 is used as the guide as in these embodiments, FIGS.
Similarly to the third embodiment, the detection sensors 6a and 6b may be provided before and after the unmanned traveling vehicle 1, respectively.

As shown in FIG. 26, when the detection sensors 6a and 6b do not detect the guidance signal for a certain period of time, the unmanned traveling vehicle 1 may be stopped. That is, CPU
32 enters the guidance signal detection subroutine every predetermined time, first sets the program timer in step a,
Proceeding to step b, it is determined whether the detection sensors 6a and 6b are detecting an induction signal, that is, a magnetic flux. If it has not been detected, the process proceeds to step c to determine whether or not the program timer has timed out. If so, the process proceeds to step d to output a control signal to the brake actuators 27 and 28 to output the unmanned vehicle 1 and The brake of the lawn mower 13 is operated, and further proceeds to step e to shut off the ignition system 24 to stop the engine 8, and further proceeds to step f to reset the program timer and return. If it is determined in step b that the detection sensors 6a and 6b are detecting magnetic flux, the process proceeds to step f. If it is determined in step c that the program timer has not timed out, the process returns to step b.

As shown in FIG. 27, the detection sensors 6a, 6
If b does not detect the guidance signal for a certain time, the unmanned vehicle 1
May be moved backward, and if the guide signal is not detected within the predetermined time, the vehicle may be stopped. That is, in normal times, the CPU 32 enters a subroutine for detecting an induction signal at predetermined time intervals. First, at step a, the first and second program timers are set. It is determined whether or not. If not, the process proceeds to step c to determine whether the first program timer has timed out. If so, the process proceeds to step d to output a control signal to the clutch actuator 25 and output the clutch 9
And further proceeds to step e to output a control signal to the transmission actuator 23 to turn off the forward gear of the transmission 11, and further proceeds to step f to output a control signal to the transmission actuator 23 The reverse gear of the transmission 11 is turned on, and further proceeds to step g to output a control signal to the clutch actuator 25 to connect the clutch 9, and further proceeds to step h to determine whether the second program timer has timed out. Judge.
If the time is over, the process goes to step i to output a control signal to the brake actuators 27 and 28 to operate the brakes of the unmanned vehicle 1 and the lawn mower 13, and further goes to step j to cut off the ignition system 24. The engine 8 is stopped, the process further proceeds to step k, the first and second program timers are reset, and the process returns. If it is determined in step b that the detection sensors 6a and 6b are detecting the magnetic flux, the process proceeds to step 1 to determine whether or not the reverse gear of the transmission 11 is turned on. Proceed to output a control signal to the clutch actuator 25 to turn off the clutch 9, further proceed to Step n to output a control signal to the transmission actuator 23 to turn off the reverse gear of the transmission 11,
Proceeding further to step o, the transmission actuator 23
To turn on the forward gear of the transmission 11, and further proceeds to step p to output a control signal to the clutch actuator 25 to connect the clutch 9, and then proceeds to step k. If it is determined in step c that the first program timer has not timed out, the process returns to step b. If it is determined in step h that the second program timer has not expired, the process returns to step b. In step l, the transmission 11
If the reverse gear is not on, the process proceeds to step k.

When the permanent magnet 51 is intermittently buried in the ground as a guide, as shown in FIG. 28, if the ferromagnetic material 38 is buried more closely in the curved portion than in the straight portion, it becomes smooth. This is preferable because the unmanned traveling vehicle 1 can be curved. Also, a permanent magnet 51
May be buried intermittently, and may be buried continuously in the curved portion. The same applies to the case where a ferromagnetic material is buried underground as a guide.

When the permanent magnet 51 is buried in the ground as a guide, a case 55 made of a non-magnetic material is buried in the ground as shown in FIG.
May be accommodated. In this way, corrosion of the permanent magnet 51 can be favorably prevented. The same applies to the case where a ferromagnetic material is buried underground as a guide.

When a ferromagnetic material is buried in the ground as an induction guide, as shown in FIG.
May be buried in the ground, and the case 55 may contain the ferromagnetic material 56 in the form of powder or granules or fine flakes. Such a guide may be used only for a curved portion of the traveling route.
Further, a ferromagnetic material such as an iron bar or an iron pipe may be accommodated in the case 55.

As shown in FIG. 31, the unmanned traveling vehicle 1 may be returned to the home position P when the fullness sensor 19 detects the fullness of the herb bag. That is, at normal time, the CPU 32 enters a subroutine for full amount detection at predetermined time intervals. First, in step a, the full amount detection sensor 19 determines whether or not the full amount of the herb bag is detected. In step b, a control signal is output to the clutch actuator 26 to disengage the clutch 10 of the lawn mower 13. Further, in step c, a control signal is output to the brake actuator 28 to operate the brake of the lawn mower 13,
The process further proceeds to step d to determine whether or not the end point detection sensor 17 has detected a signal from the end point signal generator 39. If detected, the ignition system 24 is shut off and the engine 8
And then returns. If it is determined in step a that the fullness sensor 19 has not detected the fullness of the herb bag, the process returns. If it is determined in step d that the end point detection sensor 17 has not detected the signal from the end point signal generator 39, the process returns to step a.

As shown in FIGS. 32 to 34, when the grass bag is full of cut grass, the grass bag is discharged at that point, a new grass bag is set, and the lawn mowing operation is continued. You may do so. That is, on the traveling vehicle main body 2, a grass bag storage box 60 having an opening facing the opening of the guide 59 of the lawnmower 13 is arranged.
The upper end of Oa is supported by a hinge and can be opened and closed. A column 61 is provided upright on the traveling vehicle main body 2, and a movable arm 62 as a herbage bag discharging means is rotatably supported on the column 61 around a horizontal axis.
A protrusion 6 extends from a portion where the movable arm 62 is attached to the support 61.
2a protrudes at a right angle, and a coil spring 63 is interposed between the tip of the protrusion 62a and the upper end of the support column 61. One end of the movable arm 62 is fixed to the center of the wall facing the opening of the herb bag storage box 60, and the other end of the movable arm 62 is connected to, for example, a solenoid installed on the traveling vehicle body 2. The driving device 64 is connected to a distal end of a rod 65 which is driven to move back and forth. Traveling car body 2
A rotatable drum 67 around which a long band-shaped net 66 is wound is provided below the inside of the herbage bag housing box 60 by a driving device (not shown) inside the herbage bag housing box 60. A substantially roll-shaped moving body 68 that is moved along is provided. The moving body 68 includes a cutter for cutting the net 66, a grip for gripping the net 66, and the like, and functions as a herbal bag sealing unit and a herbal bag supply unit.

The operation at full capacity will be described with reference to the flowchart of FIG. Normally, the CPU 32 enters a full capacity detection subroutine every predetermined time. First step a
It is determined whether or not the full amount sensor 19 detects the full amount, and if it is detected, the process proceeds to step b to output a control signal to the driving device of the moving body 68 to close the mouth of the net 66. . That is, the moving body 68 moves straight down from the state shown in FIG. 34, and the tip of the mesh 66 held by the moving body 68 and the mesh 66 located at the lower end of the opening of the herbage bag storage box 60 are moved. Suture with the middle part of. As a result, the cut grass is mesh 66
Is rolled up like a rolled sushi, and is restrained by the net 66. Next, the moving body 68 grips the net 66 at a position closer to the drum 67 than the stitched portion of the net 66, and cuts the net 66 between the gripping position and the sewing position. Thus, for the first time, the net 66 in which the cut grass is wound and restrained becomes independent as the harvest bag 69. Next, the CPU 32 proceeds to step c and outputs a control signal to the driving device 64 to discharge the herb bag 69 from the herb bag storage box 60. That is, the driving device 64 is
Extend 5 As a result, the movable arm 62 rotates 90 degrees in the counterclockwise direction in FIG. 33, and the herbage bag storage box 60 also rotates integrally with the movable arm 62 to be in a state shown by a virtual line in FIG. At this time, the urging force of the coil spring 63 acts in a direction to assist the rotation of the movable arm 62. When the grass bag storage box 60 rotates 90 degrees, the side plate 60a opens due to gravity as shown by a virtual line in FIG. 33, and the grass bag 69 falls to the ground. Thereafter, when the driving device 64 retracts the rod 65, the movable arm 62 rotates 90 degrees clockwise in FIG. 33 against the urging force of the coil spring 63, and returns to the original state. Next, the CPU 32 proceeds to step d, outputs a control signal to the driving device of the moving body 68, sets a new herbage bag, and returns. That is, the moving body 68 moves along the inner surface of the herb bag storage box 60, and returns to the state of FIG.
As a result, the net 66 becomes almost as shown in FIG.
Set along the inner surface of 0 to accommodate new cut grass. If the CPU 32 determines in step a that the full amount sensor 19 has not detected the full amount, the process returns.

When the guide is buried intermittently, the end point may be detected by counting the number of passages of the guide instead of providing the end point detection sensor 17 and the end point signal generator 39.

For an emergency stop, the driverless vehicle 1 may be provided with a stop switch such as a push button switch,
Alternatively, the engine 8 of the unmanned traveling vehicle 1 may be stopped by remote control.

It should be noted that the unmanned traveling apparatus which performs the control as shown in the flowcharts of FIGS. 8, 11 and 27 is not limited to the unmanned traveling apparatus shown in FIGS. 1, 2 and 12 to 22. The present invention can be applied to any unmanned traveling apparatus that automatically travels on a preset traveling route by detecting an object buried in the ground by an unmanned traveling vehicle.

The unmanned lawn mower which performs the control as shown in the flowcharts of FIGS. 9, 10, 31, 31 and 35 is limited to the unmanned lawn mowers shown in FIGS. Instead, it can be applied to any unmanned lawn mower that performs lawn mowing work while automatically traveling a preset traveling route by detecting an object buried in the ground by an unmanned traveling vehicle by an unmanned vehicle. .

[0035]

According to the first aspect of the present invention, it is possible to cope with a case where the detection sensor does not detect the guidance guide for a predetermined time or more, and complete unmanned operation can be achieved.

[0036]

[0037]

[0038]

[0039]

[Brief description of the drawings]

FIG. 1 is a schematic plan view of an unmanned lawn mower.

FIG. 2 is a schematic front view of the same.

FIG. 3 is a block diagram of a drive system of the unmanned lawn mower.

FIG. 4 is a block diagram of a control system of the unmanned lawn mower.

FIG. 5 is an explanatory diagram of a traveling route of the unmanned lawn mower.

FIG. 6 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 7 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 8 is a flowchart illustrating an operation of obstacle detection control of the unmanned lawn mower.

FIG. 9 is a flowchart illustrating an operation of a cutter unit rotation speed detection control of the unmanned lawn mower.

FIG. 10 is a flowchart illustrating the operation of the herbage bag fullness detection control of the unmanned lawn mower.

FIG. 11 is a flowchart illustrating an operation of intruder detection control of the unmanned lawn mower.

FIG. 12 is a schematic plan view of an unmanned lawn mower according to another embodiment.

FIG. 13 is a schematic front view of the same.

FIG. 14 is a front view of a rotating body in the unmanned lawn mowing apparatus.

FIG. 15 is a schematic plan view of an unmanned lawn mower according to still another embodiment.

FIG. 16 is a schematic front view of the same.

FIG. 17 is a schematic plan view of an unmanned lawn mower according to still another embodiment.

FIG. 18 is a schematic front view of the same.

FIG. 19 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 20 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 21 is a schematic plan view of an unmanned lawn mower according to still another embodiment.

FIG. 22 is a schematic front view of the same.

FIG. 23 is a front view of a cutter unit of the unmanned lawn mower.

FIG. 24 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 25 is an explanatory diagram of traveling control of the unmanned lawn mower.

FIG. 26 is a flowchart illustrating an operation of magnetic field detection control of the unmanned lawn mower.

FIG. 27 is a flowchart illustrating an operation of a magnetic field detection control of the unmanned lawn mower according to still another embodiment.

FIG. 28 is an explanatory diagram of a traveling route in another embodiment.

FIG. 29 is a sectional view of a guide according to another embodiment.

FIG. 30 is a sectional view of a guide according to another embodiment.

FIG. 31 is a flowchart illustrating the operation of herbage bag full amount detection control in another embodiment.

FIG. 32 is a schematic plan view of an unmanned lawn mower according to still another embodiment.

FIG. 33 is a schematic front view of the same.

FIG. 34 is a schematic side view of the same.

FIG. 35 is a flowchart illustrating the operation of the herbage bag fullness detection control of the unmanned lawn mower.

[Explanation of symbols]

 1 Unmanned traveling vehicle 6a, 6b Detection sensor 38 Ferromagnetic substance (object)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yasuo Ohno 2-4-1 Hamamatsucho, Minato-ku, Tokyo World Trade Center Building Kawasaki Heavy Industries, Ltd. Tokyo Head Office

Claims (1)

(57) [Claims] 1. An unmanned traveling apparatus that automatically travels on a predetermined traveling route unmanned by detecting an object buried in the ground by an unmanned traveling vehicle and detects the object by a detection sensor. An unmanned traveling device characterized in that the unmanned traveling vehicle is moved backward for a predetermined time when the guidance guide is not detected for a predetermined time or more, and the unmanned traveling vehicle is stopped unless the detection sensor detects the guidance guide during that time.