JP2786516B2 - Work vehicle traveling method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention sets a plurality of work steps so as to be arranged in parallel with a width direction of a work vehicle with respect to a work target range. The present invention relates to a traveling method of a work vehicle that automatically travels each work process while moving to an adjacent next work process at an end of each work process.

[Conventional technology]

For example, in a work vehicle for cleaning or a work vehicle for lawn mowing, a plurality of work steps are set so as to be arranged in parallel to a width direction of the work vehicle with respect to a work target range, and an end portion of each work step is set. 180 in the forward running state for the next work stroke
By turning the vehicle or moving the vehicle sideways in a parallel steering manner (for example, see Japanese Patent Application Laid-Open No. 2-53113).
It has been considered that a predetermined range of work is automatically performed by reciprocating along each work process while moving to the next work process.

The number of work steps for running the work vehicle can be obtained from the relationship between the width of the work target range and the work width in one work stroke.For example, the width of the work target range is divided by the work width of the work vehicle. You can set each work process by
Generally, in order to process the entire work target range so that there is no unworked portion, each work process is performed such that there is an overlap width in the horizontal direction between the work ranges processed in each of the work processes adjacent to each other. Will be set.

However, since the working width of the work vehicle is constant, the method of setting each work process by simply dividing the width of the work target range by the work width of the work vehicle is not applicable to each work process except the last work process. The width will be the same width corresponding to the working width of the work vehicle,
The width of the last work stroke may be smaller than the work width of the work vehicle.To avoid this, adjust the overlap width of the above work range between adjacent work strokes, and adjust the width of all work strokes. Is considered to be set to the same width (for example,
See JP-A-63-286911). By the way, when the width of the work stroke is finally narrower than the width of other work strokes, for example,
The distance of the turn at the end of the travel to move to the next work travel differs between the last work travel and other work travels. However, there is a disadvantage that the control form is required to be changed, and the control becomes complicated.

[Problems to be solved by the invention]

At the end of the stroke, the conventional technique of moving the work vehicle to the next work stroke, in the case of turning 180 degrees in the forward traveling state, requires a non-work area for a turn operation at the end side of the work stroke. However, there is a disadvantage that an unworked portion is generated in a part of the work target range. In the parallel steering type, an unworked portion is not generated, but the direction of the wheels is changed in a state where the work vehicle is stopped at the end of the stroke. Therefore, there is a disadvantage that a traveling road surface such as a floor surface may be cut and damaged.

Further, in the above-mentioned prior art in which the width of each work process is set to the same width by adjusting the overlap width of the work range between the adjacent work processes, the work width of the work vehicle (the width of the suction port) is not exceeded. , The overlap width may be 0 depending on the condition of the width of the work area and the work width of the work vehicle. In this case, the position of the work vehicle is determined to be appropriate for the work process. If there is any deviation from the position in the width direction, there is an inconvenience that an unworked portion is generated due to the deviation.

The present invention has been made in view of the above circumstances,
The purpose of the prior art is that when a work vehicle is moved to an adjacent work stroke at the end of each work stroke, an area where work cannot be performed occurs at the end of the stroke, or wheels damage a traveling road surface such as a floor surface. In addition, even if the position when moving to the adjacent work process is displaced from the appropriate position due to, for example, slipping of the wheels, the unfavorable portion is not generated by properly covering the displacement. Is to do so.

[Means for solving the problem]

The method of the present invention sets a plurality of work steps to be parallel to the width direction of the work vehicle with respect to the work target range,
A traveling method of a work vehicle in which the work vehicle is automatically driven in each work process while moving the work vehicle to an adjacent next work process at an end of each work process, and the characteristic configuration is as follows.

That is, in order to move to the next work stroke adjacent at the end of each work stroke, the vehicle is turned while changing the direction by 180 degrees in the reverse running state, and the information on the width of the work target range and the Based on the information on the work width of the work vehicle, the overlap width in the width direction between the work ranges processed in each of the work strokes adjacent to each other is equal in all the work strokes, and is smaller than the set minimum value. The point is to set the work process so as not to be small.

(Operation)

Based on the information on the width of the work target range and the information on the work width of the work vehicle, the overlap width in the width direction of the work ranges processed in each of the work processes adjacent to each other is equal and set in all the work processes. When the work vehicle travels forward and reaches the end of the stroke along each work stroke set so as not to become smaller than the set minimum value, the work vehicle turns backward by 180 degrees in the reverse travel state and the next adjacent vehicle is turned. After turning to the next work step, the vehicle travels in the opposite direction along the next work step.

〔The invention's effect〕

Therefore, according to the characteristic configuration of the present invention, after working in the forward running state up to the end of the work process, that is, the end of the work target range, the vehicle moves to the next adjacent work process while turning 180 degrees in the reverse running state. Therefore, unlike the conventional case of turning 180 degrees in the forward running state, there is no unworked portion for movement in the work target range on the stroke end side, and the conventional parallel steering type is used for movement. Since the direction of the wheels is not changed in the stopped state as in the case, there is no danger of damaging the traveling road surface such as the floor surface, and the disadvantage of the related art is solved.

Further, since the overlap width in the horizontal direction between the work ranges processed in each of the adjacent work steps is equal in all the work steps and is not smaller than the set minimum value, the interval between the adjacent work steps is extremely small. It is equal in the state where it does not become narrower, and turning work, in which the work vehicle is turned 180 degrees at the end of each work stroke and moves to the next next work stroke in reverse running state, good while simplifying control with the same running pattern At the same time, even if the position when moving to an adjacent work stroke is displaced from an appropriate position due to, for example, a slip of a wheel during the above-mentioned turning movement, the position is displaced by an overlap width of a minimum value or more. Can be properly covered to prevent the occurrence of unworked parts.

〔Example〕

Hereinafter, an embodiment in which the method of the present invention is applied to a guidance apparatus for a cleaning work vehicle will be described based on a zoo.

As shown in FIG. 2, a plurality of work steps (L) are set in parallel in the width direction of a passage of a building or the like which is a work target range, and a cleaning work vehicle (V) is set. In the reverse traveling state at the end of the passage, turning while changing the direction by 180 degrees, while moving to the next adjacent work stroke, repeatedly reciprocating from one end side of the passage longitudinal direction to the other end side, The aisle floor is automatically cleaned.

The setting of the plurality of work steps will be described. As shown in FIG. 1, the width of the passage (PW) of the work target range and the remaining width (ΔP
W), the working width (W) of the working vehicle (V), and the minimum value (ML) of the overlapping width (ΔW) for performing overlapping work between adjacent work steps in order to prevent the occurrence of unworked portions. ), The number of work steps (N) is set based on the following equation so that the overlap width (ΔW) is equal in all work steps.

In other words, the position of the traveling locus (see FIG. 2) in each work stroke (L) with respect to the end of the n-th stroke in the width direction of the passage in the width direction is ΔPW + W / 2 + (W−ΔW) (n−1). Become.

Next, a control configuration for automatically driving the work vehicle (V) will be described.

As shown in FIGS. 2 and 3, two guiding light beams (A ₁ ) and (A ₂ ) having an angle difference in the vertical direction are applied to the wall surface along the longitudinal direction of the passage in the longitudinal direction of the passage. A beam light projecting device (B) for projecting from the lateral side of the work vehicle (V) while scanning along the vehicle is attached, and a top surface of the work vehicle (V) is spaced apart in the front-rear direction and viewed from above. A pair of photodetectors (S) for detecting the interval (X) between the light receiving positions in the vertical direction of the _two guiding light beams (A ₁ ) and (A ₂ ) so as to be located on a diagonal line in FIG. _1), it is provided with (S _2).

That is, the interval (X) between the light receiving positions in the vertical direction of the _two guiding light beams (A ₁ ) and (A ₂ ) received by the pair of light receivers (S ₁ ) and (S ₂ ) is: Utilizing the fact that the distance between the work vehicle (V) and the beam projecting device (B) in the width direction of the passage is proportional to the distances (l ₁ ) and (l ₂ ) in the width direction of the passage in front and rear of the vehicle body, respectively. By calculating the position in the width direction with respect to the traveling locus (L) set in each work process and the direction (ψ) as the vehicle body direction, and performing steering control based on the information on the position and direction, the work is performed. The vehicle is automatically driven along the process (L).

To describe the structure of the work vehicle (V), as shown in FIGS. 4 and 5, the front side of the vehicle body, by the electric motor for traveling (M ₁₎ and a drivable stopped separately on the left and right steering A pair of left and right running wheels (1), which are configured to be freely changeable in direction by an electric motor (M ₂ ), are provided, and a driven wheel (2) is provided at a rear portion of the vehicle body. At the front of the running wheel (1), a cleaning device (4) for cleaning the running surface with the rotating brush (3) while draining the running surface is provided,
A roller-type water absorbing device (5) is provided between the running wheel (1) and the driven wheel (2) to absorb sewage remaining on the running surface. In FIG. 5, (e) is an encoder for detecting the rotation speed of the traveling wheel (1), and (6) is an encoder for the pair of light receivers (S ₁ ), (S ₂ ) and the encoder (e). A control device for controlling the electric motor for traveling (M ₁ ) and the electric motor for steering (M ₂ ) based on the information to automatically travel the work vehicle (V), It is configured using a computer.

By the way, as shown in FIG. 2, the two guiding light beams (A ₁ ) and (A ₂ ) are projected from the side to the working vehicle (V). In addition, depending on the position of the work vehicle (V) in the longitudinal direction of the passage, the pair of light receivers (S ₁ ) and (S ₂ ) and the light beam projecting device (B) are aligned in a straight line. There will be places.

As described above, when the pair of light receivers (S ₁ ) and (S ₂ ) and the light beam projecting device (B) are aligned, the guiding light beams (S ₁ ) and (S ₂ ) are aligned. , the far side of the light receiver from the light source is blocked by the side of the light receiver near the light source is not be received, the pair of light receivers (S _1), the orientation of the (S ₂₎ work vehicle from receiving information (V) It cannot be determined.

Therefore, when one of the pair of light receivers (S ₁ ) and (S ₂ ) stops receiving light, the driving of one of the pair of left and right running wheels (1) is stopped and the driven wheels are set as driven wheels. The azimuth is determined based on a difference between output information of encoders (e) attached to the respective running wheels (1).

A sensor switching process for determining whether this azimuth is performed based on the information of the pair of light receivers (S ₁ ) and (S ₂ ) or based on the information of the encoder (e) will be described. As shown in FIG. 6, this process is configured as an interrupt process that is started by receiving light from one of the pair of light receivers (S ₁ ) and (S ₂ ).

When any one of the pair of light receivers (S ₁ ) and (S ₂ ) receives the guiding light beams (A ₁ ) and (A ₂ ), first clears a timer for light reception monitoring and then sets It is determined whether or not both of the pair of light receivers (S ₁ ) and (S ₂ ) are received within the time (Tc).

Within the set time (Tc), the pair of receivers (S ₁ ) and (S ₂ )
When both light are received, as described above, the position and orientation in the horizontal width direction are calculated based on the light reception information of the two light receivers (S ₁ ) and (S ₂ ), and the calculated values are stored. . However, at this time, the value of the encoder (e) is also stored at the same time.

Within the set time (Tc), the pair of light receivers (S ₁ )
If both (S ₂ ) do not receive light, as described above, to reduce the effect of wheel slip, one of the running wheels (1) is stopped on one of the set sides and the one-wheel drive is stopped. , The position of the work vehicle (V) in the lateral width direction is calculated by judging which side of the light receiving device is the front or rear, and the direction is determined by the pair of light receiving devices (S ₁ ). , (S ₂ ) are obtained based on the difference between the value of the encoder (e) stored when both the light is received and the current measured value of the encoder (e).

Although not described in detail, it is determined whether or not the end of the passage has been reached, for example, by detecting the distance from a wall located at the end in the longitudinal direction of the passage using an ultrasonic sensor or the like. Or
The determination is made using the received light information of the guiding light beams (A ₁ ) and (A ₂ ) from the light beam projecting device (B) installed for the next adjacent passage.

Then, when it is determined that the end of the passage has been reached, the process moves to the next work stroke, but the work in that passage is completed in the final stroke. If there is work in the next passage, it moves to the next passage.

(Another embodiment)

In the above embodiment, the case where the method of the present invention is applied to the guidance equipment of a work vehicle for cleaning is illustrated.However, the present invention is applicable to the guidance equipment of various work vehicles, The specific configuration of each unit such as a control configuration for automatic traveling can be variously changed. Incidentally, the detection of the body direction can also be performed using a geomagnetic sensor or the like.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

The drawings show an embodiment of the working vehicle traveling method according to the present invention,
FIG. 1 is a plan view for explaining the setting of a work process, FIG. 2 is a schematic plan view of a work range, FIG. 3 is a schematic front view of a work vehicle, FIG. 4 is a schematic side view of the work vehicle, FIG. FIG. 6 is a block diagram of a control configuration, and FIG. 6 is a flowchart of a sensor switching process. (PW): width of work area, (L): work stroke,
(V): Work vehicle, (W): Work width, (Δw): Overlap width, (ML): Minimum width.

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05D 1/02 A47L 9/00 102

Claims (1)

(57) [Claims] 1. A plurality of work steps (L) are set to be parallel to a width direction of a work vehicle (V) with respect to a work target range, and the work vehicle (V) is set to each work step (L). A traveling method of a work vehicle that automatically travels each work process (L) while moving to the next work process (L) adjacent at the end of L),
At the end of each of the work steps (L), to move to the next work step (L) adjacent to the work step (L), the vehicle is turned while changing the direction by 180 degrees in the reverse running state, and the width of the work target area is changed. Based on the information of (PW) and the information of the work width (W) of the work vehicle (V), the overlap width in the horizontal width direction of the work ranges to be processed in each of the work steps (L) adjacent to each other ( ΔW) is a traveling method of a work vehicle in which the work process (L) is set such that the work process (L) is equal in all the work processes (L) and does not become smaller than a set minimum value (ML).