JP3173987B2 - Guidance control device for mobile vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic field detecting means provided on a ground side with a guide wire to which a current is supplied, and a moving field detecting means for detecting the strength of a magnetic field formed by the current,
On the basis of the information detected by the magnetic field detecting means, guidance traveling control is performed to guide the traveling vehicle along each traveling path along each of a plurality of traveling paths along the longitudinal direction of the guidance line and parallel to each other. The present invention relates to a mobile vehicle guidance control device provided with travel control means.

[0002]

2. Description of the Related Art Conventionally, in a guidance control device for a mobile vehicle, for example, the guidance traveling control is performed so as to maintain a state in which the strength of a magnetic field detected by the magnetic field detection means is kept constant. Had become. In other words, the strength of the magnetic field formed by the current supplied to the induction wire is theoretically the same at each point where the distance from the induction wire is the same. This is to maintain the state in which the distance is the same, that is, to guide the mobile vehicle on each of a plurality of parallel traveling paths along the longitudinal direction of the guide line.

[0003]

When a guide wire is installed on the ground side, a current return path is required for forming a closed current circuit for the guide wire. It is necessary to prevent the generated magnetic field from adversely affecting the guidance of the moving vehicle. However, it is conceivable to arrange the return route so as to bypass a location far away from the guidance target location. However, this increases the installation distance and increases the size of the equipment. Therefore, it is conceivable that the end of the induction wire is grounded to form a current return path through the ground.

[0004] When a return route is formed through the underground in this way, for example, it is not possible to regulate the location of current flow in the underground, so that the position of the current flowing in the underground may change due to grounding conditions. There is. Also, it is conceivable that a difference occurs in the grounding resistance at the grounding portions at both ends of the guide wire. Due to such various factors, the strength of the magnetic field is reduced even if the distance from the guide wire is the same. It may change.

As a result, in the conventional configuration in which the above-mentioned guidance traveling control is executed so as to maintain the state where the magnetic field intensity becomes constant, appropriate guidance control can be performed by the above-described change in the magnetic field intensity. There was no disadvantage.

The present invention has been made in view of such a point, and an object of the present invention is to provide a case where the strength of a magnetic field at a point at the same distance from the guide line changes.
An object of the present invention is to provide a guidance control device for a mobile vehicle that can guide the mobile vehicle along each travel route in an appropriate state.

[0007]

According to the first aspect of the present invention, when the moving vehicle travels along one of the plurality of traveling paths, the current traveling path in the magnetic field detecting means is used. The magnetic field detecting unit detects the strength of the magnetic field for executing the guidance control along the traveling route during the traveling, and the magnetic field detecting unit for the next traveling route, along the next adjacent traveling route, The strength of the magnetic field to be detected by the magnetic field detection unit for the current traveling route when the mobile vehicle travels is detected.

The traveling distance of the moving vehicle is detected by the distance detecting means, and the strength of the magnetic field detected by the magnetic field detecting section for the next traveling path is detected by the distance detecting means. Are sequentially stored in the storage means as reference information in association with the traveling distance information from.

In the travel route in which the reference information is stored, based on the reference information stored in the storage means and the travel distance information of the distance detection means, the travel route at the present time on the travel route is determined. The guide traveling control is performed such that a target value of the magnetic field strength to be detected by the magnetic field detection unit for the current traveling route is obtained, and the target value is detected by the magnetic field detection unit for the current traveling route. It is.

Therefore, when the guided traveling is performed along the traveling route, the target value for traveling on the next traveling route is obtained from the actually measured value while detecting the actual magnetic field strength corresponding to the next traveling route. Since the guided traveling control is performed based on the target value and the detected magnetic field strength, the traveling state on the previous traveling path is always maintained in the next traveling path even if the magnetic field strength varies. Guidance traveling is executed in almost the same state.

Therefore, even when the strength of the magnetic field at a point on the traveling route is different from the theoretical value, it is possible to guide the traveling vehicle along each traveling route in an appropriate state. .

According to a second feature of the present invention, the moving vehicle is provided with a route end detecting unit for detecting a starting end and a terminating end of the traveling route, and the storage means includes: Executing a storage process of the reference information based on the detection information of the route end detection unit,
Based on the detection information of the route end detection unit, the guidance traveling control for the traveling route in which the reference information is stored is executed.

Accordingly, in each of the traveling routes, the storing operation of the reference information is automatically started from the end of the route, and the guidance traveling control is executed. In addition to being able to store information accurately,
Accurate guidance traveling can be performed in a state corresponding to the reference information.

According to a third aspect of the present invention, the traveling control means causes the traveling vehicle to turn around from the end of the traveling route based on the detection information of the route end detecting unit. The vehicle is configured to execute a turning control for guiding the vehicle to enter an adjacent next travel route, the storage information of the storage unit at the end of the travel route, and the storage information of the storage unit at the time of entering the next travel route. Is configured to correct an error in the reference information generated at the time of approaching the traveling route with the turning traveling based on the reference information.

That is, when the traveling vehicle is turned around at the end of the travel route and then guided to enter the next travel route, the storage operation by the storage means is executed from the start end of the travel route. At this time, the moving vehicle enters the vehicle while shifting in width from a position laterally shifted with respect to the traveling route due to the turning operation. Therefore, the vehicle travels on a position deviated from the travel route until the vehicle is brought into a state along the travel route. At this time, however, the storage operation by the storage means has been performed. , Becomes information including an error different from the normal reference information, and if the guidance along the next travel route is executed based on the reference information including such an error, accurate guidance cannot be performed near the terminal end thereof. .

Therefore, since the vehicle travels almost on the travel route at the end of the travel route, the information stored in the storage means at the end of the travel route becomes accurate information, and the information at the time of entering the next travel route is obtained. Since the information stored in the storage means includes the above-described error, the error can be corrected based on the information. By correcting the information in this way, the travel route can be corrected. Even in the case of turning the mobile car at the end,
It is possible to execute accurate guidance traveling control with a small error.

According to the fourth aspect of the present invention, since the distance adjusting means for changing and setting the set interval in the magnetic field detecting means is provided, the detecting position of the strength of the magnetic field with respect to the next traveling route is determined. It is possible to change and adjust the interval between the detected position of the magnetic field strength for the current traveling route and the point of calculation of the target value in the traveling control means without any troublesome operation such as changing the content. It becomes possible.

According to a fifth aspect of the present invention, the moving vehicle is a work vehicle having a ground work device, and the set interval in the magnetic field detecting means is wider than a work width of the ground work device. Since it is set to be narrow, the working width of the ground working device will be wrapped wide with respect to the interval of each traveling route, and based on traveling on each traveling route, an unworked area does not occur, Ground work can be performed effectively.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a guidance control device for a mobile vehicle according to the present invention will be described. As shown in FIG. 1, in a rectangular field 1 as an example of a guidance area, a work vehicle V as an example of a moving vehicle is moved along each of a plurality of traveling paths k parallel to each other along the longitudinal direction of the field 1. It is configured so that the vehicle can be guided and guided in an unmanned state.

Each side (ridge) on the outer periphery of the field 1
Each of the guide wires 2 having a length substantially equal to the length of the ridge is installed along the longitudinal direction of the ridge, and each of the guide wires 2 is provided with an AC current having a predetermined frequency by a current supply source as a current supply means. Is supplied. In other words, alternating currents of the frequency fa (Hz) and the frequency fc (Hz) are supplied by the current supply sources 3 to the respective guide lines 2 a and 2 c installed along the ridges on both sides along the long direction of the field 1. The frequency fb (Hz) and the frequency fd are supplied by the current supply sources 3 to the respective guide wires 2b and 2d which are supplied and installed on the ridges on both sides along the short direction.
(Hz) alternating current is supplied. The frequency is
The frequency is set to several hundred Hz to several tens KHz.

As shown in FIG. 2, each of the guide wires 2 is configured such that the current flows through the ground through a plurality of piles 4 made of a conductive material that is driven into the ground. , Even if the leads are installed over long distances,
The configuration is such that the installation can be easily performed only by driving the stake 4 on both sides in the longitudinal direction. In the ground, the driving depth of the pile 4 is set so that the current flows through the lower clay layer G2 having a relatively low electric resistance, instead of the ground layer G1 having a relatively high electric resistance.

When a current flows through the guide wire installed as described above, a magnetic field is formed by the current. The theoretical value of the magnetic field strength with respect to the distance from the guide wire can be obtained by calculation. The strength of the magnetic field is inversely proportional to the square of the distance from the guide wire. Therefore, if the supplied current value is constant, as shown in FIG. 3, the change characteristic of the magnetic field strength with respect to the distance from the induction wire is determined, and the magnetic field at a certain point in the field 1 is determined. Has a substantially constant magnitude.

The work vehicle V is provided with a rotary tillage device 6 as a ground work device at the rear of the four-wheeled traveling vehicle body 5, so that the ground work (tiling work) of the field 1 can be performed while traveling. It has become. An engine is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel via a transmission equipped with a forward / reverse switching mechanism 7 and an electromagnetically operated traveling clutch 8 so that the vehicle travels. The power of the engine is transmitted to the rotary tilling device 6. The left and right front wheels are provided so as to be steerable by an electric motor 9 as a steering operation means.

The working vehicle V has a traveling distance sensor 10 as a distance detecting means, for example, a rotary encoder for detecting the traveling distance of the vehicle body by detecting the number of revolutions of the axle, and the direction of the vehicle body. An azimuth sensor 11 as azimuth detecting means, a control device 12 using a microcomputer as running control means for controlling the operation of the forward / reverse switching mechanism 7 and the steering electric motor 9 and the like are provided.

As shown in FIG. 11, three magnetic field sensors for detecting the strength of the magnetic field formed by the alternating current supplied to each of the induction wires are provided at the front of the traveling vehicle body 5, as shown in FIG. It is provided in a state of being juxtaposed along the direction, of which
The side magnetic field sensors 13R and 13L located on the left and right sides are
The central magnetic field sensor 14 is configured to detect the strength of the magnetic field formed by the alternating current having the frequency fa and the frequency fc.
It is configured to detect the strength of the magnetic field formed by the d. AC current. Then, the control device 12 performs guidance traveling control for guiding the work vehicle V along each traveling path k on each of the plurality of traveling paths k based on the detection information from the respective side magnetic field sensors 13R and 13L. The work vehicle V is turned around when it detects that it has reached the end or start end of each traveling route k based on the detection information from the central magnetic field sensor 14 and detects that it has reached the end. The vehicle is configured to execute a turning control for causing the vehicle to travel and enter the next traveling route adjacent thereto.

Therefore, each side magnetic field sensor 13R, 1
The 3L constitutes a magnetic field detecting means GK for guiding the vehicle body, and the central magnetic field sensor 14 constitutes a path end detecting section for detecting the start end and the end of the traveling path. That is, as shown in FIG. 4, the outputs of the respective side magnetic field sensors 13R and 13L and the central magnetic field sensor 14 are respectively processed by the signal processing unit 15 and then provided to the control device 12, and the magnetic field detection information is obtained. The steering electric motor 9 is guided based on each travel route k based on the
At the end of the travel route k, based on the magnetic field detection information and the detection information of the direction sensor 11 and the travel distance sensor 10, the steering electric motor 9 and the forward / reverse The switching mechanism 7, the traveling clutch 8 and the like are configured to be controlled.

Each of the magnetic field sensors 13R, 13L, 14
As shown in FIG. 5, a detection coil 16 in which an induced electromotive force is generated by an alternating magnetic field formed by an alternating current flowing through an induction wire, an amplifier 17 for amplifying an output of the detection coil 16 to a predetermined level, The output of the detection coil 16 includes a bandpass filter BPF as a frequency filter that passes only an output corresponding to the frequency of the current flowing through each of the induction wires, an amplifier 18 that amplifies the output of the bandpass filter BPF, and the like. ing.

Therefore, each side magnetic field sensor 13R, 13L
Of the detection information from the center-side magnetic field sensor 14 is suppressed by the band-pass filter BPF.
The PF constitutes the information mixing suppressing means.

As described above, each side magnetic field sensor 13R, 1R
3L, detection information corresponding to each of the frequency fa and the frequency fc is output, and the central magnetic field sensor 14 outputs the detection information corresponding to each of the frequency fb and the frequency fd. However, the signal processing unit 15 selectively outputs the detection information of the higher detection level, that is, the detection information of the work vehicle V closer to the corresponding guide line. The signal processing unit 15
As shown in the figure, each of the magnetic field sensors 13R, 13L, 14
DC conversion circuits DC for converting the output of the magnetic field sensors into DC signals are provided, and the converted outputs are input to the control device 12, and the control device 12 detects the detection level among the outputs of different frequencies from the magnetic field sensors 13R, 13L, and 14 respectively. Is configured to determine a high-side output and to provide a selection signal to the _three analog switches AS1 _, AS2 _{, and} AS3 so as to select the output.

Based on the information detected by the central magnetic field sensor 14, the control device 12 separates from the guide wire on the higher detection level side of the guide wire 2b or 2d installed on the ridge along the short length direction. Is calculated, and when the separation distance reaches a set value, it is determined that the work vehicle V has reached the end position of each traveling route k. As shown in FIG. 7, the guide wires 2b and 2d installed on the ridges along the short direction are installed in a state where both end portions are bent in a substantially L shape toward the inside of the field 1. . With this configuration, the intensity of the magnetic field is substantially the same over the entire length of the guide lines 2b and 2d at a point where the separation distance of the guide lines 2b and 2d from the intermediate portion t is the set distance. k
Is set as the end position. This end position is a point located on the inward side of the field 1 by a set distance from the length L of the end bent portion. Incidentally, according to the experiment conducted by the present applicant, if the length H of the bent end portion is, for example, 3 m, the end portion is located at a distance of 5 m from the guide wire.

As described above, the reason why the end position of the traveling route k is set inward of the end of the field 1 is that, as shown in FIG.
In the magnetic field strength distribution at the same distance, the relationship between the magnetic field strength and the distance is not linear near the end of the guide wire, and guidance control based on the magnetic field strength may not be performed well. Because there is.

As shown in FIG. 8, the current flowing through the guide lines 2a and 2c installed on the ridges along the long direction flows into the guide lines provided on the ridges along the short direction through the ground. A bandpass filter 19 is provided as a frequency filter, which is an example of a current suppressing unit that suppresses the above, that allows only the frequency of the current supplied to the induction wires 2a and 2c to pass. This band pass filter 19
Is constituted by a resonance circuit in which a coil 19a and a capacitor 19b are connected in series, and the resonance frequency of the resonance circuit corresponds to the frequency of the current. Therefore, even if a current of a different frequency flows through the ground from another induction wire, the inflow current is suppressed from flowing through the induction wire, and the possibility that each magnetic field sensor detects erroneous information is minimized. I have.

The detection of each of the side magnetic field sensors 13R and 13L is performed.
Each analog switch AS corresponding to output information₁, AS_ThreeOut of
The amplification gain for amplifying the force is
Change and adjust to multiple stages (four stages) based on switching information
It is configured to In other words, each of the amplification gains
Outputs of four different amplifiers 21, 22, 23, 23
For inputting one of the two to the control device 12.
Switch AS_Four, AS _FiveIs selected by the control device 12
It is configured to dictate the content. Supplied to the guide wire
The strength of the magnetic field formed by the current
Changes greatly with changes in the separation distance.
If the amplification gain is kept constant, the
It is difficult to detect with appropriate resolution and detection accuracy is low
To the control device 12
The input level is, for example, as shown in FIG.
The appropriate magnetic field strength when the separation distance changes by a unit distance
So that the change in height is identifiable, in other words
Amplification gain so that it is in the appropriate output range with high resolution
Is automatically adjusted.

The respective side magnetic field sensors 13R and 13L are
One of the side magnetic field sensors is installed at a set interval in the vehicle body width direction, and when the work vehicle V travels along one of the plurality of travel paths k, the traveling vehicle Magnetic field detection unit G for the current traveling route for detecting the strength of the magnetic field for executing the guidance control along the traveling route k in the middle
Functions as K _1, the other side the magnetic field sensor, to be detected by the magnetic field detector GK ₁ for the current travel route when caused to travel the work vehicle along the next adjacent travel path k Field detection unit GK for the next traveling route for detecting the strength of the magnetic field
It is configured to function as ₂ . In other words, the other side magnetic field sensor sequentially detects the magnetic field of the next traveling route k while traveling on the current traveling route k, and this detection information is the distance information detected by the traveling distance sensor 10. Is stored in the memory 25 as storage means sequentially in a state where it is associated with.

The control device 12 determines, based on the magnetic field detection information stored in the memory 25 and the end position of the travel path k detected by the travel distance sensor 10, in the next travel path k in which the magnetic field detection information is stored. based of on the travel distance information, it obtains a target value of the strength of the magnetic field at each point on the travel route k, and its target value, the side magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route Is configured to execute guided traveling control for driving and controlling the traveling electric motor 9 so that the detected value coincides with the detected value. Further, the control device 12 sets a target value of the amplification gain of the magnetic field sensor when the vehicle is guided and guided in the next traveling route k based on the magnetic field detection information stored in the memory 25, and also sets the target value in the next traveling route k. It is configured to automatically adjust the gain to a target value prior to guided traveling. Specifically, if the maximum value of the magnetic field strength stored in the memory 25 exceeds the set upper limit value, the current gain becomes 1
If an amplifier having a lower gain is selected and the maximum value is lower than the set lower limit, the analog switches AS ₄ and AS ₅ are selected so that an amplifier having a gain one higher than the current gain is selected. To issue a selection signal. The gain of each of the analog switches AS ₄ and AS ₅ is always adjusted to the same value. The set upper limit value and the set lower limit value are set as upper and lower limit ranges in which linearity of output change as an analog value is guaranteed.

Next, the control operation of the control device 12 will be described. When the work vehicle V is guided in the field 1, the work vehicle V is manually driven on the first travel route k in a state where the work vehicle V is along the appropriate travel route k prior to the automatic guidance control by the control device 12. Let it. At this time, the detection of the traveling magnetic field sensor 10 and the detection information of the side magnetic field sensor (the sensor 13R on the right side in the case of FIG. 1) of the next traveling route along with the start of traveling from the starting end position of the traveling route k. The information is sequentially written and stored in the memory 25 in a state where the information is associated with the information.

Then, the automatic guidance control is started from the next traveling route k. As shown in FIG. 10, first, the amplification gain and the magnetic field detecting unit GK ₁ for the current traveling route are set according to the working state. The functioning side magnetic field sensor (the left sensor 13L in FIG. 1) is initialized (step 1).

Then, while the work vehicle V is traveling at the traveling speed for work, based on the magnetic field detection information stored in the memory 25 and the detection information of the traveling distance sensor 10, the current position on the traveling route k seeking a target value of the strength of the magnetic field, the detection value of the lateral magnetic field sensor 13L functioning as the magnetic field detecting unit GK ₁ for the current travel route is to be the target value, drives the electric for steering motor 9 Control (step 2). When the guided travel control is performed, the traveling information detected lateral magnetic field sensor following the travel path side that functions as the magnetic field detecting unit GK ₂ for the next travel path (right side of the sensor 13R in the case of FIG. 1) The information is sequentially written and stored in the memory 25 in a state corresponding to the detection information of the distance sensor 10 (step 3).

When it is detected based on the detection information of the central magnetic field sensor 14 that the terminal of the traveling route k has been reached,
The number n of traveling routes is counted up (steps 4 and 5),
If the count value has not reached the set number of routes ns in the field 1, the target value of the amplification gain is set as described above from the maximum value of the magnetic field strength written and stored in the memory 25, and the gain is set. A command is sent to the analog switches AS ₄ and AS ₅ to automatically adjust the gain so that the target value becomes the target value (steps 7 and 8).

Next, the side magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route is switched to that of the opposite side (the right side of the sensor 13R) (step 9). This is because their positional relationship is reversed by a change in the direction of the vehicle body.

Next, turning control for turning the vehicle in a turning direction so as to be positioned at the start end of the next traveling route k is executed (step 10). As shown in FIG. 13 (a), after the vehicle travels straight ahead while maintaining the steering operation in the neutral state for a set distance from the end position of the traveling route k, the direction sensor 11 is reset, and the direction of the vehicle body is set to 180. The vehicle travels at the maximum turning angle until it is detected that the vehicle has been reversed, and then travels straight until it reaches the start end of the travel route k based on the detection information of the central magnetic field sensor 14. Further, as shown in FIG. 13B, the next traveling based on the detection information of the side magnetic field sensor functioning as the magnetic field detecting unit for the current traveling route k and the storage information stored in the memory 25. The vehicle moves forward while turning, so as to be in a state along the route, and the width is adjusted. After that, the guidance traveling control is executed in a state along the traveling route.

[0042] In After reaching starting end of this time, the travel path, (in FIG. 13 (b) right sensor 13R) side magnetic field sensor which serves as a magnetic field detector GK ₂ for the next travel route described above by Such a memory operation is performed,
At the start of the path, a detection error due to the width shift occurs, so that such an error is corrected so that appropriate reference information is obtained.

That is, in the first travel route that is manually performed, the reference value is stored as appropriate reference information. Therefore, the stored value at that time is associated with the travel distance information at the route start end of the next travel route. Based on the difference between the sequentially stored information and the difference between the appropriate reference information indicated by the broken line and the stored information indicated by the one-dot chain line at the time of width adjustment, for example, when FIG. Thus, the amount of deviation due to the width shift can be obtained. However, as shown in FIG. 3, since the strength of the magnetic field changes non-linearly every time the traveling route is different, errors caused by such non-linear characteristics are also reduced. The error in the traveling distance information due to the width shift is appropriately corrected based on the steering operation amount. That is, the difference value A between the detection values of the left and right side magnetic field sensors 13R and 13L in the traveling route to be corrected with respect to the deviation amount obtained as described above, and the traveling route two times before (the traveling route having the same traveling direction) ) Is multiplied by the ratio of the difference between the detection values of the left and right side magnetic field sensors 13R and 13L to the difference value B, that is, the correction ratio of the error caused by the non-linear characteristic, so that the correction amount of the non-linear error in the traveling route is reduced. Then, the stored information sequentially stored in the memory is corrected by the correction amount. Then, by executing such a correction operation for each traveling route, appropriate reference information can be obtained.

In this way, in the subsequent guided travel, the reference information near the end of the traveling route can be set in a state substantially along the traveling route with a small error as described above. The disadvantage that the work vehicle V meanders can be avoided beforehand.

Thereafter, the above-described guided traveling control is executed. At this time, if the gain has been changed in step 8, the detection information stored in the memory 25 also corresponds to the amount of change. The target value for traveling is obtained by multiplying the obtained gain. Then, the steps 2 to 10 are repeated to guide the work vehicle V sequentially along each traveling path k, and the control is ended when the number n of traveling paths reaches the set number ns of the traveling paths (step 6).

In the current traveling route k, the strength of the magnetic field stored when traveling on the preceding traveling route k and the current traveling route k
Is controlled to be the same as the detected magnetic field at
Since the installation intervals of the side magnetic field sensors 13R and 13L are set to be narrower than the working width of the rotary tilling device 6 with respect to the ground, the working area of the rotary tilling device 6 wraps on each traveling path k. That is, no unworked area is generated.

Further, there is provided an interval adjusting means KT which can change and adjust the installation interval of each of the side magnetic field sensors 13R and 13L. As shown in FIG. 12, a central magnetic field sensor 14 is attached and fixed to the left and right center positions of a support member 26 provided in the front part of the traveling vehicle body 5 so as to extend along the lateral direction of the vehicle body. The side magnetic field sensor 13
R and 13L are respectively attached by bolts. A plurality of bolt insertion holes 27 of the support member 26 at locations where the side magnetic field sensors 13R and 13L are mounted are provided at appropriate intervals in the vehicle width direction, and the mounting positions can be changed and adjusted over a predetermined range. The adjusting means KT is constituted. Each of the side magnetic field sensors 13R,
By changing the installation interval of the 13L, for example, without changing the calculation information for calculating the target value of the control device,
It is possible to change the interval of each traveling route k according to the condition of the field or the like.

[Other Embodiments] (1) In the above embodiment, the end position of the traveling route is detected by the central magnetic field sensor as the route end detecting unit, and the turning control and the guided traveling are performed based on the detected information. Although it was configured to execute the control, instead of such a central magnetic field sensor, for example, by irradiating a laser beam in the lateral direction at the end of the path,
Various sensors may be used to detect the end of the route, such as a sensor that detects the laser beam. May be implemented.

(2) In the above-described embodiment, the error of the stored information caused by the lateral displacement of the vehicle body with respect to the traveling route in accordance with the turning travel is corrected. As shown in FIG. 14, the vehicle body may be moved backward from the state along the next traveling route, and the guidance traveling control and the storing operation to the memory may be started after the vehicle body is aligned at the beginning of the route. By doing so, there is no occurrence of an error in the reference state due to turning, and the above-described correction control is not required.

(3) In the above-described embodiment, the traveling order by the work vehicle is such that the vehicle is guided so as to sequentially travel the adjacent traveling routes. The present invention may be implemented in a work mode as shown. That is, as shown in FIG. 15 (a), a work mode in which the vehicle travels along the outer peripheral portion of the work area and the work travels sequentially inward may be used. As shown, a headland (hatched portion) is provided on the outer side of each traveling route, and when traveling on each traveling route is completed, the vehicle travels on the traveling route located on the opposite side of the field through the headland. Work form may be used. In such a work mode, when traveling on the first traveling route k1, the reference information on the neighboring third traveling route k3 is sequentially stored, and when traveling on the second traveling route k2, the reference information on the adjacent fourth traveling route k2 is stored. Travel route k
4 will be sequentially stored.

(4) In the above embodiment, the installation interval in the magnetic field detecting means can be changed and adjusted. However, the installation interval may be fixed.

(5) In the above embodiment, the case where the guide lines are installed on both the left and right sides of the guidance target area has been exemplified. However, the configuration may be such that the guide lines are installed on only one side. In the control, the vehicle may be guided to a route that is farther away from the guide line, and may be sequentially guided to a route that is closer to the far side.

(6) In the above embodiment, the rotary tilling device is provided as the ground working device as the moving vehicle. However, instead of such a configuration, for example, a work provided with a seedling planting device or a reaper / harvester is provided. It may be a car, or may be a construction machine or a work vehicle for cleaning work. Further, a moving vehicle such as a transport vehicle that does not perform the work may be used.

Incidentally, reference numerals are written in the claims for easy comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a plan view showing a guidance state.

FIG. 2 is a side view showing an installation state of a guide wire.

FIG. 3 is a diagram showing a magnetic field intensity distribution.

FIG. 4 is a control block diagram.

FIG. 5 is a configuration diagram of a magnetic field detection unit.

FIG. 6 is a configuration diagram of a signal processing unit.

FIG. 7 is a plan view showing an installation state of a guide wire.

FIG. 8 is an electric circuit diagram of an induction wire.

FIG. 9 is a diagram showing output characteristics when a gain is switched;

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a plan view of a working vehicle.

FIG. 12 is a diagram showing a mounting state of a magnetic field sensor.

FIG. 13 is a plan view showing a turning control state.

FIG. 14 is a plan view showing a turning control state of another embodiment.

FIG. 15 is a plan view showing a running state of another embodiment.

[Reference Numerals] 2 induction line 6 ground work apparatus 10 distance detecting means 12 running control means 14 route edge detection unit 25 storage unit GK magnetic field detector GK ₁ for the magnetic field detecting unit GK ₂ following the travel path for the current travel route Magnetic field detector KT interval adjusting means V Moving vehicle

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yukio Yokoyama 64 Ishizukita-cho, Sakai-shi, Osaka Kubota Sakai Works (56) References JP-A-3-136110 (JP, A) JP-A-8- 286748 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 1/00-1/12

Claims (5)

(57) [Claims] 1. A guide wire (2) to which a current is supplied is installed on the ground side, and a magnetic field detecting means (GK) for detecting a strength of a magnetic field formed by the current is provided on a moving vehicle (V) side. And based on information detected by the magnetic field detecting means (GK),
Travel control means (12) for performing guided travel control for guiding a mobile vehicle (V) along each of the plurality of travel paths along the longitudinal direction of the guide line (2) and parallel to each other. ), The magnetic field detecting means (GK), when traveling along one of the plurality of traveling paths, the traveling path during the traveling The traveling vehicle (V) travels along the next adjacent traveling route, and a magnetic field detector (GK ₁ ) for the current traveling route for detecting the strength of the magnetic field for executing the guidance control along And a magnetic field detection unit (GK ₂ ) for the next traveling route that detects the strength of the magnetic field that is to be detected by the magnetic field detection unit (GK ₁ ) for the current traveling route when
A distance detecting means (10) for detecting a traveling distance of the moving vehicle (V); and a distance detecting means (10) for detecting a traveling distance of the moving vehicle (V). When the moving vehicle (V) travels along one of the plurality of traveling paths, the strength of the magnetic field detected by the next traveling path magnetic field detection unit (GK ₂ ) A storage unit (25) for sequentially storing as reference information in association with travel distance information from a travel route start end detected by the distance detection unit (10), the travel control unit (12) includes: In the travel route in which the reference information is stored, based on the reference information stored in the storage means (25) and the travel distance information of the distance detection means (10), Magnetic field detection for the current travel route Part (GK ₁₎ and obtains a target value of the strength of the magnetic field to be detected, the said target value magnetic field detector for the current travel route (GK
₁ ) A guidance control device for a mobile vehicle configured to execute the guidance traveling control so as to detect. 2. The vehicle (V) is provided with a route end detection unit (14) for detecting a start end and a termination end of the travel route, and the storage unit (25) stores the route Edge detection unit (14)
The travel control means (12) is configured to execute the storage processing of the reference information based on the detection information of (1).
The guidance control device for a mobile vehicle according to claim 1, wherein the guidance traveling control is performed on the traveling route in which the reference information is stored, based on the detection information of (4). 3. The traveling control means (12), based on the detection information of the route end detection unit (14), causes the traveling vehicle (V) to turn around from the terminal end of the traveling route and be adjacent to the traveling vehicle. A turn control for guiding the vehicle to enter the next travel route to be performed, the storage information of the storage means (25) at the end of the travel route, and the storage means (25) at the time of entering the next travel route. 3) The guidance control device for a mobile vehicle according to claim 1 or 2, wherein an error of the reference information generated at the time of approaching a traveling route along with the turning traveling is corrected based on the stored information of (1). . 4. The guidance control device for a mobile vehicle according to claim 1, further comprising an interval adjusting unit (KT) capable of changing and adjusting the set interval in the magnetic field detecting unit (GK). 5. The ground vehicle (6) wherein the mobile vehicle (V) is a ground working device (6).
The set interval in the magnetic field detecting means (GK) is set to be narrower than the working width of the ground working device (6). 4. The guidance control device for a mobile vehicle according to claim 4.