JP3236494B2 - 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 vehicle having a guide wire of a set length to which electric current is supplied on the ground side,
A steering operation means operable to change the direction of the vehicle body, a magnetic field detection means for detecting the strength of a magnetic field formed by a current supplied to the guide wire, and a predetermined information based on information detected by the magnetic field detection means. Running control means for performing a guide running control for controlling the steering operation means to guide the moving vehicle on each of the plurality of running routes in the guide area, and a length of the running guide line; The present invention relates to a guidance control device for a mobile vehicle that is set to have the same or substantially the same width as the width of the guidance area in the direction along the travel route.

[0002]

2. Description of the Related Art A guidance control apparatus for a mobile vehicle having the above-described structure is provided, when a current value supplied to the guidance line is constant, at each point in the guidance area formed by the same distance from the guidance line. The strength of the magnetic field at becomes almost constant, and using that, based on the detection information of the strength of the magnetic field,
The mobile vehicle is guided to travel along a predetermined travel route.

However, in the above-described guidance control device, the length of the guidance line for traveling is set to a finite length that is equal to or approximately equal to the width of the guidance area, and therefore, flows through the guidance line. In the intensity distribution of the magnetic field formed by the current, near the both ends of the guide line, that is, near the end of the traveling route, for example, as shown in FIG. Also, a non-linear region where the strength of the magnetic field does not become the same value occurs.

[0004] In the vicinity of the end of the traveling route, it is necessary to make the traveling vehicle turn around toward the next traveling route. However, as described above, the strength of the magnetic field becomes non-linear because the strength of the magnetic field becomes non-linear. The travel control based on the detected information of the vehicle cannot be accurately performed.

Therefore, conventionally, at the end of the traveling route, for example, a configuration has been considered in which control information is commanded manually by radio control.

[0006]

However, according to the above-mentioned prior art, the guided traveling on the traveling route is performed automatically, but every time the moving vehicle reaches the end of the traveling route, the operation by radio control is executed. Tedious work was required, sufficient automation could not be achieved, and there was still room for improvement.

The present invention has been made in view of such a point, and an object of the present invention is to automatically and appropriately perform not only guided driving on a traveling route but also route change movement of a moving vehicle between traveling routes. Another object of the present invention is to provide a guidance control device for a mobile vehicle that can be controlled.

[0008]

According to the first aspect of the present invention, the mobile vehicle guides the vehicle along the traveling route based on the guidance traveling control and reaches the end position of the traveling route. When this is detected by the route end detecting means, the traveling control means executes the turning control. That is,
Stop the execution of the guided traveling control, and based on the detection information of the distance detection means provided in the moving vehicle, make the traveling vehicle travel straight ahead by the set distance, and then detect the detection information of the azimuth detection means provided in the moving vehicle. Until the orientation of the vehicle body is reversed or substantially reversed, and the traveling vehicle is caused to make a turn with the set steering operation amount.Furthermore, based on the information detected by the route end detecting means provided in the traveling vehicle. The vehicle body is caused to move straight ahead until it is detected that the moving vehicle has reached the end position of the traveling route.

[0009] Therefore, the outer sides of the two end positions of the traveling path are adjusted so that the intensity distribution of the magnetic field formed by the current supplied to the finite length induction wire corresponds to the above-mentioned nonlinear region. By setting the end positions in advance, it is possible to accurately perform guided traveling on the traveling route based on the detection information of the strength of the magnetic field.

In the non-linear region, based on the traveling distance information and the azimuth detection information, the mobile vehicle travels straight ahead for a set distance while being guided, and then reverses the azimuth. Since the vehicle travels straight until reaching the end position of the traveling route, the traveling vehicle reverses its direction from the guided traveling state and reaches the starting end of the next traveling route in a state along the traveling route.

As a result, while adopting a rational installation configuration in which the length of the guide wire is set to be equal to or substantially equal to the width of the guide area, without using the magnetic field detection information,
The vehicle can be moved from the end of the traveling route to the beginning of the next traveling route in an appropriate state, and the traveling can be automatically controlled over a plurality of traveling routes.

Further, according to the characteristic configuration of the present invention, after the traveling control unit executes the turning control, the traveling vehicle determines whether or not the traveling vehicle is on the traveling route based on the detection information by the route end detection unit. When it is detected that the vehicle has reached the end position, the steering operation means is controlled based on the information detected by the magnetic field detection means, and the mobile vehicle is guided to travel along the next travel route. In other words, when the moving vehicle reaches the end position of the traveling route, if the position is shifted laterally with respect to the next traveling route, the traveling vehicle is guided to travel along the traveling route to adjust the width. You do it.

After the moving vehicle is in the proper running posture and along the next traveling route, the forward / reverse switching means is switched to the reverse traveling state based on information detected by the route end detecting means, and The mobile vehicle is moved backward in the straight traveling state until the end position of the travel route, that is, the start position of the next travel route is detected. In this way, even after the turning control is executed, even if the vehicle is shifted laterally with respect to the next traveling route, the moving vehicle can be moved to the start end of the next traveling route. Thereafter, based on the information detected by the magnetic field detecting means, the mobile vehicle is guided to travel along the next traveling route.

[0014] According to the characteristic configuration of the second aspect, the invitation is performed.
The mobile vehicle is guided along the travel route based on the guided travel control.
To reach the end position of the traveling route and reach the end of the route.
When this is detected by the
You will be in control. In other words, the execution of guidance traveling control
To stop and detect the detection information of the distance detection means provided in the mobile vehicle.
The vehicle travels straight ahead for the set distance based on the
After that, based on the detection information of the azimuth detecting means provided in the mobile vehicle,
The vehicle body direction is reversed or almost reversed.
Then, the moving vehicle is turned with the set steering operation amount, and further,
The information detected by the route edge detection means provided in the mobile vehicle
Based on the above, the moving vehicle has reached the end position of the travel route.
Until the vehicle is detected,
You. Therefore, the outer sides of both end positions of the travel route are limited
Strength of the magnetic field formed by the current supplied to the long induction wire
So that the degree distribution corresponds to the nonlinear region as described above,
By setting each end position in advance,
, Based on the detection information of the magnetic field strength
Guidance traveling can be performed. And the above nonlinear region
Is based on mileage information and azimuth detection information.
And move the moving vehicle by the set distance while being guided.
After traveling straight ahead, reverse the direction and drive further
The vehicle travels straight until it reaches the end of the route.
Then, the direction of the moving vehicle is reversed from the guided
You will reach the beginning of the next travel route along the road.
You. As a result, whether the length of the guide line is the same as the width of the guide area
Or adopt a reasonable installation configuration that is set to almost the same length
However, without using the magnetic field detection information,
From the end of the road to the start of the next travel route in an appropriate state
Can be moved automatically across multiple travel paths
The vehicle can be controlled to run. further,
According to the characteristic configuration of the second aspect, the traveling control means includes:
After executing the turning control, when it is detected that the moving vehicle has reached the end position of the traveling route on the basis of the detection information by the route end detecting means, based on the detection information by the magnetic field detecting means for traveling. Then, the steering operation means is controlled to guide the mobile vehicle to travel along the next travel route. In other words, when the moving vehicle reaches the end position of the traveling route, and the position is laterally shifted with respect to the next traveling route,
In order to follow the traveling route, the mobile vehicle is guided to travel and the width is shifted.

Then, after the moving vehicle is in the proper running posture and along the next running route, the forward / reverse switching means is switched to the backward running state, and the detection information by the magnetic field detecting means and the information corresponding to the running route are changed. Based on the storage information set and stored in advance, the mobile vehicle is caused to travel backward in a state of being along the next traveling route. Therefore, even when the azimuth of the vehicle body is deviated from the travel route when the reverse travel is started, the vehicle can be made to travel backward while following the travel route, so that the vehicle can be reliably moved to the start end of the next travel route. Can be moved. Thereafter, based on the information detected by the magnetic field detecting means, the mobile vehicle is guided to travel along the next traveling route.

According to the third aspect of the present invention, the invitation
The mobile vehicle is guided along the travel route based on the guided travel control.
To reach the end position of the traveling route and reach the end of the route.
When this is detected by the
You will be in control. In other words, the execution of guidance traveling control
To stop and detect the detection information of the distance detection means provided in the mobile vehicle.
The vehicle travels straight ahead for the set distance based on the
After that, based on the detection information of the azimuth detecting means provided in the mobile vehicle,
The vehicle body direction is reversed or almost reversed.
Then, the moving vehicle is turned with the set steering operation amount, and further,
The information detected by the route edge detection means provided in the mobile vehicle
Based on the above, the moving vehicle has reached the end position of the travel route.
Until the vehicle is detected,
You. Therefore, the outer sides of both end positions of the travel route are limited
Strength of the magnetic field formed by the current supplied to the long induction wire
So that the degree distribution corresponds to the nonlinear region as described above,
By setting each end position in advance,
, Based on the detection information of the magnetic field strength
Guidance traveling can be performed. And the above nonlinear region
Is based on mileage information and azimuth detection information.
And move the moving vehicle by the set distance while being guided.
After traveling straight ahead, reverse the direction and drive further
The vehicle travels straight until it reaches the end of the route.
Then, the direction of the moving vehicle is reversed from the guided
You will reach the beginning of the next travel route along the road.
You. As a result, whether the length of the guide line is the same as the width of the guide area
Or adopt a reasonable installation configuration that is set to almost the same length
However, without using the magnetic field detection information,
From the end of the road to the start of the next travel route in an appropriate state
Can be moved automatically across multiple travel paths
The vehicle can be controlled to run. further,
According to the characteristic configuration of the third aspect, the traveling control means includes:
After executing the turning control, when it is detected that the moving vehicle has reached the end position of the traveling route on the basis of the detection information by the path end detecting means, the magnetic field is detected based on the detection information by the magnetic field detecting means. Until the detecting means detects the strength of the magnetic field corresponding to the next traveling route, the mobile vehicle is guided to travel, and the magnetic field detecting means detects the strength of the magnetic field corresponding to the next traveling route. When the vehicle enters the control dead zone of the guided traveling, the mobile vehicle travels straight ahead by the set distance based on the detection information of the distance detecting means. After that, based on the information detected by the magnetic field detecting means, the steering operation means is controlled and the width is adjusted to guide the traveling vehicle along the next traveling route.

That is, in order to improve the followability of the guided traveling control, when the magnetic field detecting means is provided in front of the moving vehicle and the width is to be shifted toward the next traveling route, the detection by the magnetic field detecting means is performed. If the guidance traveling control based on the information is continued so as to follow the next traveling route, a relatively long distance is required until the posture along the traveling route is stabilized. This is because the ratio of the movement amount of the vehicle body to the change (control deviation) of the detection information of the magnetic field increases because the vehicle body moves in an oblique direction with respect to the target travel route, and the steering operation amount with respect to the vehicle body movement amount This is because (control amount) becomes relatively small, and consequently, the controllability of the steering operation control is reduced, and a long distance is required until the control is stabilized.

On the other hand, as described above, when the detection value of the magnetic field detection means falls within the control dead zone, the vehicle travels straight ahead for the set distance, and then switches back to the guide travel control. (I.e., the amount of lateral displacement from the target position of the magnetic field detecting means) becomes large, and by following the next traveling route at a stretch with a large steering operation amount, it becomes possible to stabilize the posture along the next traveling route. The distance can be short.

According to the characteristic configuration of the fourth aspect, the guide line at the end of the traveling route is installed on the ground side in a state where current is supplied along a direction intersecting the guide line. , The path end detecting means, based on the strength of the magnetic field formed by the current supplied to the guide wire on the end of the traveling path,
Since it is configured to detect the end position of each traveling route, since the detection information is the same as the magnetic field detecting means, it is possible to share a signal processing configuration, a control configuration, etc. There is no disadvantage in that the control configuration is complicated as compared with a case where another detection information such as a configuration for detecting the end position by detecting the presence or absence of light or a configuration for detecting using an ultrasonic wave is used.

[0020]

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.

On each side (ridge) in the outer peripheral portion 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.

As shown in FIG. 13, the work vehicle V is provided with a rotary tillage device 6 as a ground work device at a rear portion of the four-wheeled traveling body 5 so that the work vehicle V is able to perform ground work (cultivation work) on the field 1 while traveling. ) Can be done. An engine is mounted on the traveling vehicle body 5, and the power of the engine is transmitted via a transmission equipped with a forward / reverse switching mechanism 7 as forward / reverse switching means capable of switching the traveling direction of the vehicle body and an electromagnetically operated traveling clutch 8. The vehicle is configured to travel by being transmitted to each wheel, and 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 running distance sensor 10 as a distance detecting means, for example, a rotary encoder for detecting the running 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.

At the front of the traveling vehicle body 5, 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 arranged in parallel along the vehicle width direction. The left and right side magnetic field sensors 13R and 13L are configured to detect the strength of the magnetic field formed by the alternating current having the frequency fa and the frequency fc. Is configured to detect the strength of the magnetic field formed by the alternating current having the frequency fb and the frequency fd.

The control device 12 controls the work vehicle V in each of the plurality of traveling paths k based on the detection information from the side magnetic field sensors 13R and 13L.
To perform guidance traveling control for guiding traveling along, and
Based on the information detected by the central magnetic field sensor 14, it is detected that the traveling route k has reached the end or the starting end, and when it is detected that the traveling route k has been reached, the work vehicle V is turned around and adjacent to the traveling vehicle k. The vehicle is configured to execute turning control for guiding the vehicle to enter the next traveling route.

Therefore, each side magnetic field sensor 13R, 1
The 3L constitutes a vehicle body guidance magnetic field detecting means GK, and the central magnetic field sensor 14 constitutes a path end detecting means for detecting the start and end of the traveling path. That is, as shown in FIG. 4, after the outputs of the respective side magnetic field sensors 13R and 13L and the central magnetic field sensor 14 are processed by the signal processing unit 15,
Based on the magnetic field detection information, controls the drive operation unit for the steering electric motor 9 so that the vehicle is guided along each travel path k, and at the end of the travel path k, On the basis of the magnetic field detection information and the detection information of the direction sensor 11 and the traveling distance sensor 10, the steering electric motor 9, the forward / reverse switching mechanism 7, the traveling clutch 8, and the like are controlled so as to make a turn.

Each of the magnetic field sensors 13R, 13L, 14
As shown in FIG. 5, a detecting 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 detecting 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, 1
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 detection information of the central magnetic field sensor 14, the control unit 12 separates the guide line 2b, 2d, which is installed on the ridge along the short direction, from one of the guide lines on the higher detection level side. 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 from 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 provided 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.

In the next traveling path k in which the magnetic field detection information is stored, the control device 12 determines the magnetic field detection information stored in the memory 25 and the end position of the traveling path k detected by the traveling distance sensor 10. 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 end 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 NS of paths in the field 1, the target value of the amplification gain is set from the maximum value of the magnetic field strength written and stored in the memory 25 as described above, 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 in FIG. 1) (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). This turning control will be described based on the control flowcharts of FIGS. 11 and 12 and the traveling state diagram shown in FIG. Based on the detection information of the traveling distance sensor 10, the vehicle travels straight while maintaining the steering operation in the neutral state by the set distance from the end position of the traveling route k (step 10).
1, 102), the azimuth sensor 11 is reset, and the maximum turning angle or a set turning angle close to the maximum turning angle (corresponding to the set steering operation amount) until the azimuth of the vehicle body is inverted by 180 degrees is detected. (Steps 103 to 10)
6). When it is detected that the azimuth of the vehicle body has been reversed by 180 degrees, based on the detection information of the central magnetic field sensor 14, it is detected that the vehicle is already located in the field beyond the end of the route. Then, the forward / reverse switching mechanism 7 is switched to the reverse travel state, and the vehicle is caused to travel backward in the straight travel state in which the steering operation is maintained in the neutral state until the path end position is reached (step 107).
When the vehicle reaches the end of the route, the traveling is stopped and the forward / reverse switching mechanism 7 is switched to the forward state (step 111). If the vehicle does not exceed the end of the route in step 107, the vehicle is made to travel forward in a straight traveling state in which the steering operation is maintained in a neutral state until the vehicle is located at the end of the route (step 11)
2, 113). The control from step 101 to step 113 corresponds to the turning control.

Thereafter, the magnetic field detector GK ₁ for the current traveling route is used.
Based on the detection information of the side magnetic field sensor (13L in the case of FIG. 14B) and the storage information stored in the memory 25, the vehicle body follows the next traveling route. The guidance driving control is executed by controlling the steering electric motor 9 (step 114). When it is detected that the strength of the magnetic field detected by the side magnetic field sensor 13L falls within the control dead zone, in other words, the strength of the detected magnetic field and the storage stored in the memory 25 When the deviation from the information falls within the target deviation and the side-side magnetic field sensor 13L detects the strength of the magnetic field corresponding to the next traveling route, the steering distance is set to the neutral position and the set distance is maintained. (Steps 115-1)
17). This set distance is set to a value corresponding to the distance traveled until the left and right central portions of the rear wheels are located on the next travel route.

When it is detected that the vehicle has traveled the set distance, guidance traveling control is performed again so that the vehicle body follows the next traveling route based on the detection information of the side magnetic field sensor 13L and the stored information ( Step 118). At this time, as shown in FIG. 14, since the side magnetic field sensor 13L is away from the next traveling route, the deviation between the detection value of the side magnetic field sensor 13L and the stored value (control target) is large.
As the control amount (steering operation amount) increases, the vehicle turns sharply in the opposite direction (see FIG. 15), and it can be completed in a short distance until the next time the vehicle enters a stable state along the traveling route. .

Thereafter, as the guided traveling control is executed, the vehicle body travels substantially along the next traveling route, and if the detected magnetic field becomes stable within the dead zone continuously for the set time, the vehicle travels. At the same time, the forward / reverse switching mechanism 7 is switched to the reverse state (steps 119 to 12).
1) The vehicle body travels backward in a straight traveling state (step 122). When it is detected based on the detection information of the central magnetic field sensor 14 that the vehicle is located at the end of the travel route (the start end of the next travel route), the vehicle is stopped, and the forward / reverse switching mechanism 7 is moved forward. (Steps 123 and 1)
24).

Then, the process proceeds to step 2 to execute the guidance traveling control in a state of following the next traveling route,
The storage operation to the memory 25 as described above is executed.

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. Also, left and right side magnetic field sensors 1
The installation intervals of the 3R and 13L can be changed and adjusted.

[Other Embodiments] (1) In the above embodiment, the vehicle body is moved in the straight traveling state at step 122 in FIG. 12, but at this time, the side functioning as the magnetic field detecting unit for the current traveling route is used. Based on the detection information of the partial magnetic field sensor 13L and the storage information stored in the memory 25, the vehicle is caused to travel backward while controlling the steering electric motor 5 so that the vehicle body follows the next traveling route. It may be controlled. With this configuration, it is possible to accurately move the vehicle body to the start end of the next traveling route even when the direction of the vehicle body is slightly inclined with respect to the direction along the traveling route at the start of the reverse traveling. Can be.

(2) In the above embodiment, in steps 107 to 110 in FIG. 11, when the azimuth is reversed, if the vehicle has already passed the end of the route, the vehicle is moved backward to the end of the route. In place of such a configuration, when the reversing traveling that may be controlled as follows is performed,
When it is determined based on the detection information of the central magnetic field sensor 14 that the vehicle has reached the end of the route, distance detection by the traveling distance sensor 10 is started from that point in time, and the traveling distance up to the point in time when the reversal of the direction is completed In the subsequent guided travel control, guidance data may be executed by excluding the stored data corresponding to the travel distance. This way,
In the turning control, the number of times the vehicle body moves backward is reduced, and the waste time due to switching between forward and backward traveling is reduced, thereby improving efficiency.

(3) In the above-described embodiment, in the turning control, when the value of the detected magnetic field enters the dead zone, the vehicle is driven straight after the set distance, and then guided again, but instead of such a configuration, As shown in FIG. 16, the configuration may be such that the guided traveling control is continued without performing the straight traveling, and when the vehicle body is in a state along the next traveling route, the vehicle may travel backward in the straight traveling state to the end position of the traveling route. Good. The control flowchart in this case is a flowchart in which steps 115 to 118 in FIGS. 11 and 12 are omitted. The changes in the detected magnetic field and the steering operation amount are as shown in FIG. 17, and the vehicle travels a relatively long distance until it is stabilized along the traveling route.

(4) Instead of the above turning control, the following control may be performed. As shown in FIG. 18, after the vehicle body is turned and positioned at the end of the route, the guidance traveling control is continued without performing the straight traveling, and when the vehicle body is in the state along the next traveling route, the reverse traveling is performed. Instead, the guidance traveling control along the traveling route may be continued.
The control flowchart in this case is shown in FIGS.
2 is a flowchart in which steps 115 to 124 are omitted. However, in this control configuration, from the time of starting the biassing of the vehicle body, in that the storage operation as described above by the side magnetic field sensor which serves as a magnetic field detector GK ₂ for the next travel path is performed. Therefore, a detection error due to the width shift occurs at the route start end. Therefore, such an error is corrected so that appropriate reference information is obtained.

That is, in the first traveling route that is performed manually, the information is stored as appropriate reference information. Therefore, the stored value at that time is associated with the traveling distance information at the beginning of the next traveling route. Assuming that the difference from the sequentially stored information, for example, FIG. 18 (a) is the initial route, the difference between the appropriate reference information indicated by a broken line and the stored information at the time of width adjustment as shown in FIG. 18 (b) Based on the difference, the shift amount 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) ), The difference value B between the detection values of the left and right side magnetic field sensors 13R and 13L.
Multiplied by the correction ratio of the error caused by the non-linear characteristic, the correction amount of the error due to the non-linearity in the traveling route is obtained, and the storage information sequentially stored in the memory is corrected by the correction amount. is there. Then, by executing such a correction operation for each traveling route, appropriate reference information can be obtained.

In this way, in the subsequent guided traveling, 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.

(5) In the above embodiment, the end position of the traveling path is detected by the central magnetic field sensor as the path end detecting section, and the turning control and the guided traveling control are executed based on the detected information. However, instead of such a central magnetic field sensor, for example, a laser beam may be irradiated laterally at the end of the path, and the end of the path may be detected by a sensor that detects this laser light. Alternatively, the present invention may be implemented in various configurations such as a configuration in which the mobile vehicle is instructed that the vehicle has reached the end of the route manually by radio control.

(6) In the above embodiment, in performing the guidance traveling control, the strength of the magnetic field detected by the magnetic field detection unit for the next traveling route is stored in the memory, and the stored information is used as the control target. Instead of such a configuration, instead of such a configuration, the control target is controlled based on storage information that is set and stored in advance as map data as a value corresponding to each travel route for each field. It is good also as a structure which performs. In this case, it is not necessary to provide a pair of magnetic field detecting means on both the left and right sides, and only one magnetic field detecting means can be used.

(7) In the above embodiment, after the turning control is executed, the width shifting is executed toward the next traveling route. However, instead of such a configuration, the turning control is executed. After that, the configuration may be such that the guidance driving control is executed as it is from that position. In this case, the strength of the detected magnetic field is maintained constant instead of controlling based on the stored information as described above. It may be implemented in such a running control form.

(8) In the above embodiment, the case where the guide lines are provided on both the left and right sides of the guidance target area has been exemplified. However, the guide lines may be provided only on 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.

(9) In the above embodiment, a rotary tilling device is provided as a moving vehicle as a ground working device. 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 to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[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 flowchart of a control operation.

FIG. 12 is a flowchart of a control operation.

FIG. 13 is a plan view of a working vehicle.

FIG. 14 is a plan view showing a turning operation state.

FIG. 15 is a characteristic diagram showing a control state.

FIG. 16 is a plan view showing a turning operation state of another embodiment.

FIG. 17 is a characteristic diagram showing a control state according to another embodiment.

FIG. 18 is a plan view showing a turning operation state of another embodiment.

[Explanation of symbols]

 2 Guidance line 5 Steering operation means 7 Forward / reverse switching means 10 Distance detection means 11 Direction detection means 12 Travel control means 14 Path end detection section GK Magnetic field detection means V Moving vehicle

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Yukio Yokoyama 64 Ishizukita-cho, Sakai-shi, Osaka Kubota Sakai Works Co., Ltd. (56) References JP-A-7-5914 (JP, A) JP-A-6-600 335547 (JP, A) JP-A-3-136110 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/00-1/12

Claims (4)

(57) [Claims] 1. A guide wire (2) having a set length to which an electric current is supplied is installed on the ground side, and a steering operation means (5) operable to change the direction of the vehicle body is provided on a moving vehicle (V) side. , the induction line (2) magnetic field detection means for detecting the intensity of the magnetic field formed by the current supplied to the (GK), based on the information detected by the magnetic field detector (GK),
Running control means (12) for executing guided driving control for controlling the steering operation means (5) to guide the moving vehicle (V) on each of a plurality of driving routes in a predetermined guiding area. Wherein the length of the traveling guidance line (2) is set to be the same as or approximately the same as the width of the guidance area in the direction along the traveling route, A distance detecting means (10) for detecting a traveling distance, and an azimuth detecting means (1) for detecting an azimuth of a vehicle body.
1) and a route end detecting means (14) for detecting an end position of each of the traveling routes, wherein the traveling control means (12) is adapted to detect information detected by the route end detecting means (14). When it is detected that the moving vehicle (V) has reached the end position of the traveling route, the execution of the guided traveling control is stopped, and based on the detection information of the distance detecting means (10),
The mobile vehicle (V) is caused to travel straight ahead for a set distance, and thereafter the mobile vehicle (V) is set and steered until the azimuth of the vehicle body is reversed or almost reversed based on the detection information of the azimuth detecting means (11). The vehicle is turned until the moving vehicle (V) reaches the end of the travel route based on the detection information from the route end detection means (14). the order to move linearly, the is configured to perform EKO control for controlling the steering operating means (5), wherein the transport vehicle (V) before and after freely switch the vehicle traveling direction
Forward switching means (7) is provided to the travel control means (12).
The traveling control means (12) is provided so as to be able to perform switching control , and after performing the turning control , the traveling end detection means
Based on the detection information according to (14), the moving vehicle (V)
Detects that the vehicle has reached the end position of the travel route,
Based on information detected by the magnetic field detecting means (GK),
Guide the vehicle (V) to follow the next route
And the moving vehicle (V) moves to the next traveling route in an appropriate traveling posture.
After being along the path, the path end detection means (14)
The moving vehicle (V) is driven by the traveling
Until it detects that it has reached the end of the line,
(V) is moved backward in a straight-ahead state, and then detected by the traveling magnetic field detecting means (GK).
Based on the information, the moving vehicle (V) along the next traveling route
The steering operation means (5) and the front
And configured to control the forward / backward switching means (7).
And that the transport vehicle guidance control system. 2. On the ground side, a set length of current supplied
A guide wire (2) is provided, and a steering operation means (5) capable of operable to change the direction of the vehicle body and a magnet formed by a current supplied to the guide wire (2) are provided on the moving vehicle (V) side.
A magnetic field detecting means (GK) for detecting the strength of the field, and information detected by the magnetic field detecting means (GK) .
Each of a plurality of travel routes within a predetermined guidance area
The steering operation to guide the mobile vehicle (V)
Traveling control for executing guided traveling control for controlling the means (5)
Means (12), and the length of the travel guide line (2) is determined by the guide area.
Or almost the same as the width in the direction along the travel route
A guidance control device for a mobile vehicle set to the same length
And a distance detecting means for detecting a traveling distance in the moving vehicle (V).
And (10), orientation detection means for detecting a person position of the vehicle body (1
1) and a route end detecting the end position of each of the traveling routes
Detecting means (14), wherein the traveling control means (12) is based on information detected by the route end detecting means (14).
The moving vehicle (V) reaches the end position of the traveling route.
That the guidance driving control is stopped.
Then, based on the detection information of the distance detecting means (10),
The moving vehicle (V) is made to travel straight ahead for a set distance, and then, based on the detection information of the direction detecting means (11).
Until the orientation of the vehicle is reversed or almost reversed.
The moving vehicle (V) is caused to make a turn by the set steering operation amount, and the detected information by the route end detection means (14) is
The moving vehicle (V) is located at the end of the traveling route
The vehicle should move straight until it detects that
The turning control for controlling the steering operation means (5).
Configured to, the transport vehicle freely forward-reverse switching means switches the vehicle traveling direction (V) (7) is switched controllably provided the by the running controlling means (12), said running control means ( 12) The moving vehicle (V) based on the detection information by the route end detecting means (14) after executing the turning control.
Detects that the vehicle has reached the end position of the travel route,
Based on the information detected by the traveling magnetic field detecting means (GK), the mobile vehicle (V) is guided to travel along the next travel route, and the mobile vehicle (V) travels the next time in an appropriate traveling posture. After being along the path, the magnetic field detecting means (GK)
Detection information and preset and stored corresponding to the travel route.
Along the next driving route based on the stored information
In this state, the mobile vehicle (V) is caused to travel backward, and thereafter, based on information detected by the magnetic field detecting means (GK).
Guide the vehicle (V) along the next travel route
The steering operation means (5) is controlled so as to perform
A guidance control device for a mobile vehicle configured as described above . 3. On the ground side, a set length of current supplied
A guide wire (2) is provided, and a steering operation means (5) capable of operable to change the direction of the vehicle body and a magnet formed by a current supplied to the guide wire (2) are provided on the moving vehicle (V) side.
A magnetic field detecting means (GK) for detecting the strength of the field, and information detected by the magnetic field detecting means (GK) .
Each of a plurality of travel routes within a predetermined guidance area
The steering operation to guide the mobile vehicle (V)
Traveling control for executing guided traveling control for controlling the means (5)
Means (12), and the length of the travel guide line (2) is determined by the guide area.
Or almost the same as the width in the direction along the travel route
A guidance control device for a mobile vehicle set to the same length
And a distance detecting means for detecting a traveling distance in the moving vehicle (V).
(10) and azimuth detecting means (1) for detecting the azimuth of the vehicle body
1) and a route end detecting the end position of each of the traveling routes
Detecting means (14), wherein the traveling control means (12) is based on information detected by the route end detecting means (14).
The moving vehicle (V) reaches the end position of the traveling route.
That the guidance driving control is stopped.
Then, based on the detection information of the distance detecting means (10),
The moving vehicle (V) is made to travel straight ahead for a set distance, and then, based on the detection information of the direction detecting means (11).
Until the orientation of the vehicle is reversed or almost reversed.
The moving vehicle (V) is caused to make a turn by the set steering operation amount, and the detected information by the route end detection means (14) is
The moving vehicle (V) is located at the end of the traveling route
The vehicle should move straight until it detects that
The turning control for controlling the steering operation means (5).
The traveling control means (12) is configured to execute the turning control, and then execute the traveling vehicle (V) based on information detected by the route end detection means (14).
Detects that the vehicle has reached the end position of the travel route,
Based on information detected by the magnetic field detecting means (GK),
Until the magnetic field detecting means (GK) detects the strength of the magnetic field corresponding to the next traveling route, the mobile vehicle (V) is guided to travel along the next traveling route, and the distance detecting means (10 ) Based on detection information
The vehicle (V) travels straight ahead for a set distance, and then, based on the information detected by the magnetic field detecting means (GK).
Guide the mobile vehicle (V) along the next travel route
The steering operation means (5) is controlled so as to perform
A guidance control device for a mobile vehicle configured as described above . 4. A direction intersecting the guide line (2).
The guide line (2) at the end of the traveling route along
The road end detecting means (14) is installed on the ground side in a state where
Field formed by the current supplied to the induction wire (2)
Detecting the end position of each of the traveling routes based on the strength of the
4. The guidance control apparatus for a mobile vehicle according to claim 1 , wherein the guidance control apparatus is configured to: