JP3454666B2 - Travel control method for self-propelled work machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled working machine which automatically travels along a predetermined route in a substantially rectangular work target area by predetermined preset control data. In particular, the present invention relates to a traveling control method suitable for a self-propelled lawnmower.

[0002]

2. Description of the Related Art In many cases, work such as lawn mowing, cultivating, and cleaning of the ground surface requires work for a long time while moving to a wide range. Therefore, as a machine for performing such work, a so-called self-propelled work machine has been conventionally used, which is provided with power-driven wheels and can perform work while self-propelled.

Even if such a self-propelled machine is used, it may be operated manually.
There are many problems in terms of cost and securing workers. Therefore, in recent years, a proposal has been made for a device that has an automatic driving function by autonomous navigation and can automatically perform necessary work over a predetermined range while self-propelled along a predetermined route. One example is a self-propelled lawn mower.

[0004]

The above-mentioned prior art does not consider that a workable area larger than the work target area is required, and if the work target area is limited, it is self-propelled. There is a problem that it is difficult to work on the entire range within the area unless a special type machine is used. This point will be described below by taking a self-propelled automatic lawnmower as an example.

First, the conventional self-propelled lawnmower is based on the existing self-propelled lawnmower in terms of cost. Therefore, the turning radius is equal to or larger than the lawn mowing width. In most cases. Also, in lawnmower work, from the viewpoint of protecting the lawn and from the viewpoint of preventing the tire marks of the lawn mower from remaining on the lawn mowing surface, it is necessary to avoid the turning traveling operation of the lawn mower as much as possible, and at this time, In many cases, patterning by reversing the lawn mowing direction is required. Then, when these are taken into consideration, the work route pattern when performing lawn mowing work according to the conventional technique is as shown in FIG. 8, for example.

That is, assuming that the target area (area) for lawn mowing is a square (square), the lawnmower 1 normally follows the traveling path from the route (1) to the route (15) in order. Linear paths (1) that have moved and are now parallel to each other,
The lawn mowing is done at (3), ......, (13), (15), and the work is completed. Here, each straight path (1), (3), ..., (1
3), a path connecting one end of (15) and the other end
In (2), (4), ..., (12), (14), the lawn mowing work is not performed, but only the reverse traveling for movement between the straight lines is performed. Call.

In this case, the size of the work area is a × d, where a is the length in the vertical direction and d is the length in the horizontal direction.
become. However, because of the turning motion of the lawnmower 1,
The work area does not have to be as large as a × d, but in reality, a large area of (a + 2c + 2b) × (d + e) is required for work. Here, b is an area required for turning the lawnmower 1 and has a size determined by the turning radius of the lawn mower 1, and c is an area required for returning the traveling direction of the lawnmower 1 to a straight path. , And e is the lawn mower working width of the lawnmower 1.
This is the area taken in (vehicle width).

However, even if the reverse running operation is allowed in the work area without considering the protection of the grass and the remaining tire marks on the lawn mowing surface, even in this case, as shown in FIG. In addition, a work area having a size of (a + 2b) × (d + e) is required for a work target area having a size of a × b.

Therefore, in the prior art, as shown in FIG. 8, work cannot be performed by a self-propelled lawnmower unless there are many spare margin areas for the work target area. As a result, there arises a problem that the application of the lawn mower is greatly restricted. Further, as shown in FIG. 9, when the turning traveling operation is performed in the work target area, the area to be the reserve margin can be reduced, but this also inevitably has an adverse effect on the turf and a deterioration of the appearance, so this is also possible. Not desirable.

An object of the present invention is to provide a self-propelled working machine capable of performing a required work without requiring a turning traveling operation in a work target area and a minimum necessary margin. To provide a travel control method for the vehicle.

[0011]

The above-mentioned object is to provide a self-propelled work machine in which a self-propelled work machine is automatically made to travel along a traveling path set in a substantially rectangular work target area. In the traveling control method, the traveling path is formed by connecting end portions of a plurality of parallel linear paths with each other by reversing paths,
The inversion path flies from one end of one of the linear paths to at least two or more even-numbered linear paths adjacent to the linear path, and one end of at least three or more odd-numbered linear paths. It is achieved by connecting the parts so that the traveling directions of the self-propelled work machine on the linear paths are alternately opposite on the adjacent linear paths.

As a result, the spare margin area, which is required outside the original work area, can be kept to a minimum size without the need for a turning operation in the work area.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION A travel control method for a self-propelled work machine according to the present invention will be described in detail below with reference to the illustrated embodiment. First, FIG. 2 and FIG. 3 are one embodiment in which the present invention is applied to a lawnmower, FIG. 2 is a side view, and FIG. 3 is a plan view. The lawn mower 1 has a main frame 10 that constitutes a vehicle body, two front wheels 24 and two rear wheels 22 that support the main frame 10. Lawn mowing units 70 and 72 are disposed below the frame 10, and an engine 30 is disposed above the frame 10.

The engine 30 drives the hydraulic pump 100, and the hydraulic oil generated by the hydraulic pump 100 drives and steers wheels, raises and lowers a lawn mowing unit, and drives a cutter. A fuel tank 32 and a hydraulic oil tank 34 for the hydraulic pump 100 are provided on both sides of the frame 10.
Etc. are provided. A seat 50 and a steering wheel 60 for an operator are provided on the frame 10 so that the operator can get on and drive the vehicle during manned driving. An operation lever 80, an accelerator pedal, a brake pedal, etc., which are sometimes necessary, are provided.

The lawn mowing units 70 and 72 have cutter blades which are rotationally driven by a hydraulic motor.
A front bumper 82 is attached to a front portion of the frame 10, a bumper switch 320 and an obstacle sensor 340 are provided on the front bumper 82, and a rear bumper 84 is attached to a rear portion thereof, which is similar to the front bumper 82. In addition, a bumper switch 320 and an obstacle sensor 340 are provided.

Further, a control device 200 is provided on the frame 10.
Is provided with a microcomputer and a memory for storing predetermined control data. Then, the control device 200 fetches information from a vehicle speed sensor 430 and necessary sensors such as a gyro sensor provided in the control device 200 to perform autonomous navigation control,
As a result, the actuator of the steering device, the throttle valve actuator of the engine, the brake actuator, etc. are controlled so that the lawnmower 1 travels properly along the travel route determined by the control data stored in advance in the memory. , A lawn mowing operation in a predetermined work area is automatically obtained.

Next, the lawn mowing work according to this embodiment will be described. As described above, the lawn mowing work according to this embodiment includes the control of causing the lawnmower 1 to travel along the traveling route determined by the control data stored in advance in the memory of the control device 200, and the lawn mowing. Unit 7
It is designed to be automatically executed by other controls, such as 0 and 72 control.
Since it may be the same as the conventional technique, in the following description, control of the travel route will be mainly described.

First, FIG. 1 shows an example of the lawn mowing work according to the above-mentioned embodiment, and shows a lawn mowing work pattern when performing the lawn mowing work also for patterning the lawn. As shown in FIG. The mower 1 sequentially travels on each of the routes from the route (1) to the route (16) to complete the lawn mowing work. The lawn mowing work pattern shown in FIG. 1 is characterized by the crossover arrangement of the reversing path that moves from the end of a certain straight path to the start of the next straight path. That is, a certain straight path, for example, the reverse path (2) from the end of the straight path (1),
Rather than being connected to the start end of the straight line path (7) adjacent to this straight line path (1), skip the straight line path for two traveling directions and move to the third straight path (3), Another point is that the pattern is based on the S-shape that skips the two straight paths and moves to the third path (5).

Therefore, according to this embodiment, the turning path required for changing the direction of the lawnmower 1 outside the work target area is a size obtained by adding the minimum turning radius of the lawnmower 1 and half the working width. The minimum size of the turning area is enough. That is, as is apparent from FIG. 1, according to this embodiment, the size of the work area actually required is (a
+ 2b) × d will suffice. At this time, there is no risk of problems in protecting the grass, and there is no risk of tire marks remaining on the mowing surface.

By the way, in the embodiment shown in FIG. 1, the work target area corresponds to the width of the lawn mowing work, that is, 8 lines, that is, 4 round trips. Therefore, the crossover by the reversing path is the second line skipping the third line. However, the crossover form of the reversal path according to the present invention is not limited to this, and anyway, it is sufficient to move to the odd number of 3 or more by skipping the even number of 2 or more, and by this, what kind of work It can also be applied to the target area, and this point will be further described below.

First, FIG. 4 shows an embodiment in which the present invention is applied to a work area of 14 lawn mowing work widths (7 reciprocations). In this embodiment, data is stored in the memory of the control device 200. Based on the stored control data, 14 straight lines (1), (3), ..., (25), (27) are set in the work area.
The traveling path connected by the three inversion paths (2), (4), ..., (24), (26) is set. Then, the lawn mower 1 travels along the traveling route in the order of the S-shaped pattern from the straight route (1) to the straight route (27) in order to mow the lawn in the work target area. It is supposed to complete the work.

The point in this case is that the traveling route skips four straight routes from the straight route (1) to move to the fifth straight route (3), and then skips four straight routes again. The point is that the pattern is based on the S-shape, that is, the path moves to the fifth straight path (5). Therefore, also in this embodiment, there is a possibility that a problem may occur in the protection of the grass and the lawn mowing surface. There is no risk of tire marks remaining, and lawn mowing work can be performed in a minimum work area.

Next, FIG. 5 shows 20 (1
In one embodiment in which the present invention is applied to the work target area for 0 round trips), the control data stored in the memory of the control device 200 causes 20 straight lines in the work target area. Route (1), (3), ..., (37), (39) 1
The control data necessary for setting the traveling route connected by the nine reverse routes (2), (4), ..., (36), (38) are stored.

The point of this embodiment is that the running route skips 6 straight routes from the straight route (1), moves to the 7th straight route (3), and then 6 straight routes again. It is a basic pattern of S-shape that moves to the seventh straight path (5). Therefore, according to this embodiment as well, there is no fear that protection of the lawn will occur, and there is no fear that tire marks will remain on the lawn mowing surface, and lawn mowing work can be performed in a minimum work area.

On the other hand, FIG. 6 shows the work pattern of FIG.
This figure shows a work pattern in the case where the work is connected once, and according to this work pattern, the work area can be 16 times, which is twice the width of one lawnmower work. Therefore, if the work target areas for eight work widths are considered as basic units in this way, it can be easily understood that a work target area having a work width for a multiple of eight can be obtained by connecting these work target areas.

Similarly, from the work unit of 14 work widths shown in FIG. 4 or the work unit of 20 work widths shown in FIG. 5, work target areas consisting of multiples of each work area are obtained. It is also easy to understand, and it is also easy to obtain another work target area by using the work patterns described in FIGS. 1 and 4 and FIG. Can understand.

By the way, in the above embodiment, the traveling control of the lawnmower 1 according to the work patterns shown in FIGS. 1, 4, 5 and 6 is performed by the control data stored in the memory in the control device 200. You can get it. Then, in this embodiment, the control device 200 is configured so that the control data is automatically generated from the size of the work target area and the specifications of the lawnmower 1.

FIG. 7 shows a processing flow when the control data (operation data in the figure) is generated, and this processing is executed by the microcomputer provided in the control device 200. is there. First, the rectangular data A which is the shape information of the work target area, the basic performance data B such as the working width and the turning radius of the lawn mower 1, and the operation of the cutter of the lawnmower unit of the lawn mower 1 and the insertion of the stop command. A path generation condition C such as a pattern is prepared as input data, and execution of this operation data generation process is started.

First, in S1 (step 1), the number of linear routes required for the work area is calculated from the rectangular data A. Next, in S2, the optimum combination of the basic work units is determined so as to generate a path with less work area left uncut. Then, in S3 to S6, the determined combination condition is determined, the necessary processing is executed in S7 to S9 according to the determination result, the process is repeated to generate the route, and when the condition for ending the route generation is met, The route generation process is ended by the determination in S6.

Therefore, according to the embodiment shown in FIG. 7, necessary control data can be obtained only by inputting the shape information of the work target area and the data such as the basic performance such as the working width and turning radius of the lawnmower 1. Since (motion data) is automatically generated, it is possible to easily respond to changes in the work target area.

By the way, in the above description, an embodiment in which the present invention is applied to a lawnmower is targeted, but the present invention is arbitrary self-propelled such as cultivating work and cleaning work regardless of work content. It goes without saying that it can be applied to work machines.

[0032]

According to the present invention, since it is possible to apply with a minimum necessary margin without performing a turning traveling operation in the work target area, the versatility of the self-operated machine is limited to the work target area. A mobile work machine can be easily provided.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an example of a work route pattern in an embodiment in which the present invention is applied to a self-propelled lawnmower.

FIG. 2 is a side view showing an example of a self-propelled lawnmower to which the present invention is applied.

FIG. 3 is a plan view showing an example of a self-propelled lawnmower to which the present invention is applied.

FIG. 4 is an explanatory diagram showing an example of a lawn mowing path pattern having 14 working widths according to an embodiment of the present invention.

FIG. 5 is an explanatory diagram showing an example of a lawn mowing path pattern with 20 working widths according to an embodiment of the present invention.

FIG. 6 is an explanatory diagram showing an example of a pattern in which lawn mowing path patterns having eight working widths are connected to each other according to the embodiment of the present invention.

FIG. 7 is a process flow chart showing an automatic generation process of motion data according to an embodiment of the present invention.

FIG. 8 is an explanatory diagram showing an example of a lawn mowing path pattern according to a conventional technique.

FIG. 9 is an explanatory diagram showing another example of a lawn mowing path pattern according to a conventional technique.

[Explanation of symbols]

1 lawn mower 10 frames 22 rear wheel 24 front wheels 30 engine 70, 72 Lawn mowing unit 82 front bumper 84 rear bumper 200 control device 320 ... Bumper switch 340 ... Obstacle sensor

Front Page Continuation (72) Inventor Noriyuki Kamiya 7-1-1 Higashi Narashino, Narashino City, Chiba Prefecture Industrial Equipment Division, Hitachi, Ltd. (72) Toshihiro Aono 502 Kintatemachi, Tsuchiura City, Ibaraki Hitachi Machinery Co., Ltd. (56) References JP-A-58-141707 (JP, A) JP-A-1-171402 (JP, A) JP-A-2-287708 (JP, A) (58) Fields investigated (Int.Cl) . ⁷ , DB name) G05D 1/02 A01B 59/00 303

Claims (2)

(57) [Claims] 1. A travel control method for a self-propelled work machine, wherein the self-propelled work machine automatically travels along a travel path set in a substantially rectangular work target area. Is formed by connecting end portions of a plurality of parallel linear paths to each other by an inversion path, and the inversion path is at least two or more adjacent to one end of one of the linear paths from the linear path. Is provided by connecting one end of at least 3 odd-numbered linear paths, and the traveling directions of the self-propelled work machine on the linear paths are adjacent linear paths. 2. A traveling control method for a self-propelled work machine, characterized in that the control is performed so as to be alternately opposite to each other. 2. The invention according to claim 1, wherein traveling control of the self-propelled work machine is executed by preset control data, and the control data represents information indicating a shape of the rectangular work target area. And a traveling control method for a self-propelled work machine, which is configured to be automatically created based on the information indicating the turning characteristics of the self-propelled work machine.