JP6342781B2 - Autonomous driving system - Google Patents

Description

The present invention relates to an autonomous traveling system configured such that an autonomous traveling vehicle travels by following a plurality of magnetic markers installed on an operation route .

  As a background art, a traveling system including a self-propelled sprayer described in Patent Document 1 is exemplified. As shown in FIG. 11, the self-propelled sprayer 51 includes a vehicle body frame 73 having both sides supported by a front wheel 68 and a rear wheel 69, and a turn provided on one side of the vehicle body frame 73. Fulcrum device 70 and marker detecting means 75 for detecting the magnetic marker 52 are detected, and the magnetic marker 52 disposed on the side of the intercostal space or on the side thereof is detected, and based on this, it is folded back to the end portion of the intercostal space. It is comprised so that it may drive | work the several reciprocation path | route formed in the linear form which has a point.

  The magnetic marker 52 has a built-in permanent magnet, and there are two types, one that generates N pole magnetic force and one that generates S pole magnetic force. The turning operation point is shown, and the turning operation point when the S pole as the other pole comes out of the furrow is shown.

  When the self-propelled sprayer 51 detects the magnetic marker 52 (N pole), the self-propelled sprayer 51 turns in the direction of the reciprocating path, advances forward, switches the traveling direction from forward to reverse at the turning point, and reverses the reverse path. When the magnetic marker 52 (S pole) is detected, it is configured to turn in the direction of the next path.

JP 2014-79216 A

  However, the conventional traveling system does not have the turning fulcrum device 70 of the self-propelled sprayer 51 at the center of the vehicle body and cannot perform fixed-point turning with the center of the traveling body as the turning center. Even in the same position, it is necessary to use two magnetic markers 52 (N pole and S pole). In particular, when the entrance point and the exit point in the reciprocating path are at the same position, it is necessary to install two magnetic markers 52 at both points adjacent to each other. Therefore, magnetism that generates magnetic forces of different polarities so as not to confuse the magnetic force. It is necessary to use the marker 52. Thus, since it is necessary to use magnets of both NS poles at the magnetic marker 52 for the entrance point and the exit point in the reciprocating path, the magnetic marker 52 gives the self-propelled sprayer 51 at other points. There is a problem that information to be limited is limited.

In order to solve the above-mentioned problem, the autonomous traveling system of the first invention is:
An autonomous traveling system configured such that an autonomous traveling vehicle travels by following a plurality of magnetic markers installed in an operation route,
The operation route includes a plurality of round-trip routes formed in a straight line having a turning point at a terminal portion of a furrow,
Each round-trip route includes, in order of progression, an entrance point on the outward path, an entry point on the start end side of the furrow in the forward path, the return point, an escape point on the start end side of the furrow on the return path, and an exit point on the return path. Provided on the same straight line,
The plurality of magnetic markers include a first marker that emits either N-pole or S-pole magnetic force, and each of the first markers is installed at the point in the reciprocating path , and the entrance point and the exit point In addition, when the entry point and the escape point are at the same position, the first marker is commonly installed at the same point, and when the entry point and the exit point are at the same point, One of a mode in which the first marker is commonly installed at the same point and a mode in which the first marker is commonly installed at the same point when the entry point and the escape point are at the same point Including one aspect,
The plurality of round-trip paths are the first round-trip path in which the entrance point and the exit point, the entry point between the furrows and the escape point between the furrows are in the same position, and the other points are in individual positions ; The entrance point between the furrows and the exit point are at the same position, the other points are at individual positions, and the distance from the exit point between the furrows to the exit point is less than a predetermined distance minus a predetermined margin interval, A distance from the entry point of the furrow to the return point and a distance from the return point to the escape point of the furrow are each a second round-trip route that is a predetermined distance or more ,
The autonomous traveling vehicle includes a magnetism detecting means for detecting magnetism from the first marker and a travel distance measuring means for measuring a travel distance after detecting the first marker, and the center of the traveling machine body is a turning center. By being configured so that fixed point turning is possible,
In the first round-trip route , the first marker installed on the route is traced in the order of travel ,
The second round-trip path is installed on the second round-trip path by being configured not to detect the first marker until the predetermined distance is traveled after the first marker is detected at the entry point of the furrow. The first marker is traced in the order of travel .

In each invention in this document, the predetermined margin interval means a minimum interval that needs to be separated from each other so that the magnetic forces of the magnetic markers are not confused with each other.
According to this configuration, since the autonomous traveling vehicle is configured to be capable of fixed point turning with the center of the traveling machine body as the turning center, the entrance point and the exit point are defined as in the first round-trip route. When in the same position, the first marker can be installed in common at the entrance point and the exit point, and such a magnetic marker of one magnetic pole can be used. Therefore, the magnetic marker of the other magnetic pole can be used for other purposes. Although it does not specifically limit as said other use, For example, the command which performs the obstacle avoidance operation | movement with respect to the said autonomous traveling vehicle, the command which changes the traveling speed of this autonomous traveling vehicle, It mounts in this autonomous traveling vehicle Examples of use are provided on a route in order to give a command for changing the operation of a farm work function such as spraying or a command for causing the autonomous vehicle to recognize an end point of the operation route.
Further, in the first round trip route, the entrance point and the exit point, the entry point of the furrow and the escape point of the furrow are in the same position, and the other points are in individual positions. The vehicle detects the first markers installed at the entrance point, the entry point, the turn-around point, the escape point, and the exit point in the order of travel when traveling on the first round-trip route, You can travel following them.

Moreover, according to this structure, the following effect can be obtained. That is, as in the second round-trip route, for example, due to the presence of an obstacle, the exit point deviates from the entrance point toward the turn-back point, and the entrance point and the exit point are located at the same position. In this case, the autonomously traveling vehicle encounters the first marker at the escape point of the furrow after the first marker at the entry point of the furrow during traveling on the outward path. Here, a distance from the escape point between the furrows to the exit point (that is, the entry point) is less than a distance obtained by subtracting a predetermined margin interval from a predetermined distance. The first marker is not detected until the vehicle travels the predetermined distance after the first marker is detected. Therefore, the autonomous vehicle does not detect the first marker at the escape point of the furrow during traveling on the forward path. Therefore, the autonomous traveling vehicle is installed at the entrance point, the entry point, the return point, the escape point, and the exit point in the order of travel when traveling on the second round-trip route. You can detect the markers and follow them. As described above, according to this configuration, it is possible to cope with the gap formed by the hooks having different lengths due to the presence of an obstacle or the like.

As the autonomous traveling system of the second invention, in the first invention ,
In the plurality of round-trip routes, the entry point between the furrows and the exit point between the furrows are at the same position, the other points are at individual positions, and the exit point is closer to the return point than the entrance point. Includes a third round-trip path at a distant location,
The plurality of magnetic markers includes a second marker that emits a magnetic force opposite to the first marker,
The second marker is located between the entrance point and the escape point between the ridges in the third round-trip route, and the distance between the entrance point and the entrance point is less than an interval obtained by subtracting a predetermined margin interval from a predetermined interval. And
In the autonomous vehicle, the magnetism detecting means can detect the magnetism from the first marker and the magnetism from the second marker separately from each other, and measures the travel distance after the second marker is detected. A travel distance measuring means that is configured not to detect the first marker until traveling the distance of the predetermined interval after the second marker detection on the return path,
In the third reciprocating route , an example in which the first marker placed on the route is traced in the order of travel is illustrated.

  According to this configuration, the following operational effects can be obtained. That is, as in the third round trip route, for example, due to the presence of an obstacle, the entrance point is shifted from the exit point to the turn-around point side, and the entry point between the fences and the escape point between the fences are If the exit point is located farther from the entrance point than the return point, the autonomous vehicle is located at the escape point between the furrows while traveling on the return path. The first marker at the entry point will be encountered after one marker. Here, the second marker is between the entrance point and the escape point between the ridges in the third round-trip route, and the distance from the entrance point is less than an interval obtained by subtracting a predetermined margin interval from a predetermined interval. The autonomous traveling vehicle is configured not to detect the first marker until the vehicle travels a distance of the predetermined interval after the second marker is detected on the return path. Therefore, the autonomous vehicle does not detect the first marker at the entrance point while traveling on the return path. Therefore, the autonomous vehicle travels on the third round-trip route in the order of travel, the first vehicle installed at the entrance point, the entry point, the turn-around point, the escape point, and the exit point, respectively. You can detect the markers and follow them. As described above, according to this configuration, it is possible to cope with the gap formed by the hooks having different lengths due to the presence of an obstacle or the like.

As the autonomous traveling system of the third invention, in the first invention ,
In the plurality of round-trip routes, the entry point between the furrows and the exit point between the furrows are at the same position, the other points are at individual positions, and the exit point is closer to the return point than the entrance point. Includes a third round-trip path at a distant location,
The plurality of magnetic markers includes a second marker that emits a magnetic force opposite to the first marker,
The second marker is installed between the entrance point and the escape point in the third round-trip route,
In the autonomous vehicle, the magnetism detection means can detect the magnetism from the first marker and the magnetism from the second marker separately from each other, and the first time after the second marker is detected on the return path By being configured to ignore the detected first marker,
In the third reciprocating route , an example in which the first marker placed on the route is traced in the order of travel is illustrated.

  According to this configuration, the following operational effects can be obtained. That is, as in the third round trip route, for example, due to the presence of an obstacle, the entrance point is shifted from the exit point to the turn-around point side, and the entry point between the fences and the escape point between the fences are If the exit point is located farther from the entrance point than the return point, the autonomous vehicle is located at the escape point between the furrows while traveling on the return path. The first marker at the entry point will be encountered after one marker. Here, the second marker is installed between the entrance point and the escape point between the furrows in the third round-trip route, and the autonomous vehicle is the first on the return path after detecting the second marker. The detected first marker is ignored. Therefore, the autonomous vehicle does not detect the first marker at the entrance point while traveling on the return path. Therefore, the autonomous vehicle travels on the third round-trip route in the order of travel, the first vehicle installed at the entrance point, the entry point, the turn-around point, the escape point, and the exit point, respectively. You can detect the markers and follow them. As described above, according to this configuration, it is possible to cope with the gap formed by the hooks having different lengths due to the presence of an obstacle or the like.

  According to the autonomous traveling system according to the present invention, an excellent effect that autonomous traveling of a plurality of linearly formed round-trip routes having a turning point at the end portion of the furrow can be realized with a small number of magnetic markers. Play.

It is a top view showing the whole autonomous running system composition concerning one embodiment which materialized the present invention. It is a block diagram which shows the structure of the autonomous vehicle in the autonomous vehicle system. It is a flowchart which shows the flow of the traveling control process of the autonomous vehicle. It is a flowchart which shows the flow of the outward travel control process of the reciprocation path | route of the autonomous vehicle. It is a flowchart which shows the flow of the return path | trip control process of the reciprocation path | route of the autonomous vehicle. It is a flowchart which shows the flow of the switching route travel control process of the autonomous vehicle. It is a figure which shows the operation example in the 1st reciprocation path | route and replacement | exchange path | route of the autonomous running system. It is a figure which shows the operation example in the 1st reciprocation path | route and replacement | exchange path | route of the autonomous running system. It is a figure which shows the operation example in the 2nd round-trip path | route of the autonomous running system. It is a figure which shows the operation example in the 2nd round-trip path | route of the autonomous running system. It is a figure which shows the operation example in the 3rd round-trip path | route of the autonomous running system. It is a figure which shows the operation example in the 3rd round-trip path | route of the autonomous running system. It is a flowchart which shows the flow of the return trip control process of the round-trip route which concerns on the example of a change of the autonomous vehicle. It is a top view which shows the operation example of the conventional traveling system.

  1 to 9-2 show an autonomous traveling system according to an embodiment embodying the present invention. The autonomous traveling system is configured such that the autonomous traveling vehicle 1 travels by following a plurality of magnetic markers installed on the operation route R.

  As shown in FIG. 1, the operation route R connects a plurality of round-trip routes RA formed in a straight line having a turn-back point P <b> 3 at the end portion of the furrow and adjacent round-trip routes RA through the headland. And a plurality of replacement routes RB. The plurality of reciprocating routes RA are arranged in parallel to each other. The round trip path RA and the replacement path RB are arranged at right angles to each other.

  Each round-trip route RA includes, in order of progression, an entrance point P1 on the forward path, an entry point P2 on the start end side of the furrow in the forward path, a return point P3, an exit point P4 on the start end side of the furrow on the return path, and an exit on the return path The point P5 is provided on substantially the same straight line. In this example, the distance from the entrance point P1 to the entry point P2 between the furrows and the distance from the escape point P4 to the exit point P5 are each less than a distance obtained by subtracting a predetermined margin interval (described later) from the predetermined distance. The distance from the entry point P2 between the furrows to the turnaround point P3 and the distance from the turnaround point P3 to the escape point P4 between the furrows are set to a predetermined distance or more, respectively. The predetermined distance is not particularly limited, but the distance from the entry point P2 between the furrows at the shortest fence to the turnaround point P3 or the distance from the turnaround spot P3 to the escape point P4 between the furrows, whichever is shorter Also, the setting of a slightly short distance is illustrated. More specifically, it is exemplified that the predetermined distance is set to 5 m. Also,

  In this example, the plurality of round-trip routes RA include a first round-trip route RA1, a second round-trip route RA2, and a third round-trip route RA3. In the first round-trip route RA1, the entrance point P1 and the exit point P5, the entrance point P2 between the furrows, and the exit point P4 between the furrows are in the same position, and the other points are in individual positions. In the second round-trip route RA2, for example, due to the presence of an obstacle O, the entrance point P2 and the exit point P5 of the furrow are at the same position, and the other points are at individual positions. In the third round trip route RA3, for example, due to the presence of an obstacle O, the entry point P2 between the furrows and the escape point P4 between the furrows are at the same position, the other points are at individual positions, and with respect to the turnaround point P3 The exit point P5 is farther than the entrance point P1.

  Each replacement route RB is formed in a straight line connecting the exit point P5 of the round-trip route RA and the entrance point P1 of the next round-trip route RA.

  The plurality of magnetic markers M include a first marker M1 that emits a magnetic force of either the N pole or the S pole, and a second marker M2 that emits a magnetic force opposite to the first marker M1. The magnetic markers M are placed at least with a predetermined margin interval. The margin interval is a minimum interval that needs to be separated from each other so that the magnetic forces of the magnetic markers are not confused with each other. Although it does not specifically limit as this margin space | interval, Setting to set in the range of 0.5-1 m is illustrated. The first marker M1 is installed at each of the points in the round-trip route RA (however, when a plurality of points are at the same position, they are installed at the plurality of points in common). The second marker M2 is between the entrance point P1 and the escape point P4 between the ridges in the third round trip route RA3, and the distance from the entrance point P1 is less than an interval obtained by subtracting the predetermined margin interval from a predetermined interval. is set up. Although it does not specifically limit as said predetermined space | interval, It is the space | interval more than the said margin space | interval, Comprising: Setting in the range of 0.5-1.5 m is illustrated.

  As shown in FIG. 2, the autonomous traveling vehicle 1 of this example includes a traveling machine body 2, a traveling distance measuring unit 3, a magnetic detection unit 4, a traveling control unit 6, and a chemical spray unit 7.

  The traveling machine body 2 includes traveling means 2a for traveling in the field, driving means 2b for driving the traveling means 2a, and turning means for changing the course in the traveling. In this example, as the traveling means, two wheels are provided on each of the left and right sides of the traveling machine body 2. As the drive means 2b, motors, such as a motor and an engine, are illustrated. In this example, as a driving means, a pair of prime movers for driving the left and right wheels of the traveling machine body 2 is provided. In this example, as a turning means, a means for causing a difference in rotation between the left and right wheels by the left and right drive means and thereby changing the course is adopted, and a fixed-point turning with the center of the traveling machine body as the turning center is performed. It is configured to be possible.

  The travel distance measuring means 3 measures the travel distance of the autonomous vehicle 1 and is configured to continue to measure the travel distance after the reset command is input. In this example, the rotary encoder provided in the driving means 2b is configured to calculate the rotational speed of the wheel after the reset command is input and sequentially calculate the travel distance.

  The magnetism detection means 4 can detect the magnetism from the first marker M1 and the magnetism from the second marker M2 separately from each other, and is provided at the approximate center of the bottom surface of the traveling machine body 2.

  The traveling control means 6 is configured to control traveling of the traveling machine body 2 by traveling control processing (step S100) based on the detected first marker M1 or second marker M2.

  As shown in FIG. 3, the traveling control process (step S100) is executed in a state where the traveling machine body 2 is placed at the entrance point P1 toward the turn-around point P3 of the round-trip route RA, as shown in FIG. As described above, the traveling machine body 2 travels by repeatedly executing the forward travel control process (step S120) of the round trip route, the return travel control process of the round trip route (step S140), and the alternate route travel control process (step S160). Is to control.

  In the forward traveling control process (step S120) of the reciprocating path, as shown in FIG. 4, first, traveling in the forward direction is started by the driving means 2b (step S121). Next, it continues to check whether the magnetic detection means 4 has detected the first marker M1 at the entrance point P2 of the furrow (step S122). If it is detected, the travel distance measurement means 3 is reset (step S123). Then, spraying is started by the chemical spray means 7 (step S124). Next, after detecting the first marker M1 at the entry point P2 in the furrow, it is continuously checked whether or not the vehicle has traveled a predetermined distance (step S125), and when it travels, it proceeds to the next step. Next, it continues to check whether the magnetic detection means 4 has detected the first marker M1 located at the turning point P3 (step S126). When it is detected, the driving means 2b stops the travel (step S127), The process returns to the original process (step S128).

  As shown in FIG. 5, in the return trip control process (step S140) of the reciprocating path, first, the travel distance measuring means 3 is reset (step S141), and the drive means 2b starts the backward travel (step S142). ). Next, after detecting the first marker M1 at the turning point P3, it is continuously checked whether or not the vehicle has traveled a predetermined distance (step S143), and when it travels, it proceeds to the next step. Next, it continues to check whether the magnetic detection means 4 has detected the first marker M1 at the escape point P4 of the furrow (step S144), and when it is detected, the travel distance measurement means 3 is reset (step S145). Then, the spraying is stopped by the chemical solution spraying means 7 (step S146). Next, it continues to check whether the magnetic detection means 4 has detected the second marker M2 within a predetermined interval after detecting the first marker M1 at the escape point P4 of the furrow (step S147) and at the exit point P5. It continues to check whether the first marker M1 has been detected (step S149). Then, when the condition of step S147 is established, the first marker M1 at the escape point P4 in the furrow is detected, and then it waits until traveling at a predetermined interval (step S148). Moreover, when the condition of step S149 is satisfied, the driving means 2b stops traveling (step S150) and returns to the original process (step S151).

  In the replacement route travel control process (step S160), as shown in FIG. 6, first, the traveling unit 2 is swung in the direction of the entrance point P1 of the next reciprocating route RA by the turning means (step S161). Next, the drive unit 2b starts traveling in the forward direction (step S162). Next, it continues to check whether the magnetic detection means 4 has detected the first marker M1 at the entrance point P1 of the next round trip route RA (step S163), and when it is detected, the driving means 2b stops traveling. (Step S164), the turning means turns the traveling machine body 2 in the direction of the turning point of the next round trip route RA (Step S165), and returns to the original process (Step S166).

  Next, an operation example of the autonomous traveling system of this example will be described. 7 (FIGS. 7-1 to 7-2), FIG. 8 (FIGS. 8-1 to 8-2) and FIG. 9 (FIGS. 9-1 to 9-2), The arrows displayed on the front side, the rear side, or the surroundings represent the moving direction of the autonomous vehicle 1.

(1) Example of Operation of First Round-trip Route RA1 and Subsequent Replacement Route RB First, in traveling on the forward route in the first round-trip route RA1, as shown in FIG. 7 (FIGS. 7-1 to 7-2), the entrance The vehicle starts traveling forward from the point P1 (see (a) in the figure, Steps S120 to S121), and starts spraying at the first marker M1 at the approach point P2 in the furrow (see (b) in the same figure). Steps S122 to S124) After traveling a predetermined distance from the entrance point P2 between the furrows, the travel is stopped at the first marker M1 at the turn-back point P3 (see (c) in the figure, steps S125 to S128). Next, in the return trip on the first round-trip route RA1, the reverse travel is started from the turn-back point P3 (see (c) in the same figure, steps S140 to S142), and after traveling a predetermined distance from the turn-back point P3, Spraying is stopped at the first marker M1 at the escape point P4 (see (d) in the figure. Steps S143 to S146), and traveling is stopped at the first marker M1 at the exit point P5 ((e) in the figure). See steps S147, S149-S151). Next, in traveling on the replacement route RB, the vehicle turns in the direction of the entrance point P1 of the next round trip route RA, and starts traveling forward (see (f) in the figure, steps S160 to S162), and the next round trip route. Traveling is stopped at the first marker M1 at the RA entrance point P1 (see (g) in the figure, steps S163 to S164), and the vehicle turns in the direction of the turn-around point P3 of the next round-trip route RA (h in the figure (h) See steps S165 to S166).

(2) Example of Operation of Second Round Trip Route RA2 First, in forward travel on the second round trip route RA2, as shown in FIG. 8 (FIGS. 8-1 to 8-2), travel forward from the entrance point P1. (Refer to (a) in the figure. Steps S120 to S121) At the first marker M1 at the entry point P2 between the furrows, spraying is started (see (b) in the same figure. Steps S122 to S124), Since the distance from the entry point P2 to the exit point P4 to the exit point P5 (that is, the entry point P2) is less than the predetermined distance minus the predetermined margin interval, The first marker M1 at the escape point P4 is ignored (see (c) in the figure, step S125).) The traveling is stopped at the first marker M1 at the turning point P3 (see (d) in the figure). Steps S126 to S128). Next, in the return trip on the second round-trip route RA2, the reverse trip is started from the turn-back point P3 (see (d) in the figure, steps S140 to S142), and after traveling a predetermined distance from the turn-back point P3, Spraying is stopped at the first marker M1 at the escape point P4 (see (e) in the figure, steps S143 to S146), and traveling is stopped at the first marker M1 at the exit point P5 (figure (f) in the figure). See steps S147, S149-S151).

(3) Example of operation of the third round-trip route RA3 First, in traveling on the outward trip in the third round-trip route, as shown in FIG. 9 (FIGS. 9-1 to 9-2), traveling forward from the entrance point P1 is performed. Since the second marker M2 is not detected in the forward path (see (a) in the figure, Steps S120 to S121), the second marker M2 is ignored (see (b) in the same figure), and is at the entrance point P2 between the furrows. Spraying is started at the first marker M1 (see (c) in the figure, Steps S122 to S124), and after traveling a predetermined distance from the entrance point P2 of the furrow, the vehicle travels at the first marker M1 at the turning point P3. Stop (see (d) in the figure. Steps S125 to S128). Next, in the return trip on the third round-trip route RA3, reverse running is started from the turning point P3 (see (d) in the same figure, Steps S140 to S142), and after traveling a predetermined distance from the turning point P3, Spraying is stopped at the first marker M1 at the escape point P4 (see (e) in the figure, Steps S143 to S146), and the second marker M2 installed within a predetermined interval from the escape point P4 in the furrow is detected. (Refer to (f) in the figure. Steps S147 to S148), and travels a predetermined interval from the escape point P4 between the furrows (the second marker M2 has the interval from the entrance point P1 subtracted the predetermined margin interval from the predetermined interval). Therefore, the first marker M1 installed on the exit point P5 side of the second marker M2 is ignored (see (g) in the figure)). To stop the travel at the first marker M1 in point P5 (see FIG. (H). Step S149~S151).

According to the autonomous traveling system of the present example configured as described above, the autonomous traveling vehicle 1 is configured to be capable of fixed point turning with the center of the traveling machine body as the turning center. Thus, when the entrance point P1 and the exit point P5 are at the same position, the first marker M1 can be installed in common at the entrance point P1 and the exit point P5, and such a magnetic marker of one magnetic pole can be used. be able to. Therefore, the magnetic marker of the other magnetic pole can be used for other purposes.
In addition, since the first round trip route RA1 has an entrance point P1 and an exit point P5, an entrance point P2 between the furrows, and an exit point P4 between the furrows, and the other points are in individual positions. 1 detects the first markers M1 respectively installed at the entrance point P1, the entry point P2, the return point P3, the escape point P4, and the exit point P5 in the order of travel when traveling on the first round-trip route RA1; You can travel following them.

  Further, as in the case of the second round-trip route RA2, for example, due to the presence of an obstacle O, the exit point P5 is shifted from the entrance point P1 toward the turn-back point P3, and the entrance point P2 and the exit point P5 are the same. When the vehicle is in the position, the autonomous vehicle 1 encounters the first marker M1 at the escape point P4 of the furrow next to the first marker M1 at the approach point P2 of the furrow during traveling on the forward path. Here, the distance from the escape point P4 between the furrows to the exit point P5 (that is, the entry point P2) is less than the distance obtained by subtracting the predetermined margin interval from the predetermined distance. The first marker M1 is not detected until the vehicle travels the predetermined distance after detecting the first marker M1 of P2. Therefore, the autonomous vehicle 1 does not detect the first marker M1 at the escape point P4 in the furrow during traveling on the forward path. Therefore, the autonomous vehicle 1 is the first marker installed at the entrance point P1, the entry point P2, the return point P3, the escape point P4, and the exit point P5 in the order of travel when traveling on the second round-trip route RA2. M1 can be detected and traveled by following them. As described above, according to this configuration, it is possible to cope with the gap formed by the ridges having different lengths due to the presence of the obstacle O or the like.

  Further, as in the third round-trip route RA3, for example, due to the presence of an obstacle O, the entrance point P1 is shifted from the exit point P5 toward the turn-back point P3, and the entrance point P2 between the furrows and the escape point P4 between the furrows. Are located at the same position, and the exit point P5 is farther away from the entrance point P1 than the return point P3, the autonomous vehicle 1 is located at the escape point P4 in the furrow during traveling on the return path. The first marker M1 at the entrance point P1 is encountered next to the one marker M1. Here, the second marker M2 is between the entrance point P1 and the escape point P4 between the fences in the third round trip route RA3, and the interval between the entrance point P1 is the interval obtained by subtracting the predetermined margin interval from the predetermined interval. The autonomous traveling vehicle 1 is configured not to detect the first marker M1 until the vehicle travels the distance of the predetermined interval after detecting the second marker M2 on the return path. Therefore, the autonomous vehicle 1 does not detect the first marker M1 at the entrance point P1 during traveling on the return path. Therefore, the autonomous vehicle 1 is the first marker installed at the entrance point P1, the entry point P2, the return point P3, the escape point P4, and the exit point P5 in the order of travel when traveling on the third round-trip route RA3. M1 can be detected and traveled by following them. As described above, according to this configuration, it is possible to cope with the gap formed by the ridges having different lengths due to the presence of the obstacle O or the like.

In addition, this invention is not limited to the said embodiment, For example, it can also be suitably changed and embodied as follows, for example in the range which does not deviate from the meaning of invention.
(1) The second marker M2 is installed between the entrance point P1 and the escape point P4 between the furrows in the third round trip route RA3 (the position from the entrance point P1 is not limited), and the third round trip route. In the return path in RA3, the first marker M1 detected first after the detection of the second marker M2 is ignored, so that the first marker M1 installed in the third round-trip path RA3 is traced in order of travel. Change to a mode that is configured as follows. FIG. 10 shows the return trip control process for the round trip route in this aspect. In this process, step S148 (FIG. 5) in the above embodiment is changed to step S148A, and the first marker M1 detected first is ignored here.
According to this configuration, the following operational effects can be obtained. That is, like the third round-trip route RA3, the entrance point P1 is shifted from the exit point P5 to the turnaround point P3 due to the presence of an obstacle, for example, and the entrance point P2 between the furrows and the escape point P4 between the furrows are If the exit point P5 is located at the same position and the exit point P5 is farther away from the return point P3 than the entrance point P1, the autonomous vehicle 1 is located at the escape point P4 between the furrows during traveling on the return path. Next to the marker M1, the first marker M1 at the entrance point P1 will be encountered. Here, the second marker M2 is installed between the entrance point P1 and the escape point P4 between the furrows in the third round trip route RA3, and the autonomous vehicle 1 first detects the second marker M2 on the return path after detecting the second marker M2. The detected first marker M1 is configured to be ignored. Therefore, the autonomous vehicle 1 does not detect the first marker M1 at the entrance point P1 during traveling on the return path. When the autonomous vehicle 1 travels on the third round-trip route RA3, it detects the first markers installed at the entrance point P1, the entry point P2, the return point P3, the escape point P4, and the exit point P5 in the order of travel. And you can follow them and drive. As described above, this configuration can also cope with the gap formed by the hooks having different lengths due to the presence of the obstacle O or the like.
(2) As a turning means of the traveling machine body 2, other known turning means should be adopted as appropriate. For example, a turning support base is provided at the lower center of the traveling machine body 2 so that the turning support base can be driven to project and retract, and the traveling machine body 2 can be driven to turn with respect to the turning support base. For example, the swiveling means may be configured. In this configuration, by projecting the turning support base downward, the traveling machine body 2 is levitated with respect to the support surface, and after turning the traveling machine body 2 with respect to the turning support base, the turning support base is retracted. Then, when the traveling body is grounded with respect to the support surface, the turning is completed.
(3) The travel control process (step S100) is repeated in the order of the alternate route travel control process (step S160), the forward travel control process for the round trip route (step S120), and the return travel control process for the round trip route (step S140). It changes so that it may perform, and it shall constitute so that traveling machine body 2 may be performed in the state where it was put in the entrance towards the direction of the exit of exchange route RB.
(4) The autonomous traveling vehicle 1 is configured not to detect the magnetic marker M until it travels the predetermined margin interval after detecting the magnetic marker M (M1 or M2). Since the magnetic markers M are installed at least at the predetermined margin interval, it is not necessary to detect the magnetic marker M until the magnetic marker M travels after the predetermined margin interval after detecting the magnetic marker M. By not detecting when unnecessary, it is possible to prevent erroneous detection of the magnetic marker M.

DESCRIPTION OF SYMBOLS 1 Autonomous vehicle 2 Traveling machine body 2a Traveling means 2b Driving means 3 Traveling distance measuring means 4 Magnetic detection means 6 Traveling control means 7 Chemical spraying means O Obstacle R Traveling route RA Reciprocating route RB Replacement route M1 First marker M2 Second Marker P1 Entrance point P2 Entrance point between furrows P3 Return point P4 Exit point between furrows P5 Exit point S100 Travel control processing S120 Round trip outbound travel control processing S140 Round trip backward travel control processing S160 Replacement route travel control processing

Claims (3)

An autonomous traveling system configured such that an autonomous traveling vehicle travels by following a plurality of magnetic markers installed in an operation route,
The operation route includes a plurality of round-trip routes formed in a straight line having a turning point at a terminal portion of a furrow,
Each round-trip route includes, in order of progression, an entrance point on the outward path, an entry point on the start end side of the furrow in the forward path, the return point, an escape point on the start end side of the furrow on the return path, and an exit point on the return path. Provided on the same straight line,
The plurality of magnetic markers include a first marker that emits either N-pole or S-pole magnetic force, and each of the first markers is installed at the point in the reciprocating path , and the entrance point and the exit point In addition, when the entry point and the escape point are at the same position, the first marker is commonly installed at the same point, and when the entry point and the exit point are at the same point, One of a mode in which the first marker is commonly installed at the same point and a mode in which the first marker is commonly installed at the same point when the entry point and the escape point are at the same point Including one aspect,
The plurality of round-trip paths are the first round-trip path in which the entrance point and the exit point, the entry point between the furrows and the escape point between the furrows are in the same position, and the other points are in individual positions ; The entrance point between the furrows and the exit point are at the same position, the other points are at individual positions, and the distance from the exit point between the furrows to the exit point is less than a predetermined distance minus a predetermined margin interval, A distance from the entry point of the furrow to the return point and a distance from the return point to the escape point of the furrow are each a second round-trip route that is a predetermined distance or more ,
The autonomous traveling vehicle includes a magnetism detecting means for detecting magnetism from the first marker and a travel distance measuring means for measuring a travel distance after detecting the first marker, and the center of the traveling machine body is a turning center. By being configured so that fixed point turning is possible,
In the first round-trip route , the first marker installed on the route is traced in the order of travel ,
The second round-trip path is installed on the second round-trip path by being configured not to detect the first marker until the predetermined distance is traveled after the first marker is detected at the entry point of the furrow. An autonomous traveling system configured to travel following the first markers in the order of travel. In the plurality of round-trip routes, the entry point between the furrows and the exit point between the furrows are at the same position, the other points are at individual positions, and the exit point is closer to the return point than the entrance point. Includes a third round-trip path at a distant location,
The plurality of magnetic markers includes a second marker that emits a magnetic force opposite to the first marker,
The second marker is located between the entrance point and the escape point between the ridges in the third round-trip route, and the distance between the entrance point and the entrance point is less than an interval obtained by subtracting a predetermined margin interval from a predetermined interval. And
In the autonomous vehicle, the magnetism detecting means can detect the magnetism from the first marker and the magnetism from the second marker separately from each other, and measures the travel distance after the second marker is detected. A travel distance measuring means that is configured not to detect the first marker until traveling the distance of the predetermined interval after the second marker detection on the return path,
The autonomous traveling system according to claim 1, wherein the third reciprocating route is configured to travel by following each of the first markers installed in the route in the order of travel. In the plurality of round-trip routes, the entry point between the furrows and the exit point between the furrows are at the same position, the other points are at individual positions, and the exit point is closer to the return point than the entrance point. Includes a third round-trip path at a distant location,
The plurality of magnetic markers includes a second marker that emits a magnetic force opposite to the first marker,
The second marker is installed between the entrance point and the escape point in the third round-trip route,
In the autonomous vehicle, the magnetism detection means can detect the magnetism from the first marker and the magnetism from the second marker separately from each other, and the first time after the second marker is detected on the return path By being configured to ignore the detected first marker,
The autonomous traveling system according to claim 1, wherein the third reciprocating route is configured to travel by following each of the first markers installed in the route in the order of travel.

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