JP6538235B2 - Traveling control device - Google Patents

Description

  The present invention relates to a travel control device that causes a vehicle to travel automatically.

  Heretofore, techniques for automatically running a vehicle have been used. Such an automatically drivable vehicle is useful, for example, when performing predetermined work (e.g. mowing) on a large field. As a technique of this type, there is one described in Patent Document 1 whose source is shown below.

  The unmanned travel device described in Patent Document 1 automatically travels an unmanned travel vehicle such as an unmanned lawn mower. In the technology described in Patent Document 1, the unmanned vehicle is equipped with an obstacle sensor and a notification means, and when the obstacle sensor detects an obstacle, the unmanned vehicle is temporarily stopped. In this state, if the detection of an obstacle is canceled within a predetermined time, automatic travel is resumed, and if the obstacle is continuously detected for a predetermined time or more, the engine is stopped and the notification means issues an alarm. .

JP-A-8-19

  The field is not a plane across the entire area, and for example, there may be a case where a weir or a canal is provided, or a plant in the field may grow. In such a case, according to the technology described in Patent Document 1, the obstacle sensor may erroneously detect these, and may interrupt even when it is not necessary to interrupt the automatic traveling originally.

  An object of the present invention is to provide a traveling control device capable of easily resuming automatic traveling when automatic traveling is interrupted due to an erroneous detection of an obstacle in view of the above problems.

  The characteristic configuration of the travel control device according to the present invention for achieving the above object is an obstacle provided on the work vehicle for automatically traveling the work vehicle and detecting an obstacle present around the work vehicle. A controller having a switch for performing a detection instruction, a start instruction for causing the work vehicle to start automatic traveling, an interruption instruction for interrupting the automatic traveling, and an invalidation instruction for invalidating obstacle detection by the obstacle detection unit; Automatic operation for interrupting the automatic travel of the work vehicle regardless of the presence or absence of the interruption instruction when the obstacle detection unit detects the obstacle after the work vehicle starts the automatic travel according to the start instruction The present invention is characterized in that it includes a traveling interruption unit, and an interruption canceling unit that cancels the interruption of the automatic traveling when the invalidation instruction is given while the automatic traveling is interrupted by the automatic traveling interruption unit.

  With such a characteristic configuration, when the obstacle detection unit detects an obstacle, the automatic travel interruption unit can interrupt the automatic travel of the work vehicle. Further, when the user wants to resume the interrupted automatic traveling, the user can instruct by a switch operation even from a position away from the work vehicle. Therefore, since the user does not have to move to the work vehicle in order to resume the automatic traveling of the work vehicle, the user does not feel bothersome. Furthermore, even if, for example, detection of an obstacle by the obstacle detection unit is false detection, the automatic traveling is interrupted, but the interruption of the automatic traveling can be canceled and the automatic traveling can be resumed according to the user's switch operation. It becomes. Therefore, the work performed by the work vehicle can be smoothly performed. In addition, even when the work vehicle automatically travels in a place where there are many objects for which it is not easy to determine whether it is an obstacle or not, automatic travel can be easily resumed, thereby preventing deterioration in work efficiency. be able to.

  Preferably, when the automatic traveling is interrupted by the automatic traveling interrupting unit, a notification unit is provided around the work vehicle for notifying that the automatic traveling is interrupted.

  With such a configuration, it is possible to notify the surroundings that the work vehicle is interrupting the automatic traveling because the obstacle is detected by the obstacle detection unit.

  Further, it is preferable that the notification unit continues the notification that the interruption is in progress even when the invalidation instruction is issued.

  With this configuration, it is possible to notify the surroundings that the interruption of the automatic traveling has been canceled by the interruption cancellation unit.

  Further, it is preferable that the switch performs the invalidation instruction while being pressed.

  With such a configuration, for example, in a situation where erroneous detection by the obstacle detection unit continues, interruption of automatic traveling can be prevented according to the user's intention. Further, when the user continues pressing the switch, the interruption of the automatic traveling due to the detection of the obstacle is invalidated, so the cancellation of the interruption of the automatic traveling is canceled according to the user's intention. be able to. Therefore, when the switch is pressed to resume the automatic traveling, and the pressing is stopped again, the automatic traveling can be interrupted when an obstacle is detected again by the obstacle detection unit.

  Alternatively, when the switch is pressed, the invalidation instruction may be issued only for a preset time.

  Even in such a configuration, it is possible to interrupt the automatic traveling if the interruption of the automatic traveling is canceled and the obstacle is detected again after the automatic traveling is resumed. In addition, for example, in a situation where interruption of automatic traveling frequently occurs due to detection of an obstacle, it is possible to prevent the user from intentionally canceling the interruption of automatic traveling for a long time. Furthermore, when it is necessary to restart the interrupted automatic travel, the user needs to press the switch again, so that it is possible to avoid a malfunction due to a switch failure.

  Further, it is preferable that the obstacle detection unit continuously detect the obstacle even when the invalidation instruction is issued.

  According to such a configuration, not only the obstacle for which the automatic traveling is interrupted but also another obstacle can be detected.

  Further, the switch performs the start instruction when the pressing time is less than a preset first time while the work vehicle is stopped, and the pressing time is interrupted while the automatic traveling is interrupted. It is preferable to perform the invalidation instruction when it is more than time.

  With such a configuration, it is possible to prevent the erroneous continuation of the exception instruction of the interruption of the automatic traveling for invalidating the detection of the obstacle by the obstacle detection unit.

It is a figure showing typically the composition of a run control device. It is a figure showing typically a work vehicle provided with a run control device. It is a figure which shows a control mode. It is a figure which shows the content of the instruction | indication according to the pressing time of the switch. It is a flow chart which shows processing of a run control device.

  The travel control device according to the present invention is configured to be able to automatically travel as exceptional processing even when the obstacle detection unit detects an obstacle during automatic travel of the work vehicle and the automatic travel is interrupted. . Hereinafter, the traveling control device 1 of the present embodiment will be described.

  FIG. 1 is a conceptual view showing the configuration of the traveling control device 1. The travel control device 1 is configured to include the obstacle detection unit 10, the controller 20, the automatic travel interruption unit 30, the interruption cancellation unit 40, and the notification unit 50 shown in FIG. 1 in order to cause the work vehicle 100 to automatically travel. . The travel control device 1 is provided in the work vehicle 100 as shown in FIG. The work vehicle 100 is shown as a tractor in FIG. 2, but this is merely an example and can be applied to other vehicles.

  The obstacle detection unit 10 is provided in the work vehicle 100 and detects an obstacle present around the work vehicle 100. The obstacle existing around the work vehicle 100 is an object that causes trouble when the work vehicle 100 travels automatically. The obstacle detection unit 10 can be configured using, for example, a laser sensor or a radar sensor, or can be configured using a camera. A method for detecting an obstacle using any of such a laser sensor, a radar sensor, and a camera is known and thus the description thereof is omitted.

  The controller 20 has a switch 23 for giving a start instruction to cause the work vehicle 100 to start automatic traveling, an interruption instruction to interrupt the automatic traveling, and an invalidation instruction to invalidate obstacle detection by the obstacle detection unit 10. In the present embodiment, the controller 20 is provided separately from the work vehicle 100 and performs wireless communication with the communication device 60 provided in the work vehicle 100.

  Here, the work vehicle 100 according to the present embodiment is configured so as to be capable of not only automatic traveling but also manual traveling. The work vehicle 100 can perform automatic travel and manual travel safely, as shown in FIG. 3 in the manual operation mode M1, the automatic operation permission mode M2, the automatic operation mode M3, the automatic operation interruption mode M4, and the manual operation check control. There are six control modes: mode M5 and emergency stop mode M6.

  The manual operation mode M1 is a state in which control related to traveling is left to the driver by the work vehicle 100. In the manual operation mode M1, the work vehicle 100 travels according to the operation of the driver. The automatic driving permission mode M2 is a state in which the work vehicle 100 can travel automatically, and is in a state of waiting for the switching from the manual driving mode M1 to the automatic driving mode M3 described later. In the automatic driving permission mode M2, the work vehicle 100 is brought to a stop state. The automatic driving mode M3 is a state in which the control related to the traveling of the work vehicle 100 is entrusted to the traveling control device 1. In the automatic driving mode M3, the working vehicle 100 follows the instruction of the traveling control device 1.

  The automatic driving suspension mode M4 is a state in which the automatic driving is temporarily suspended by receiving the suspension instruction from the controller 20, and in the automatic driving suspension mode M4, the work vehicle 100 is stopped. The manual driving check mode M5 is a transition state when switching from the automatic driving to the manual driving, and in the manual driving check mode M5, the work vehicle 100 is stopped. In the emergency stop mode M6, the automatic driving of the work vehicle 100 can not be continued due to an abnormality of the system related to automatic driving, and the traveling is stopped. In the emergency stop mode M6, the work vehicle 100 is stopped. Ru.

  Among the respective modes, when transitioning from the current mode to another mode is performed according to the operation of the operating device and the controller 20 provided in the work vehicle 100. The modes that can be shifted from each mode are indicated by arrows in FIG.

  The above-mentioned "start instruction to start the automatic traveling to the work vehicle 100" corresponds to a transition instruction from the automatic driving permission mode M2 to the automatic driving mode M3 and a transition instruction from the automatic driving interruption mode M4 to the automatic driving mode M3. The “disruption instruction to suspend automatic traveling” corresponds to a transition instruction from the automatic operation mode M3 to the automatic operation suspension mode M4.

  Although details will be described later, when an obstacle is detected by the obstacle detection unit 10, the work vehicle 100 interrupts the automatic traveling. The above-mentioned “invalidation instruction to invalidate the obstacle detection by the obstacle detection unit 10” corresponds to an instruction to invalidate the obstacle detection for the work vehicle 100 during the interruption of the automatic traveling.

  When the obstacle detection unit 10 detects an obstacle after the work vehicle 100 starts the automatic travel according to the start instruction, the automatic travel interruption unit 30 automatically travels the work vehicle 100 regardless of the presence or absence of the interruption instruction. Interrupt the In the case where the work vehicle 100 is in the automatic driving permission mode M2, when there is a start instruction from the operation of the switch 23, the work vehicle 100 is shifted to the automatic driving mode M3 and starts the automatic traveling. If the obstacle detection unit 10 detects an obstacle around the work vehicle 100 during such automatic travel, the automatic travel interruption unit 30 gives priority to the work vehicle 100 regardless of the presence or absence of the interruption instruction by the switch 23. Stop automatic driving. At this time, the work vehicle 100 shifts from the automatic driving mode M3 to the automatic driving interruption mode M4.

  The switch 23 may be configured to issue an invalidation instruction to invalidate external object detection by the obstacle detection unit 10 while being pressed, or the switch 23 is preset when pressed. The invalidation instruction may be performed only for a predetermined time.

  Further, the interruption canceling unit 40 cancels the interruption of the automatic traveling 5 when there is an invalidation instruction during the interruption of the automatic traveling by the automatic traveling interruption unit 30. The invalidation instruction is transmitted by wireless communication via the switch 23. It is preferable that the operation of the switch 23 be performed when it is determined that the obstacle detected in the automatic travel of the work vehicle 100 causes no obstacle. When receiving the invalidation instruction, work vehicle 100 resumes automatic traveling. At this time, the work vehicle 100 shifts from the automatic driving suspension mode M4 to the automatic driving mode M3.

  The notification unit 50 notifies that the automatic traveling is being interrupted around the work vehicle 100 when the automatic traveling is interrupted by the automatic traveling interruption unit 30. As described above, when the obstacle detection unit 10 detects an obstacle around the work vehicle 100, the automatic travel interruption unit 30 interrupts automatic traveling. The notification unit 50 notifies the surroundings that the automatic traveling has been thus interrupted. As a result, surrounding users can know the reason why the work vehicle 100 has stopped traveling automatically. Such a notification unit 50 may appeal by hearing to notify by using a buzzer, or may alert by notifying by using a warning light.

  Further, even when the automatic traveling of the work vehicle 100 is interrupted by the automatic traveling interrupting unit 30, the obstacle detection unit 10 continues to detect the obstacle even when the invalidation instruction is issued. As a result, even when an obstacle that has been detected so far moves, it is possible to detect the trend of the obstacle, and the detection range of the obstacle detection unit 10 is newly included. It also becomes possible to detect an obstacle.

  On the other hand, even when the invalidation unit is instructed, the notification unit 50 continues the notification that automatic traveling is being interrupted. As a result, it is possible to notify the surroundings of the work vehicle 100 that the interruption of the automatic traveling due to the detection of the obstacle by the obstacle detection unit 10 has been canceled.

  Next, the switch 23 of the controller 20 will be described. In the present embodiment, the controller 20 is configured to include the switch 23 and the switch 24. In the following, in order to facilitate understanding, the switch 23 will be described as a first switch 23 and the switch 24 will be described as a second switch 24. The first switch 23 and the second switch 24 are both momentary switches with two contacts, and are assigned different controls according to the pressing time (the time when the switch is pressed).

  The first switch 23 issues a start instruction to start automatic traveling when the pressing time is less than a preset first time while the work vehicle 100 is stopped. The first time set in advance is set in advance on the controller 20 side, and corresponds to t1 in the example of FIG. When the pressing time of the first switch 23 is less than t1 as shown in (i) of FIG. 4, the controller 20 wirelessly automatically transmits to the traveling control unit 200 via the communication device 60 of the work vehicle 100. Communicate instructions to run. At this time, when the work vehicle 100 is at a standstill and in the automatic driving permission mode M2, the traveling control unit 200 causes the work vehicle 100 to travel automatically. In addition, when the work vehicle 100 is in suspension of the automatic traveling and in the automatic driving interruption mode M4, the traveling control unit 200 resumes the automatic traveling of the work vehicle 100.

  In addition, the first switch 23 performs an invalidation instruction to invalidate the obstacle detection by the obstacle detection unit 10 when the pressing time is the first time or more while the automatic traveling is interrupted. The previously set first time is t1 described above. When the pressing time of the first switch 23 is t1 or more as shown in (ii) of FIG. 4, the controller 20 wirelessly transmits to the obstacle detection unit 10 via the communication device 60 of the work vehicle 100. Transmit an instruction to stop the detection of obstacles. At this time, when the work vehicle 100 is in an interruption of the automatic traveling and in the automatic driving interruption mode M4, the traveling control unit 200 causes the work vehicle 100 to automatically travel while the first switch 23 is pressed. The period during which the first switch 23 is pressed may be from the time when the preset time (in this example, t1) elapses to the time when the first switch 23 is released. Alternatively, it may be between the time when the first switch 23 is pressed and the time when the first switch 23 is released including the preset time.

  At this time, when the obstacle detection unit 10 detects an obstacle when pressing of the first switch 23 is finished, the automatic traveling is interrupted again, and the obstacle detection unit 10 detects an obstacle. If not, automatic travel is continued.

  The second switch 24 interrupts automatic traveling when the pressing time is less than a preset second time during automatic traveling. The second time set in advance is previously set on the controller 20 side, and corresponds to t2 in the example of FIG. The second time may be set to the same time as the first time described above, or may be set to a different time. When the pressing time of the second switch 24 is less than t2 as shown in (iii) of FIG. 4, the controller 20 automatically wirelessly communicates with the traveling control unit 200 via the communication device 60 of the work vehicle 100. Communicate instructions to interrupt travel. At this time, when the work vehicle 100 is traveling automatically and in the automatic operation mode M3, the traveling control unit 200 interrupts the automatic traveling of the work vehicle 100, and the work vehicle 100 enters the automatic operation interruption mode M4.

  Further, the second switch 24 terminates the automatic driving when the pressing time is the second time or more during the automatic traveling. The second time set in advance is t2 described above. When the pressing time of the second switch 24 is t2 or more as shown in (iv) of FIG. 4, the controller 20 wirelessly automatically transmits to the traveling control unit 200 via the communication device 60 of the work vehicle 100. Transmit an instruction to end the run. At this time, when the work vehicle 100 is traveling automatically and in the automatic operation mode M3, the traveling control unit 200 ends the automatic traveling of the work vehicle 100, and the work vehicle 100 enters the manual operation check mode M5.

  Next, processing of the traveling control device 1 will be described using the flowchart of FIG. 5. When an instruction to start automatic traveling is issued (step # 1: Yes), traveling control unit 200 starts automatic traveling of work vehicle 100 (step # 2). When the obstacle detection unit 10 detects an obstacle during automatic traveling (step # 3: Yes), the automatic traveling interruption unit 30 interrupts automatic traveling (step # 4).

  If there is no invalidation instruction to invalidate the obstacle detection by the obstacle detection unit 10 (step # 5: No), the automatic traveling is interrupted until the obstacle is not detected (step # 3: No). On the other hand, when there is an invalidation instruction to invalidate the obstacle detection by the obstacle detection unit 10 (step # 5: Yes), the interruption release unit 40 invalidates the obstacle detection by the obstacle detection unit 10, The traveling control unit 200 performs automatic traveling only while there is an invalidation instruction (step # 6). This automatic travel is continued while there is an invalidation instruction (step # 7: No).

  When the invalidation instruction is finished (step # 7: Yes) and there is no instruction to end the automatic traveling (step # 8: No), automatic traveling is resumed (step # 2). On the other hand, when there is an instruction to end the automatic traveling (step # 8: Yes), the automatic traveling is ended. The travel control device 1 causes the work vehicle 100 to travel automatically in this manner.

Other Embodiments
In the above embodiment, the notification unit 50 has been described as continuing the notification that the interruption is in progress even when the invalidation instruction is given, but the notification unit 50 interrupts the notification when the invalidation instruction is given. It is also possible to configure it to

  In the above embodiment, the obstacle detection unit 10 is described to continue detection of the obstacle even when the invalidation instruction is issued, but the obstacle detection unit 10 is in the case where the invalidation instruction is issued. It is also possible to configure to interrupt the detection of obstacles.

  In the above embodiment, the first switch 23 issues a start instruction when the pressing time is less than the preset first time while the work vehicle 100 is stopped, and the pressing time during the suspension of the automatic traveling is Although the invalidation instruction is described when one hour or more is performed, the start instruction and the invalidation instruction may be allocated to different switches. Of course, other configurations are also possible.

  The present invention can be used for a travel control device that causes a work vehicle to travel automatically.

1: Traveling control device 10: Obstacle detection unit 20: Controller 23: First switch (switch)
30: Automatic travel interruption unit 40: Interruption cancellation unit 50: Notification unit 100: Work vehicle

Claims (6)

A travel control device that causes a work vehicle to travel automatically,
An obstacle detection unit provided in the work vehicle for detecting an obstacle present around the work vehicle;
A controller having a switch for performing an invalidation instruction to invalidate the obstacle detection by the obstacle detection unit;
An automatic travel interrupting unit that interrupts the automatic travel of the work vehicle when the obstacle detection unit detects the obstacle after the work vehicle starts the automatic travel;
An interruption release unit that cancels the interruption of the automatic traveling when the invalidation instruction is given while the automatic traveling is interrupted by the automatic traveling interruption unit;
A travel control device comprising:   The travel control device according to claim 1, further comprising: a notification unit that notifies that the automatic traveling is interrupted around the work vehicle when the automatic traveling is interrupted by the automatic traveling interruption unit.   The travel control device according to claim 2, wherein the notification unit continues notification of the suspension even when the invalidation instruction is issued.   The travel control device according to any one of claims 1 to 3, wherein the switch performs the invalidation instruction while being pressed.   The travel control device according to any one of claims 1 to 3, wherein the switch performs the invalidation instruction only for a preset time when the switch is pressed.   The travel control device according to any one of claims 1 to 5, wherein the obstacle detection unit continuously detects the obstacle even when the invalidation instruction is issued.

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