JP7070905B2 - Travel control device for traveling vehicles - Google Patents

Description

INDUSTRIAL APPLICABILITY The present invention is for a small traveling vehicle in which the vehicle width is narrower than that of the inter-rows and is configured to travel between the inter-rows, or is configured to travel across a small number of seedling rows. It relates to a travel control device.

As the first background technique of the present invention, the rice transplanter described in Patent Document 1 is exemplified. This rice planting machine is equipped with a first camera that captures the row of seedlings that have been planted in front of the traveling aircraft, and a second camera that simultaneously captures the row of seedlings that have been planted behind and the row of seedlings immediately after transplantation. The target position on the display surface of the first display that displays the pre-planted seedling row and the displayed pre-planted seedling row are configured so that the positional relationship between the traveling machine and the pre-planted seedling row can be determined, and the pre-planted seedling photographed by the second camera is configured. The positional relationship between the pre-planted seedling row and the seedling row immediately after transplantation can be determined by displaying the row and the seedling row immediately after transplantation.

Further, as the second background technique of the present invention, the traveling control device described in Patent Document 2 is exemplified. In this travel control device, the image processing unit processes a plurality of captured images captured at different positions by the image pickup unit while the vehicle is traveling, and derives a target tracking line that is a target of vehicle travel. The travel control unit controls the travel of the vehicle so as to travel along the target follow-up line. The reference area setting unit of the image processing unit sets a plurality of reference areas composed of a plurality of pixel values in the captured image and arranged in a straight line. The reference area tracking unit is a position on the captured image of the reference region determined to be the same region in real space as the reference region in the newly captured image captured at a position different from the captured image in which the reference region is set. Calculate the information. The unevenness detecting unit detects the unevenness of the ground in the real space based on a plurality of position information of the reference area. The target tracking line generation unit generates a target tracking line based on the detected unevenness.

Japanese Unexamined Patent Publication No. 9-154313 Japanese Unexamined Patent Publication No. 2013-201958

Since the rice transplanter of Patent Document 1 and the vehicle equipped with the travel control device of Patent Document 2 are both large passenger-type vehicles, the camera can be installed at a high place high above the field scene, so that it is constant. It is possible to take a picture of a large number of seedlings that make up a row of seedlings from the depression angle. However, in a small traveling vehicle in which the vehicle width is narrower than the inter-row space and is configured to travel between the inter-row spaces, or is configured to travel across a small number of seedling rows, the above-mentioned If the camera is installed in a high place like a passenger-type vehicle, the center of gravity becomes high and the stability of the aircraft during running or strong wind is impaired, so that the camera cannot be installed in such a high place. And, according to the camera installed in the low place from the field scene, only a small number of seedlings can be photographed under a certain depression angle. Therefore, if there is a missing stock in the middle of the seedling line, there is a problem that the seedling line may be lost. If the depression angle of the camera in such a low place is set small, many seedlings can be photographed, but on the other hand, it becomes difficult to extract the upper end of each seedling, especially when the seedling row is bent. The problem arises that columns cannot be extracted.

Further, the rice transplanter of Patent Document 1 is equipped with two cameras, a first camera for photographing the front of the traveling vehicle and a second camera for photographing the rear, and processes images of the two cameras. In order to do so, it is necessary to use a high-performance control device, and there is a problem that it is costly.

Further, in the traveling control device of Patent Document 2, not only a plurality of captured images captured at different positions by the imaging unit while the vehicle is traveling must be processed in order to derive a target tracking line, but also a plurality of captured images are captured. The process of setting a plurality of reference regions that are composed of the pixel values of the above and are arranged in a straight line. Processing to track the reference area by calculating the position information, processing to detect the unevenness of the ground in the real space based on multiple position information of the reference area, processing to generate the target tracking line based on the detected unevenness. Since it includes a lot of image processing such as, there is a problem that the processing load is high, it is necessary to use a high-performance control device, and it is costly.

In order to solve the above-mentioned problems, the traveling control device for a traveling vehicle according to the first invention
It is configured to perform a traveling motion of traveling along a row of seedlings of crops planted in a cultivation area and a turning motion of turning toward the tip of the row of seedlings to be targeted for the next traveling motion after the traveling motion. It is a running control device for a running vehicle.
A turning direction sensor that detects the current angle of the turning direction of the traveling vehicle, and a turning direction sensor.
It is configured to perform feedback control so that the angle difference between the given target angle and the current angle is eliminated, and as a result, output an attitude control signal for controlling the turning direction of the traveling vehicle, and further, the traveling vehicle. An attitude control unit configured to store the current angle at regular distance intervals and periodically calculate the average value of the current angle for a predetermined number of times immediately before .
An image pickup unit that captures an image of a row of seedlings in front of the traveling vehicle in the traveling direction,
An image processing unit that detects the presence of the seedling row based on the image captured by the image pickup unit, detects a target turning direction for traveling along the seedling row, and outputs the detection results.
When the presence of the seedling row and the target turning direction are detected by the image processing unit during the traveling operation, the target angle based on the target turning direction is given to the attitude control unit, and the seedling row is given . When the presence of the vehicle and the target turning direction are not detected , the average value of the current angle from the attitude control unit is an angle indicating the traveling direction of the traveling vehicle in the traveling operation and the current position of the traveling vehicle. The target angle obtained by using the angle indicating the direction of the seedling row in the above is given to the attitude control unit, and as a result, the traveling vehicle is based on the attitude control signal output from the attitude control unit. With a travel control unit configured to control the turning direction of
To prepare for .

As the average value, for example, the average value of the latest predetermined number of current angles in the past and the latest current angle (a simple average value may be used, or the weighting is changed according to the newness (for example, the newer the weighting). It may be an example of using a heavy) average value).
According to this configuration, even when the presence of the seedling row and the target turning direction are not detected as a result of image processing by the image processing unit due to the presence of the seedling row, the attitude control unit. It is configured to control the traveling of the traveling vehicle based on the average value of the current angle according to the above. Therefore, even if there is a stock shortage, the traveling does not stop, and stable autonomous traveling of the traveling vehicle can be realized.

Further, according to this configuration, by adopting the average value of the saved past current state angle and the latest current state angle as the traveling direction of the traveling vehicle or the direction of the seedling row, the current state angle is temporarily set. The influence of the target shake can be reduced, and stable autonomous driving of the traveling vehicle can be realized.

As a traveling control device for a traveling vehicle according to the second invention ,
In the second invention,
The traveling control unit exemplifies an embodiment in which the average value of the current angle detected by the attitude control unit is used as a reference angle at the start of the turning operation.

According to this configuration, the traveling vehicle can be made to perform the turning operation in accordance with the bending at the end portion of the seedling row.

As a traveling control device for a traveling vehicle according to the third invention ,
In any of the first to third inventions,
The image processing unit is configured to output the target turning direction in the left-right direction when the amount of positional deviation between the existing position of the seedling row and the center of the traveling vehicle in the left-right direction is a predetermined amount or more. An embodiment is illustrated.

According to this configuration, it is possible to realize the traveling control of the traveling vehicle by simple image processing.

As a traveling control device for a traveling vehicle according to the fourth invention ,
In any of the first to fourth inventions,
A mileage detection unit that measures the mileage of the traveling vehicle is provided.
The travel control unit exemplifies an embodiment configured to reduce the travel speed of the traveling vehicle near the tip and end of the seedling row detected based on the travel distance.

According to this configuration, by reducing the traveling speed, the image processing unit can surely recognize the seedling row near the tip or the end of the seedling row, and the traveling vehicle can stably run autonomously. realizable.

As the traveling control device for the traveling vehicle of the fifth invention ,
In the fifth invention,
It has an objective sensor that detects an object in front of the traveling vehicle, and has a termination detection unit that detects the end of the cultivation area by the objective sensor.
The travel control unit exemplifies an embodiment in which the traveling vehicle is configured to perform the turning operation when the termination is detected by the termination detecting unit.

According to this configuration, the end can be detected more reliably than in the case where the end is detected only by image processing on the captured image of the end. This is because if we try to detect the end only by image processing, weeds on the ridge may be mistakenly detected as seedlings and the end detection may fail, and in order to prevent it, This is because it is necessary to manage the ridges and keep the ridges in a stable shape by using a shore wave sheet or the like.

As the traveling control device for the traveling vehicle of the sixth invention ,
In the sixth invention,
The travel control unit invalidates the end detection information from the end detection unit until the travel distance detection unit detects that the vehicle has traveled a predetermined distance from the tip of the seedling row to the vicinity of the end. The embodiment configured as such is illustrated.

According to this configuration, by using the end detection information from the end detection unit only near the end of the seedling row, it is possible to eliminate erroneous detection of the end of the cultivation area before that.

According to the traveling control device for a traveling vehicle according to the present invention, it is possible to realize stable autonomous traveling of a small traveling vehicle, which is an excellent effect.

It is a figure which shows the traveling vehicle which provided the traveling control device which concerns on one Embodiment which embodied this invention, (a) is a side view, (b) is a front view. It is a block diagram which shows the structure of the traveling control device. It is a block diagram which shows the function of the attitude control part of the traveling control device. It is a top view which shows the operation of the same attitude control device. It is a figure which shows the image processing example of the image processing part of the traveling control device, (a) is the case where the seedling row is shifted to the right from the center of the traveling vehicle, (b) is the seedling row coincide with the same center. If so, (c) is the case where the seedling row is shifted to the left from the same center. It is a figure which shows the control example of the traveling vehicle by the traveling control device based on the detection result in the image processing unit. It is a top view which shows the traveling control example by the same traveling control device in the middle part of a seedling row. It is a top view which shows the running control example by the same running control device near the tip and the end of a seedling row. It is a top view which shows the running control example by the same running control device about the end detection of a seedling row. It is a top view which shows the example of the running control by the same running control device when the angle is deviated at the start of running operation. It is a top view which shows the example of the running control by the same running control device when the vicinity of the end of a seedling row is curved.

1 to 11 show a traveling vehicle 1 and a traveling control device 5 thereof according to an embodiment of the present invention.

As shown in FIG. 1, the traveling vehicle 1 of this example includes a machine frame 2 formed in a gate shape straddling a seedling row N of crops such as rice and vegetables planted in a field such as a paddy field or a field. A crawler 3 as a pair of traveling means provided on both sides of the machine frame 2, a pair of driving units 4 for supplying driving force to each of the crawler 3, and a traveling control device for controlling the pair of driving units 4. 5 and a battery 6 for supplying electric power to the drive unit 4 and the travel control device 5 are provided, and the traveling operation of traveling along the seedling row N of the crops planted in the cultivation area and after the traveling operation. It is configured to autonomously and repeatedly perform a turning motion toward the tip of the seedling row N, which is the target of the next running motion. In FIG. 1, the arrow F points to the front side of the machine body.

As shown in FIG. 2, the travel control device 5 of this example includes a turning direction sensor 11, an attitude control unit 12, an image pickup unit 13, an image processing unit 14, an encoder 15, a mileage detection unit 16, an objective sensor 17, and a terminal detection. A unit 18 and a traveling control unit 19 are provided.

The attitude control unit 12 is connected to a turning direction sensor 11 that detects the current angle ωf of the turning direction (yaw angle which is a rotation angle around the vertical axis) of the traveling vehicle 1. Then, as shown in FIGS. 3 and 4, the attitude control unit 12 stores the current angle ωf at regular distance intervals, and periodically calculates the average value Ω of the current angle ωf for a predetermined number of times immediately before. .. The travel control unit 19, which will be described later, uses it as an angle indicating the traveling direction of the traveling vehicle 1 in the traveling operation and the direction of the seedling row N at the current position of the traveling vehicle 1. Further, as shown in FIGS. 3 and 4, the attitude control unit 12 performs feedback control so that the angle difference ωe between the target angle ωref given by the travel control unit 19 and the current angle ωf disappears, and as a result. Is configured to be output as an attitude control signal. As the target angle ωref, Ω is given during the running operation and 90 ° is given twice during the turning operation by the traveling control unit 19 described later.

The image pickup unit 13 includes a camera that images the seedling row N in front of the traveling vehicle 1 in the traveling direction. The image pickup unit is installed at a high place of the traveling vehicle 1 at a constant depression angle. The shooting range of the imaging unit of this example is set to a range of 5 to 6 m in front of the traveling vehicle 1. The shooting range by the imaging unit can be appropriately changed according to the installation height of the camera, the height and spacing of the seedlings constituting the seedling row N, and the like.

The image processing unit 14 is connected to the image pickup unit 13, and detects a target turning direction for traveling along the seedling row N based on the image captured by the image pickup unit 13. The image processing unit 14 of this example is configured to detect the amount of positional deviation between the seedling row N and the center of the traveling vehicle 1 in the left-right direction, and determine the target turning direction based on the amount of the positional deviation. Specifically, since plants have high reflectance of infrared light, infrared light is extracted from the captured image (see the upper part of each image in FIG. 5), and the seedling row N extends in the vertical direction on the captured image. Assuming that it has a linear shape of infrared light, the integrated value of vertical infrared light is obtained for each fixed range in the horizontal direction of the captured image (see the lower part of each image in FIG. 5), and the integrated value becomes the maximum. It is determined that the seedling row N exists at the position P in the lateral direction, and the target turning direction is output according to the deviation from the center position C of the aircraft frame 2 (see the middle stage of each image in FIG. 5). Has been done. Specifically, as shown in FIG. 6, when the existence position P of the seedling row N and the center position C of the aircraft frame 2 deviate from each other by a predetermined threshold value or more in the right or left direction, the right or left The target turning direction is output so as to turn in the direction, and the target turning direction is output so as to go straight when the deviation is less than the threshold value. When the integrated value of infrared light is less than a predetermined threshold value, it is determined that a stock shortage has occurred in the seedling row N within the imaging range, and it is output that it is detected.

The mileage detection unit 16 is connected to an encoder 15 that detects the rotation of the drive shaft of the crawler 3, and is configured to measure the mileage of the traveling vehicle 1 based on the rotation detected by the encoder 15. ..

An objective sensor 17 for detecting an object in front of the traveling vehicle 1 is connected to the terminal detection unit 18, and the physical boundary (ridge, wall, fence, vinyl house) at the end of the cultivation area is connected by the objective sensor 17. Detects a boundary object E indicating a boundary installed at the end, etc.) or at the end. The objective sensor 17 is not particularly limited, but an ultrasonic sensor that detects a boundary object E in a non-contact manner and a TOF (Time of Flight) sensor are exemplified, but a contact type sensor can also be adopted. Further, in this example, the mounting angle and height of the objective sensor 17 are configured to be adjustable according to the boundary object E.

The travel control unit 19 controls the travel of the traveling vehicle 1 based on the control result of the attitude control unit 12 and the image processing result of the image processing unit 14, and causes the traveling vehicle 1 to perform a traveling operation, a terminal detection, and a turning operation. It is configured to do.

Explaining the operation of the traveling control unit 19 regarding the traveling operation, as shown in FIG. 7, the traveling control unit 19 outputs from the image processing unit 14 when the occurrence of stock shortage is not detected by the image processing unit 14. The running of the traveling vehicle 1 is controlled according to the right or left turning instruction, and when the occurrence of the same missing stock is detected, the traveling direction Ω of the traveling vehicle 1 detected by the attitude control unit 12. Is given to the attitude control unit 12 as a target angle ωref, and as a result, the traveling of the traveling vehicle 1 is controlled based on the attitude control signal output from the attitude control unit 12. The specific travel control for the right or left turning instruction output from the image processing unit 14 is not particularly limited, but in this example, as shown in FIG. 6, the driving speed of the crawler 3 on the turning direction side is not particularly limited. However, the speed is not limited to this, and for example, when the traveling means is configured to change the traveling direction by the steering device, it can be realized by controlling the steering device.

Further, as shown in FIG. 8, the traveling control unit 19 is configured to reduce the traveling speed of the traveling vehicle 1 in the vicinity of the tip and the end of the seedling row N detected based on the traveling distance. The reason is that in the seedling row N, there may be a shortage of strains due to poor planting or growth of seedlings, but there is a shortage near the tip or end of the seedling row N. When This is because it may stop, stop, or move to the next row. Therefore, by reducing the traveling speed more than usual, the seedling row N is surely recognized and the accuracy of the image processing is improved. If the strength of the seedling row N is generally low, the deceleration section near the tip and end of the seedling row N is lengthened and adjusted to reduce the traveling speed to a low level, and if the strength is generally high, the opposite is true. It is preferable to adjust to. The degree of deceleration is not particularly limited, but the reduction is exemplified in the range of 10 to 50%, and specifically, the reduction is exemplified by 40%. It is preferable that the length of the section for reducing the speed near the tip and the end of the seedling row N is appropriately changed according to the photographing range of the imaging unit 13, the total length of the seedling row N, and the like. In this example, it is illustrated that the lengths of the front end and end sections are set in the range of 5 to 10 m, respectively, based on the photographing range of the image pickup unit 13, and specifically, it is illustrated that the length is set to 5 m. When the total length of the seedling row N is short (for example, 20 m or less), it is exemplified that the length of the tip and end sections is set to about 5% of the total length in order to prevent the overall speed reduction.

Explaining the operation of the travel control unit 19 regarding the end detection, as shown in FIG. 9, the travel distance detection unit 16 has traveled a predetermined distance from the tip of the seedling row N to the vicinity of the end. It is configured to invalidate the termination detection information from the termination detection unit 18 until it is detected by. Then, when it is detected that the vehicle has traveled a predetermined distance, the terminal detection information from the terminal detection unit 18 is enabled, and the terminal detection information from the terminal detection unit 18 is started to be checked. Then, when the travel control unit 19 detects the end detection information, the travel control unit 19 causes the traveling vehicle 1 to start a turning operation.

Explaining the operation of the traveling control unit 19 regarding the turning operation, as shown in FIGS. 10 and 11, the traveling control unit 19 sets the traveling direction Ω of the traveling vehicle 1 with respect to the attitude control unit 12 as a reference angle at the start of turning. As a result, the target angle ωref is given, and as a result, the traveling of the traveling vehicle 1 is controlled according to the signal from the attitude control unit 12. The turning operation is such that a total of 180 ° is turned by performing two turns with a target angle ωref of 90 °. At this time, deceleration is started before reaching the target angle ωref (for example, 10 ° before the target angle ωref), and S-shaped deceleration is performed to realize smooth stop braking and the turning direction angle by the turning direction sensor 11. It is configured to ensure that the measurement of is performed. Since the reference angle at the start of turning is Ω, even if the angle is deviated at the start of running operation as shown in FIG. 10, the turn is made corresponding to the direction of the seedling row N near the end, and the end is shown as shown in FIG. Even if the direction of the seedling row N in the vicinity is curved, it turns correspondingly.

According to the travel control device 5 of the traveling vehicle 1 of this example configured as described above, the traveling control unit 19 detects the existence of the seedling row N and the target turning direction by the image processing unit 14 during the traveling operation. When this is done, the traveling of the traveling vehicle 1 is controlled based on the target turning direction, and when the presence of the seedling row N and the target turning direction are not detected, based on the attitude control signal from the attitude control unit 12. It is configured to control the running of the traveling vehicle 1. According to this configuration, even when the presence of the seedling row N and the target turning direction are not detected as a result of image processing by the image processing unit 14 due to the presence of the seedling row N, the attitude control unit 12 It is configured to control the traveling of the traveling vehicle 1 based on the attitude control signal according to the above. Therefore, even if there is a stock shortage, the traveling does not stop, and stable autonomous traveling of the traveling vehicle 1 can be realized.

Further, the attitude control unit 12 saves the current angle ωf at regular distance intervals, and sets the average value of the saved past current angle ωf and the latest current angle ωf in the traveling direction of the traveling vehicle 1 or the seedling row N. Adopt as the direction of. According to this configuration, by adopting the average value Ω of the saved past current angle ωf and the latest current angle ωf as the traveling direction of the traveling vehicle 1 or the direction of the seedling row N, the current angle ωf is temporarily set. The influence of the target shake can be reduced, and stable autonomous traveling of the traveling vehicle 1 can be realized.

Further, the traveling control unit 19 uses the average value Ω of the current angle ωf detected by the attitude control unit 12 as a reference angle at the start of the turning operation. According to this configuration, the traveling vehicle 1 can be made to perform the turning operation in accordance with the bending at the end portion of the seedling row N.

Further, the image processing unit 14 is configured to detect the target turning direction when the amount of positional deviation between the existing position of the seedling row N and the center of the traveling vehicle 1 in the left-right direction is a predetermined amount or more. According to this configuration, traveling control of the traveling vehicle 1 can be realized by simple image processing.

Further, a mileage detection unit 16 for measuring the mileage of the traveling vehicle 1 is provided, and the traveling control unit 19 has a traveling speed of the traveling vehicle 1 near the tip and the end of the seedling row N detected based on the mileage. Is configured to reduce. According to this configuration, by reducing the traveling speed, the image processing unit 14 can surely recognize the seedling row N near the tip or the end of the seedling row N, and stable autonomous traveling can be realized.

Further, the vehicle has an objective sensor 17 for detecting an object in front of the traveling vehicle 1, a terminal detecting unit 18 for detecting a boundary object E indicating the end of the cultivation area by the objective sensor 17, and the traveling control unit 19 has the objective sensor 17. When the end is detected by the end detection unit 18, the traveling vehicle 1 is configured to perform the turning operation. According to this configuration, the end can be detected more reliably than in the case where the end is detected only by image processing on the captured image of the end. This is because if we try to detect the end only by image processing, weeds on the ridge may be mistakenly detected as seedlings and the end detection may fail, and in order to prevent it, This is because it is necessary to manage the ridges and keep the ridges in a stable shape by using a shore wave sheet or the like.

Further, the travel control unit 19 invalidates the terminal detection information from the terminal detection unit 18 until the travel distance detection unit 16 detects that the vehicle has traveled a predetermined distance from the tip of the seedling row N to the vicinity of the end. It is configured to be. According to this configuration, by using the end detection information from the end detection unit 18 only near the end of the seedling row N, it is possible to eliminate the erroneous detection of the end of the cultivation area before that.

The present invention is not limited to the above-described embodiment, and may be appropriately modified and embodied as described below within a range that does not deviate from the gist of the invention.
(1) The traveling vehicle 1 is configured to travel across two or more seedling rows N, or to travel between rows.
(2) Changing the crawler 3 as a traveling means of the traveling vehicle 1 to another traveling means (for example, wheels).
(3) Change each sensor such as the camera, the turning direction sensor 11, the objective sensor 17, and the encoder to a sensor of another type having substantially the same function.

1 Traveling vehicle 2 Aircraft frame 3 Crawler 4 Driving unit 5 Driving control device 6 Battery 11 Turning direction sensor 12 Attitude control unit 13 Imaging unit 14 Image processing unit 15 Encoder 16 Mileage detection unit 17 Objective sensor 18 Termination detection unit 19 Driving control unit C Center position of the aircraft frame E Boundary object F Arrow N Seedling row Ns Seedling row tip Ne Seedling row end P Seedling row presence position P
ωe Angle difference ωf Current angle ωref Target angle Ω Average value of current angle

Claims (6)

It is configured to perform a traveling motion of traveling along a row of seedlings of crops planted in a cultivation area and a turning motion of turning toward the tip of the row of seedlings to be targeted for the next traveling motion after the traveling motion. It is a running control device for a running vehicle.
A turning direction sensor that detects the current angle of the turning direction of the traveling vehicle, and a turning direction sensor.
It is configured to perform feedback control so that the angle difference between the given target angle and the current angle is eliminated, and as a result, output an attitude control signal for controlling the turning direction of the traveling vehicle, and further, the traveling vehicle. An attitude control unit configured to store the current angle at regular distance intervals and periodically calculate the average value of the current angle for a predetermined number of times immediately before .
An image pickup unit that captures an image of a row of seedlings in front of the traveling vehicle in the traveling direction,
An image processing unit that detects the presence of the seedling row based on the image captured by the image pickup unit, detects a target turning direction for traveling along the seedling row, and outputs the detection results.
When the presence of the seedling row and the target turning direction are detected by the image processing unit during the traveling operation, the target angle based on the target turning direction is given to the attitude control unit, and the seedling row is given . When the presence of the vehicle and the target turning direction are not detected , the average value of the current angle from the attitude control unit is an angle indicating the traveling direction of the traveling vehicle in the traveling operation and the current position of the traveling vehicle. The target angle obtained by using the angle indicating the direction of the seedling row in the above is given to the attitude control unit, and as a result, the traveling vehicle is based on the attitude control signal output from the attitude control unit. With a travel control unit configured to control the turning direction of
A traveling control device for a traveling vehicle. The travel control device according to claim 1, wherein the travel control unit uses the average value of the current angle detected by the attitude control unit as a reference angle at the start of the turning operation. The image processing unit is configured to output the target turning direction in the left-right direction when the amount of positional deviation between the existing position of the seedling row and the center of the traveling vehicle in the left-right direction is a predetermined amount or more. The travel control device for a traveling vehicle according to claim 1 or 2. A mileage detection unit that measures the mileage of the traveling vehicle is provided.
One of claims 1 to 3, wherein the traveling control unit is configured to reduce the traveling speed of the traveling vehicle in the vicinity of the tip and the end of the seedling row detected based on the traveling distance. The traveling control device for the traveling vehicle according to the above. It has an objective sensor that detects an object in front of the traveling vehicle, and has a termination detection unit that detects the end of the cultivation area by the objective sensor.
The travel control device for a traveling vehicle according to claim 4, wherein the traveling control unit is configured to cause the traveling vehicle to perform the turning operation when the termination is detected by the termination detecting unit. The travel control unit invalidates the end detection information from the end detection unit until the travel distance detection unit detects that the vehicle has traveled a predetermined distance from the tip of the seedling row to the vicinity of the end. The travel control device for a traveling vehicle according to claim 5.

Images