JPH01231809A - Photographing type travel control device for automatic travel working car - Google Patents

Abstract

PURPOSE:To carry out proper steering control even where treating time necessary in boundary detection is greatly changed by providing an aimed car speed controlling means with which the car speed becomes smaller as treating time becomes longer due to detected information of treating time measuring. CONSTITUTION:Photographing information of image sensors Sa and Sb are image processed, each position information of first boundary L1 and second boundary L2 are detected and traveling car body V is controlled with a controlling device in accordance with the boundary position informations. The controlling device has a treating time measuring means measuring treating time 't' necessary for boundary detection by the boundary detecting means repeatedly detects boundary L1 and the aimed car speed controlling means automatically changes and controls the planned car speed in accordance with the detected informations of the treating time measuring means.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to two-dimensionally extending a portion corresponding to the boundary between an untreated work area and a treated work area in the width direction of the vehicle body on the front side of the vehicle. an imaging means for taking an image, a boundary detection means for repeatedly detecting the boundary based on the imaging information of the imaging means, and a boundary detection means that automatically sets the vehicle body to an appropriate state for the detected boundary based on the detection information of the boundary detection means. a target steering angle setting means for setting a target steering angle for driving; a steering operation means for steering the vehicle to the target steering angle set by the target steering angle setting means; The present invention relates to an imaging type travel control device for an automatic traveling work vehicle, which is provided with vehicle speed control means for automatically adjusting the vehicle speed of the vehicle body so that the vehicle travels at a target vehicle speed.

[Conventional technology]

The imaging type travel control device for this type of autonomous work vehicle mentioned above is:
Taking advantage of the difference in brightness between the untreated work area and the treated work area, the boundary between the untreated work area and the treated work area is determined based on image information obtained by imaging the front side of the vehicle in two-dimensional directions. The system is configured to detect this and control the steering so that the vehicle automatically travels along the detected boundary.

However, since boundaries are detected using time-consuming image processing, boundaries are detected intermittently.

Therefore, the target steering angle in steering control is set so that the vehicle body properly follows the boundary detected in the previous process while traveling to the next boundary detection point. It is necessary to set the value according to the sampling interval of boundary detection.

By the way, when detecting a boundary based on the difference in brightness between an unprocessed work area and a processed work area, for example, by extracting a pixel for which the difference in brightness between adjacent pixels is larger than a set threshold value,
A straight line connecting the extracted pixels is found, and the information on that straight line is detected as information corresponding to the boundary. The amount of image information to be provided will vary depending on the conditions of the work site. As a result, the processing time required for boundary detection will vary due to differences between work sites.

Conventionally, the sampling interval for boundary detection, that is, the processing time required for boundary detection, is set to a constant 1 shift, for example, considering the processing time in a standard work area, and the vehicle is run at a constant target speed. With this condition, a target steering angle with respect to the detected boundary was determined and the steering was controlled.

[Problem to be solved by the invention]

The processing time required for boundary detection may vary greatly due to differences between work sites, etc., and as a result, there is a risk that appropriate steering control may not be performed.

To explain, if the processing time required for boundary detection is shorter than the set time, there is no particular problem, but if the processing time is longer than the set time, the distance traveled until the next boundary detection is longer. As a result, there is a risk that the vehicle body will not be able to follow the boundary as desired due to over-control.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable appropriate steering control even if the processing time required for boundary detection varies greatly.

[Means to solve the problem]

A first characteristic configuration of the imaging-type travel control device for an automatic traveling work vehicle according to the present invention is that processing time measuring means is provided for measuring the processing time required for boundary detection by the boundary detecting means, and the boundary travels a set distance. Target vehicle speed adjusting means automatically changes and adjusts the set target vehicle speed so that the vehicle speed decreases as the processing time increases, based on the detection information of the processing time measuring means, as detected at each time. It is in that it is provided.

Further, the second characteristic configuration is as follows.

That is, the target vehicle speed adjusting means is configured to set the target vehicle speed to a preset reference vehicle speed when the processing time is smaller than a set value.

[For production]

In the first characteristic configuration, the processing time required for boundary detection is 1
The processing time required for boundary detection is measured by taking advantage of points that do not vary greatly within a certain work area, such as a work area, and the target vehicle speed is set according to the processing time so that the longer the processing time, the lower the vehicle speed. By making the changes and adjustments, boundary detection is performed every time the vehicle travels the set distance.

By the way, if the processing time becomes very short, the amount of image information corresponding to the boundary to be image processed is small, and in this case, the reliability of the detected information will decrease.

Therefore, if the vehicle speed is significantly increased in accordance with the processing time, there is a risk that the border will be exempted, even though the processing time is very short and there is a risk of erroneously detecting the border.

Therefore, in the second characteristic configuration, if the measured processing time is smaller than the set value, the target vehicle speed is set to a preset reference vehicle speed, so that the vehicle starts traveling by the time when the next boundary detection is performed. The distance is limited, resulting in repeatedly detecting boundaries at short distance intervals. Note that the reference vehicle speed can be set to various values.

〔Effect of the invention〕

Therefore, in the first characteristic configuration, even if the processing time required for boundary detection varies, boundary detection is repeatedly performed every time the vehicle travels a set distance, so that the ability to follow the boundary can be improved.

Further, in the second characteristic configuration, while obtaining the advantage of the above-mentioned claim 1, if the processing time is shorter than the set value such that there is a risk of erroneous boundary detection, the vehicle speed is limited to the reference vehicle speed, It is possible to run the vehicle while preventing tax exemption from the border.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, a rectangular unmown land (B) as an untreated work area is formed surrounded by a cut land (C) as a treated work area, and the unmown land ( The part from the - side to the opposite side of B) is set as one work process, and,
On the side of the unmowed land (B) adjacent to one working stroke, a plurality of parallel working strokes are set at intervals corresponding to the working width of a working vehicle for mowing lawns, which will be described later.

As shown in FIGS. 4 and 5, in each work process, the uncut land (B) and the cut land (B) in the width direction of the vehicle body are
The first boundary (L1) with the vehicle body (
In order to be able to image the first boundary (L1) regardless of whether the vehicle is located on the left or right side of V), images are taken in two-dimensional directions of the location corresponding to the first boundary 0) on the forward side of the vehicle. Image sensors (S1) serving as imaging means are provided on the left and right sides of the front portion of the vehicle body (V), respectively.

In other words, in each work process, the vehicle body (V) automatically travels along the first boundary (0) between the uncut land (B) and the mowed land (C) in the width direction of the vehicle body. The first boundary (L0
) The steering is controlled based on the positional information of the first boundary (S0) detected based on the imaging information of the image sensor (S+) located on the side of The image sensor (S
+) Second boundary (L2) between unmown land (B) and mowed land (C) in the longitudinal direction of the vehicle body detected based on the imaging information of
Based on the positional information of 1
It will be an 80 degree turn.

Then, the uncut land (B) adjacent to the cut land (C) is
By repeatedly traveling back and forth in the section from the negative side to the opposite side, lawn mowing work in a predetermined range can be automatically performed in a so-called reciprocating mode.

In Fig. 5, (1) is the front wheel, (2) is the rear wheel, and (3) is the mower.

By the way, as described later, the front wheel (1) and the rear wheel (
2) is a so-called 4-wheel steering type so that each wheel functions as both a steering wheel and a driving wheel.
It is configured as a wheel drive type.

In addition, in each of the work steps, the vehicle is driven using a two-wheel steering system in which only the front wheels (1) are steered, and when turning for the next work step, the front and rear wheels (1) are operated.
1) and (2) are operated using a four-wheel steering system in which the wheels are steered in opposite phases.

To explain the imaging field of view (A) of the image sensor (S0), as shown in FIG. 6, the vehicle body (V)
In a state in which the first boundary (L1) is properly aligned with the first boundary (L1), the first boundary (L1) extends the widthwise center of the imaging field of view (A) on the ground surface of the image sensor (S1) to the vehicle body. It is set so that it coincides with a reference line (La) passing along the direction of travel.

Note that the first boundary (L1) switches between being located on the left side of the vehicle body (V) and being located on the right side of the vehicle body (V) during the outbound and return trips of the work vehicle.

Therefore, the vehicle body (V) turns and the running direction is 180 degrees.
Each time the image sensor is inverted, the image sensor (s1) used to image the first boundary (L0) is switched to the left or right.

Then, the second boundary (L2) is detected using the image sensor (S+) on the unused side.

In the following description, the image sensor that is in the state of capturing the first boundary (L1) will be referred to as the first image sensor (Sa), and the image sensor that is in the state of capturing the second boundary (L2) will be referred to as the first image sensor. 2 image sensor (Sb).

However, in the figure, for convenience, the image sensor on the right side is expressed as the first image sensor (Sa), and the image sensor on the left side is expressed as the second image sensor (Sb).
These first image sensors (S
a) and the second image sensor (Sb) are the vehicle body (V
) will be replaced every turn.

To explain the control configuration for automatically driving the vehicle body (V), as shown in FIG. , the first boundary (shi0) and the second boundary (
L2) A control device (10) using a microcomputer is provided, which detects the respective position information and controls the traveling of the vehicle body (V) based on the detected boundary position information.

That is, by using the control device (10), the boundary (L) between the untreated work area and the treated work area in the width direction of the vehicle body is determined based on the imaging information of the image sensor (S1) as an imaging means. a boundary detection means (100) for repeatedly detecting the first boundary (L0);
Target steering angle setting means for setting a target steering angle (θ[) for automatically driving the vehicle body (V) in a setting appropriate state with respect to the detected first boundary (L1) based on the detection information of 00). (lot), steering operation means (1) for steering the front wheel (1) as a steering wheel to the target steering angle (θf).
02), a vehicle speed control means (103) that automatically adjusts the vehicle speed (V) of the vehicle body (V) so that the vehicle body (V) runs at a set target vehicle speed (V1), the boundary detection hand &(100);
); a processing time measuring means (104) for measuring the processing time (1) required for boundary detection;
104), the set target vehicle speed (V1
) for automatically changing and adjusting the target vehicle speed (105)
Each of these will be configured.

In Fig. 1, (4) is the hydraulic cylinder for steering the front wheels (1), (5) is the hydraulic cylinder for steering the rear wheels (2), and (6) is the output of the engine (E). This is a hydraulic continuously variable transmission device that drives the front and rear wheels (1) and (2) by changing the speed of the vehicle. (7) is a speed change motor, (8) is a control valve for the front wheel hydraulic cylinder (4), (9) is a control valve for the rear wheel hydraulic cylinder (5), and (S2) is a control valve for the front wheel hydraulic cylinder (5). ) is a distance sensor for detecting the travel distance of the vehicle body (V) based on the output rotation speed of the vehicle body (V), (R1) is a potentiometer for detecting the steering angle for the front wheels, and (R2) is a steering angle detection for the rear wheels. The potentiometer (R3) is a vehicle speed detection potentiometer that indirectly detects the vehicle speed (V) based on the operating state of the transmission (6).

The operation of the control device (10) will be described in detail below.

First, the boundary detection process for detecting the first boundary (L1) will be described in detail based on the flowchart shown in FIG.

However, in the boundary detection described below, since the mowed land (C) appears brighter than the uncut land (B), it corresponds to the first boundary (L1) or the second boundary (L2). The difference in brightness between the mowed land (C) and the unmown land (B) in a part is larger than the difference in brightness within the mowed land (C) and the unmown land (B). It is designed to take advantage of the following:

Further, the second boundary (L2) is the same boundary between the uncut land (B) and the cut land (C) except that it crosses the first boundary (L1), and this First boundary (L1)
As described below, the second
Position information of the boundary (L2) will also be detected.

That is, each time the vehicle body (V) travels a set distance,
Imaging information from the image sensor (St) is manually input to the control device (10), and the brightness of each pixel aligned in a two-dimensional direction is converted into a density value that is quantized in a setting step, The differential value of each pixel arranged in the two-dimensional direction is calculated based on the density value of each of the eight neighboring pixels adjacent to each pixel.

However, when detecting the position of the first boundary (L0), the first boundary (L0) is an uncut area (B) in the width direction of the vehicle body.
) and the mown field (C), the differential value in the X-axis direction, which is the direction along the width direction of the vehicle body, is calculated, and when detecting the position of the second boundary (L2). In this case, the differential value in the y-axis direction, which is the direction along the longitudinal direction of the vehicle body, is calculated.

Then, pixels for which the obtained differential value of each pixel is larger than the set darkness value are extracted, and the image information is binarized.

After extracting pixels with large brightness changes through binarization processing, use Hough transform to find multiple straight lines that pass through the extracted pixels and have slopes set in multiple stages. Among the plurality of straight lines, one of the straight lines with the highest frequency is selected as the first boundary (L1) or the second boundary (L2).
It will be extracted as a straight line corresponding to .

To explain, in the Hough transform, the imaging field of view (
Using the X-axis passing through the center of A) as the reference line in the polar coordinate system, draw multiple straight lines passing through the extracted pixels in a range of 0 degrees to 180 degrees with respect to the X-axis based on the following formula (i). It is determined as a combination of the inclination (θ) set in advance in multiple stages and the distance (ρ) from the origin, that is, the center of the screen (see FIG. 8).

p ” x ' cos θ + y 0 sin θ ------
-(i) Then, for one pixel, until the value of the slope (θ) set in the plurality of stages reaches 180 degrees,
After repeating the process of adding two-dimensional histograms to count the frequency of each straight line, the frequency of multiple types of straight lines passing through all the extracted pixels is counted for each extracted pixel.

After counting the frequency of straight lines for all extracted pixels,
From the values added to the two-dimensional histogram, by finding the combination of the slope (θ) and the path B (ρ) that gives the maximum frequency, one straight line (Lx) that gives the maximum frequency is obtained.
(see FIG. 8), and its straight line (LX) is determined as a straight line corresponding to the boundary on the imaging surface of the image sensor (S1).

Next, the straight line (Lx) on the imaging surface is defined as the imaging field of view (St) of the image sensor (St) on the ground surface measured in advance.
The stored information on the shape and size of A) and the position of the pixel (a, b, c) on the imaging plane through which the straight line (LX) with the maximum frequency passes
) (see Figure 8), it is converted into straight line information on the ground surface.

That is, when detecting the first boundary (L0),
As shown in FIG. 6, the inclination (ψ) with respect to the reference line (La) passing through the center of the width direction of the imaging field of view (A) in the front-rear direction
This is converted into information about a straight line on the ground surface, which is set as the value of and the position (δ) in the width direction.

To explain, the lengths (ffl
+>, (A 32), the length (j2.6) in the width direction of the imaging field of view (A) at the position of the pixel that images the center of the field of view (X 16. y = 0), and the two front and rear sides The control device (10
) will be stored in the memory.

and the position (a, b) of the pixel where the straight line (Lx) on the imaging plane intersects the X axis corresponding to the front and back two sides of the imaging field of view (A) (position where y=16. y=-16) The value of the X coordinate (Xl, X32) of and the straight line (Lx)
The value of the X coordinate of the pixel (X
i) is obtained from the following equation (11), which is a modification of the above equation (i).

However, Yi is 16.0. -16 will be substituted.

Then, based on the coordinate value on the X axis determined by the above equation (ii), the slope (ψ) with respect to the reference line (La) and the width direction are calculated from the following equations (iii) and (iv). Find the distance #(δ) and calculate the slope (ψ) and distance (δ
) is calculated as the positional information of the corrected straight line on the ground surface, that is, the straight line corresponding to the first boundary (L1).

Therefore, in the steering control described later, the reference line (La
) and the distance in the width direction (δ) are both brought closer to zero.

However, when detecting the second boundary (L2), the seventh
As shown in the figure, the imaging field of view (A) with respect to the reference line (Lb) passing through the center of the imaging field of view (A) in the front and back direction in the width direction.
) at both left and right ends (P0).

(P2) from the vehicle body (V) to the second boundary (L2).
The method is to obtain position information corresponding to the distance to.

To explain further, since the second boundary (L2) is detected as a straight line heading in the X-axis direction, the position (a) where the straight line with the highest frequency (LX) passes through both the left and right ends of the screen,
(b), the imaging field of view (A
), the distances (P0) and (P2) at both left and right ends with respect to the reference line (Lb) passing through the center in the longitudinal direction are determined.

Therefore, the left and right distance (PI) with respect to the reference line (Lb)
), (p2), it is determined whether the vehicle body (V) has reached the end of the working stroke, that is, the turning point.

Therefore, the boundary detection process described above corresponds to the boundary detection means (100) for detecting the first boundary (L1) between the untreated work area and the treated work area in the vehicle width direction.

However, in this boundary detection process, pixels with large brightness changes are extracted and the most frequent straight line passing through that pixel is detected as information corresponding to the boundary, so the extracted pixel The larger the number, that is, the amount of image information to be processed, the longer the processing time required for boundary detection.

Next, a process for automatically driving the vehicle body (V) along the first boundary (L1) will be explained based on the flowchart shown in FIG.

However, which of the left and right image sensors (S0) should be used to image the first boundary (L1) must be set in advance before the start of driving, and the left and right image sensors must be switched each time the vehicle turns. become.

First, before the start of travel, work data setting processing such as the length of the work stroke and the number of work strokes to be traveled is performed, and after the work data setting processing is performed, the vehicle is started to travel at the set speed. (Step #1).

After the start of travel, after clearing a timer counter for measuring the processing time (1) required for the boundary detection means (100) to detect the first boundary (L1), the first image sensor (Sa) is cleared. Based on the imaging information, the first
After starting the image processing for detecting the boundary (shi0), that is, the boundary detection process, the process waits until the process is completed (steps #2 to #4).

As the image processing is completed, the image data resulting from the processing, that is, the position information of the detected first boundary (L1) is taken in, and based on those values, the target steering angle (θf
), and executes boundary following steering control to steer the front wheel (1) to its target steering angle (θf).
Step #5. Step #6).

To explain, the position (δ) of the first boundary (L0) in the width direction with respect to the reference line (La) passing through the center of the width direction of the imaging field of view (A), the inclination (ψ) with respect to the length direction, Based on the current steering angle (θ) of the front wheel (1), the target steering angle (θ) of the front wheel (1) is determined by the following formula (V).
f), and the steering angle (θ) of the front wheel (1) detected by the front wheel steering angle detection potentiometer (R1) is equal to the target steering angle (θf). On the other hand, the control valve (8) of the steering hydraulic cylinder (4) is driven so as to be within the set dead zone.

θf = ・δ+ 2・ψ+ 3・θ ・Group・(V)
In other words, the process of setting the target steering angle (θf) using the above equation (V) corresponds to the target steering angle setting means (101), and is detected by the front wheel steering angle detection potentiometer (Rυ). The control valve (8) of the steering hydraulic cylinder (4) is adjusted so that the steering angle (θ) of the front wheel (1) is within a set dead zone with respect to the PA steering angle (θf). The process of driving corresponds to the steering operation means (102).

After the steering operation processing is completed, the data of the counter timer is read as the processing time (1),
Based on that value, the set target vehicle speed (V0) is set to a value that is increased or decreased from the preset reference vehicle speed (V0) so that it becomes smaller as the processing time (1) increases, using the following formula (Vi). Make changes (Step #7. Step #8)
.

V, = v, xts/l = (Vi) However, ts is a reference sampling time as a preset value corresponding to the minimum processing time in a processing time range that fluctuates in a normal work place, and This is set as the reference value of the counter data. Further, vO is set to a value corresponding to the reference sampling interval (ts).

Although not shown, the timer counter is configured using internal functions of the control device (10).

In other words, the process of measuring the processing time (1) based on the data of the timer counter (step #7) corresponds to the processing time measuring means (104), and the processing time is set based on the processing time (1). The process (step #8) of changing and setting the target vehicle speed (V1) is carried out by the target vehicle speed adjusting means (105
).

After changing and setting the set target vehicle speed (V1), the vehicle speed (V
) In other words, vehicle speed control is executed to drive the speed change motor (7) so that the operating state of the speed change device (6) is within the set dead zone with respect to the set target vehicle speed (V1). Step #9).

That is, the speed change motor (7
) corresponds to the vehicle speed control means (103).

After adjusting the vehicle speed (V), as described above, it is determined whether the vehicle body (V) has reached the turning point based on the detection information of the second boundary (L2) (step #1o). .

To explain further, the travel distance of the vehicle body (V) detected by the distance sensor (s2) reaches a set distance that is set to a value shorter than the length of each work stroke, based on the length of each work stroke. Accordingly, from a state in which the first boundary (L1) is detected while the steering control is stopped and the straight-ahead state is maintained,
Switching to a state in which the second boundary (L2) is detected, the second boundary is created for the vehicle body (V).
The distance to the vehicle is detected, and as the vehicle travels the detected distance, it is determined that the vehicle has reached the turning point.

If the turning point has been reached, it is determined whether or not the work has been completed based on the number of travelled, etc., and if the work has been completed, the travel is stopped and the entire process is completed. (Step #11. Step #12).

If the work is not completed, turn the image sensor (S
After executing the turning control for switching left and right in 1), a stroke data update process for updating the number of strokes traveled is executed (Step #13. Step #14).

After updating the journey data, the boundary detection means (100
) The process of automatically adjusting the vehicle speed (V) based on the processing time (1) required for boundary detection while controlling the steering based on the detection information of the first boundary (L1) repeatedly detected at The process is repeated every time the boundary detection is completed until the turning point at the end of the working process is reached.

Therefore, since the vehicle speed (V) is automatically adjusted according to the processing time (1) required for boundary detection, the first boundary (L0) is determined even if the processing time (1) required for boundary detection varies greatly. , will be repeatedly detected at every set distance interval.

[Another example]

In the above embodiment, when the processing time (1) required for boundary detection becomes smaller than the reference value (ts), the set target vehicle speed (V1)
Although the case where the number is increased is shown as an example, the upper limit may be limited.

To explain further, the processing time (1) required for boundary detection by the boundary detection means (100) varies depending on the amount of image information to be processed.
If the difference in brightness between the cut area and the mown area (C) is small, the number of extracted pixels becomes extremely small, resulting in a state where the processing time (1) becomes extremely short.

In other words, the reason why the processing time (1) is short is that the amount of image information corresponding to the boundary is small, and as a result, the reliability of the detected first boundary (L1) is This is lower than when there is too much.

If the vehicle is driven at high speed while the reliability of the detected first boundary (L1) remains low, there is a risk that the first boundary 0) will be exempted while traveling to the next boundary detection point.

Therefore, in the flowchart of FIG. 2 in the above embodiment, the process (step #8) for changing and adjusting the target vehicle speed (V0) is changed as shown in FIG.
1) is smaller than the reference value (ts), and the processing time (1) is set as the reference value (ts).
ts), the target vehicle speed (V1)
may be set as the reference vehicle speed (Vo) to limit the upper limit of the vehicle speed (V).

However, if the processing time (1) is larger than the reference value (ts), the probability of losing sight of the first boundary (L1) is low. (
1), the vehicle speed is set to a value decelerated from the reference vehicle speed (V0).

Furthermore, in the above embodiment, the time from the start of image processing until setting the target steering angle (θf) and performing the steering operation is measured as the processing time (1) required for boundary detection. As shown in the example, the processing time (1) is the time required for image processing from the start of imaging to the detection of boundary information.
Alternatively, the time from the start of image processing to the time when the target vehicle speed (V1) is changed and adjusted to control the vehicle speed, that is, the time during which the control loop completes one cycle, may be measured as the processing time (1). , processing time required for boundary detection (1) The time point to be measured can be changed in various ways.

Furthermore, in the above embodiment, the case where the steering is performed using a two-wheel steering system in which only the front wheels (1) are steered is illustrated, but the position (δ) in the width direction with respect to the first boundary (L1) may be corrected. Performed in parallel steering format, and tilt (ψ)
The correction may be performed using a four-wheel steering system, and the specific configurations of the target steering angle setting means (101) and the steering operation means (102) can be changed in various ways. Similarly, the form of the turn can be changed in various ways. For example, the vehicle may be run in a reciprocating manner by repeatedly moving forward and backward every stroke without reversing the direction of travel, or in a so-called circular travel format in which the vehicle changes direction approximately 90 degrees.

Further, in the above embodiment, the present invention is applied to a work vehicle for mowing lawns, and the boundary detection means (100) is used to detect the first boundary (L1) between the unmoved area (B) and the mowed area (C). ) and the second boundary (L2), but the specific configuration for detecting the boundaries (L1) and (L2) can be modified in various ways. Furthermore, the boundaries to be detected and the specific form of the work area can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the imaging type travel control device for an automatic traveling work vehicle according to the present invention, in which FIG. 1 is a block diagram of the control configuration, FIG. 2 is a flowchart of travel control, and FIG. 3 is a flowchart of boundary detection processing. , Fig. 4 is a plan view of the work area, Fig. 5 is a side view of the imaging field of view, Fig. 6 is a plan view showing the relationship between the boundary in the width direction of the vehicle body and the imaging field of view, and Fig. 7 is a plan view of the field of view in the longitudinal direction of the vehicle body. FIG. 8 is an explanatory diagram of Hough transform, and FIG. 9 is a flowchart of target vehicle speed setting processing in another embodiment. (B)...Untreated work area, (C)...
Treated work area, (L)... Boundary, (V)...
... Vehicle body, (S1) ... Imaging means, (θf)
...Target steering angle, (V) ...Vehicle speed, (
V1)... Set target vehicle speed, (V0)...
・Reference vehicle speed, (1)...Processing time, (ts)・
... Setting value, (100) ... Boundary detection means, (101) ... Target steering angle setting means, (1
02)... Steering operation means, (103)...
. . . Vehicle speed control means, (104) . . . Processing time measurement means.

Claims (1)

[Claims] 1. Untreated work area in the width direction of the vehicle on the front side of the vehicle (B)
an imaging means (S_1) for imaging a location corresponding to the boundary (L) between the processed work site (C) and the processed work area (C) in two-dimensional directions;
a boundary detection means (100) that repeatedly detects the boundary (L) based on the imaging information of the imaging means (S_1);
A target steering angle for setting a target steering angle (θf) for automatically driving the vehicle body (V) in a setting appropriate state with respect to the detected boundary (L) based on the detection information of the boundary detection means (100). a setting means (101), a steering operation means (102) for performing a steering operation to the target steering angle (θf) set by the target steering angle setting means (101), and the vehicle body (V).
Vehicle speed control means (10) automatically adjusts the vehicle speed (V) of the vehicle body (V) so that the vehicle travels at a set target vehicle speed (V_1)
3) is an imaging type travel control device for an automatic traveling work vehicle, which is provided with a processing time measuring means (104) for measuring a processing time (t) required for boundary detection of the boundary detecting means (100). The processing time measuring means (1
Target vehicle speed adjusting means (105) that automatically changes and adjusts the set target vehicle speed (V_1) based on the detection information of 04) so that the vehicle speed (V) decreases as the processing time (t) increases. ) is an imaging-type travel control device for an autonomous driving work vehicle. 2. The target vehicle speed adjusting means (105) sets the target vehicle speed (V_1) to a preset reference vehicle speed (V_0) when the processing time (t) is smaller than the set value (ts). The imaging type travel control device for an automatic traveling work vehicle according to claim 1, wherein the imaging type travel control device is configured to perform the following.