JPH02266403A - Method for traveling automatic traveling working vehicle - Google Patents

Abstract

PURPOSE:To surely execute working over the whole range to be worked even when a side traveling variable is changed by detecting the end part of the range to be worked in the side traveling direction and reversing the side traveling direction based upon the detection. CONSTITUTION:A phenomenon shortening the distance of a working process at the end part of the range to be worked in the side traveling direction is utilized. Namely, the arrival of a working vehicle at the end part of the range to be worked in the siding direction is detected when a distance detecting means S3 detects the traveling distance in the working process is smaller than a set point, and a traveling control means 101 reverses the side traveling based upon the detection. Even when the wide traveling variable is changed due to a cause such as slip, processing can be surely executed over the whole range to be worked.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a vehicle in which a vehicle is traveling straight in each of a plurality of work strokes lined up in the width direction of the vehicle body, and in a state in which the direction of travel is reversed in adjacent work strokes. A self-driving work vehicle that automatically travels through a convex polygonal work range, the self-driving work vehicle being equipped with a travel control means that causes the vehicle to travel and move closer to the next work stroke as it reaches the end of the work stroke. Regarding how to drive.

[Conventional technology]

For example, in concrete embankment construction work, there are cases in which concrete is poured during the day in a rectangular work area with a concave body around the work area, and lentence removal work is performed on the concrete surface at night. It is desirable to use an automated driving vehicle for this removal work to save labor.

In such a case, it is conceivable to run a work vehicle as shown in FIG.

That is, if the work target range (A) is rectangular, the work stroke is set in a direction parallel to two opposing sides of the work target range (A). Then, each time a preset number of work strokes is reached, the width-adjusting travel direction is reversed, so that the vehicle automatically travels within the work target range (8) a plurality of times. By the way, for side-to-side driving, for example, if the work vehicle is configured with 4-wheel steering,
This is done by changing the orientation of the four wheels to the next working stroke and driving them for a set distance or for a set time.

[Problem to be solved by the invention]

However, when automatic driving is performed using the above method, the amount of side-to-side driving changes due to causes such as slipping, etc.
There was a risk that unprocessed parts would remain at the edges of the work area in the widthwise direction.

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned conventional drawbacks and to provide a traveling method for an automatic traveling work vehicle that can reliably perform work over the entire range of work.

[Means to solve the problem]

In order to achieve this object, the first characteristic configuration of the traveling method of an automatic traveling work vehicle according to the present invention is that the work vehicle is provided with a distance detecting means for detecting the traveling distance in each work stroke, and a distance detecting means for detecting the traveling distance in each work stroke. a discriminating means for discriminating that the detected travel distance is smaller than the set value; The vehicle is configured to switch the width-adjusting travel direction in the opposite direction, and to automatically travel by setting the work stroke in a direction intersecting each side of the work target range.

Further, a second characteristic configuration specifies a suitable method for implementing the first characteristic configuration, in which a shelf-like body is provided around the work target area, and a shelf-like body is provided in front of the work vehicle. Sensors for detecting the shelf-like body are provided at the front and rear portions, and the travel control means is configured to start the width-adjusting run when the sensor (S1) detects the shelf-like body. That's true.

[For production]

According to the first characteristic configuration, it is utilized that the distance of the work stroke becomes small at the end of the work target range in the width closing direction. In other words, by detecting that the travel distance in the work process is smaller than the set value, it is detected that the end of the work area in the width-shifting direction has been reached, and based on this detection, the width-wise movement is performed. The direction is reversed.

According to the second feature, reaching the end of the working stroke is detected by detecting the shelf. In response to this detection, the vehicle moves closer to the next working stroke.

〔Effect of the invention〕

According to the first characteristic configuration, the edge of the work target range in the width-shifting direction is detected, and the width-shifting direction is switched to the opposite direction in accordance with the detection, so width-shifting due to slips, etc. Even when the travel distance changes, the work can be reliably performed over the entire work range.

According to the second feature, the end of the work stroke is detected using a shelf.

In other words, when there is a shelf surrounding the work area, such as in concrete embankment construction work, the end of the work process can be reliably detected with a simple configuration that effectively utilizes the shelf.

[Example] Hereinafter, an example in which the present invention is applied to a traveling method of a concrete latitude removal work vehicle will be described based on the drawings.

As shown in Fig. 3, a working device (2) is suspended from the lower part of the vehicle body, which is equipped with a pair of left and right front wheels (IF) and a pair of left and right rear wheels (IR), and is capable of being driven and stopped. A removal work vehicle (V) is constructed.

The working device (2) is equipped with a wire brush (3) 1, and the wire brush (3) is rotated while traveling to remove lentance from the concrete surface.

Further, the working vehicle CV) is configured so that it can not only travel automatically based on various travel control information and detection information from various sensors described later, but also can be driven by remote control.

Adding an explanation to the control configuration of the work vehicle (V),
As shown in FIG. 1, the front and rear wheels (IF).

Steering hydraulic cylinders (4F) and (4R) that operate each of the (IR) separately, and their control valves (51
').

[5R], an electromagnetically operated clutch (7) that connects and disconnects the drive of the working device (2), a hydraulic continuously variable transmission (8) that can switch forward and backward as well as change speeds in both forward and backward directions, and its speed change motor ( 9), and each of the control valves (5F), (SR), the clutch (7), and the variable speed motor (9) based on various travel control information set and stored in advance and information detected by various sensors. A microcomputer-based control device (H) is provided to control the .

That is, the travel control means (101) uses the control device () I) to control the travel of the work vehicle (V) based on the detection information of various sensors described later, and the travel distance is smaller than the set value. Each of the discriminating means (102) for discriminating is configured.

In Fig. 1, (E) indicates the front and rear wheels (IF), (I
T? ) and an engine for driving the working device (2), which is operatively connected to the transmission (8).

(12) is a transmission arm of the transmission (8),
It is operatively connected to the variable speed motor (9).

By the way, the front and rear wheels (IF), (ll'1) are as follows:
As shown in Figure 1, since each wheel can be steered independently, there is a parallel steering system in which the front and rear wheels (IF) and (IR) are steered in the same phase, and a four-wheel steering system in which the front and rear wheels (IF) and (IR) are steered in the same phase. Wheel steering format can be selected. The parallel steering type is used during automatic driving, and the parallel steering type and four-wheel steering type can be switched and used during remote control.

Next, various sensors equipped on the work vehicle (V) will be explained.

As shown in FIG. 3, contact-type detection sensors (S1) are attached to bumpers (8) provided at the front and rear of the vehicle body (V), respectively. In other words, the end of the work stroke is determined by this detection sensor (S1) detecting a shelf-like object (10), which will be described later.

Further, a rotation speed sensor (S3) is provided which is rotationally driven by the output of the transmission (8) and outputs a unit rotation speed or a set number of pulse signals, and based on the detected rotation speed, the rotation speed sensor (S3) is rotated by the output of the transmission (8). (V) is configured to detect the traveling distance of the vehicle.

In other words, the rotation speed sensor (S3) corresponds to distance detection means.

Further, potentiometers (R+), (R
2) A vehicle speed detection potentiometer (R1) that indirectly detects the forward/reverse switching state and the vehicle speed in each of the forward and reverse directions by detecting the operating state of the transmission (8).
) are provided.

In Fig. 1, (16) is a transmitter for remote control, and (17) is a transmitter for remote control.
) is a receiver that receives the instruction information, and is configured to input the received information to the control device (H).

Although not described in detail, the transmitter (16) has the function of manually remotely controlling the work vehicle (V) during remote control, and also has the function of starting and stopping the work vehicle m during automatic travel. It is configured such that settings such as a travel distance setting value, standby time, work time, etc. for switching the direction of instruction and side-to-side travel can be made.

Next, automatic traveling of the work vehicle (V) will be explained.

As shown in FIG. 4, a plurality of work strokes are set in a direction intersecting each side of a rectangular work target range (A) around which a shelf (10) is provided. and,
In each work process, it automatically travels along its length, and as it reaches the end of one work process, it repeatedly moves towards the start of the next work process adjacent to that work process. , so that each work process is made to travel back and forth. Further, the travel distance of each work stroke is detected by the rotation speed sensor (S3), and when it is detected that the detected distance is smaller than a set value, the width-adjusting travel direction is switched to the opposite direction. ing. The construction is such that the concrete finishing work in the work area (A) can be performed automatically.

Further, the bumper (B) of the work vehicle (V) is connected to the shelf (
10) and the detection sensor (S1) is activated to detect that the end of each work stroke has been reached.

Further, the working vehicle (v) is configured to travel back and forth through a plurality of working strokes while switching between forward and backward movement for each stroke, and therefore, as it reaches the end of the working stroke, the direction of the vehicle body is changed. Front and rear wheels (IF), (IR)
By changing the steering angle of the steering wheel to a constant angle parallel to the steering wheel, the steering angle of the steering wheel is changed to a constant angle in parallel, so that the steering wheel is moved toward the starting end of the next work stroke. A control operation for automatically driving the work vehicle (V) will be explained.

In addition, before automatic driving, the remote control transmitter (I6)
Alternatively, various conditions are set using the settings 2g provided in the work vehicle (V). That is, set values are set for the waiting time until the start of work, the work continuation time, and the distance traveled.

When the control is started, first, the system waits until a set time has elapsed. Then, when the waiting time elapses, each flag (F
1), (FZ), front and rear wheels (IF),
Let the steering angle of (IR) be Oo.

Next, check flag 1 (F1) and depending on the result,
Move forward or backward in the work process. Incidentally, at this time, the traveling distance is measured by the rotation speed sensor (S3). As the detection sensor (S3) detects the fence-like object (10), the travel distance is compared with the set value. If the travel distance is less than the set value, change the value of flag 2 (F2). That is, if it is "0", it is set to 1, and if it is "1", it is set to "0'".

Then, the steering angle is set to 30 degrees to the right or left by a combination of flag 1 (F1) and flag 2 (Fz). That is, when F,=0 and F2=0, and when F
, = 1 and F2-1, to the right, F, -〇 and F2=
In the case of 1, and in the case of F, -1 and F2-0, it is set to the left. After that, the complement of the value of flag 1 (F1) is set to flag 1 (
F1). And flag 1 (F1) is “1”
If it is "0", it will move backward a certain distance, and if it is "0" it will move forward a certain distance. In other words, this run corresponds to the width-to-side run.

The above operations are repeated until the working time has elapsed.

[Another example]

In the above embodiment, the case where the work target range (8) has a rectangular shape is shown, but the present invention is applicable if the work target range (A) has a convex polygonal shape.

In the above embodiment, a contact type sensor (S1) is used as the sensor for detecting the shelf (10), but various sensors such as an ultrasonic sensor can be used.

In the above embodiment, the present invention is applied to a concrete removal work vehicle (v), but it can also be applied to a method of traveling a work vehicle for floor finishing or cleaning of a building or factory.

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 drawings]

The drawings show an embodiment of the traveling method of an automatic traveling work vehicle according to the present invention, and FIG. 1 is a block diagram of the control configuration, and FIG. 2 (A)
, (t1) is a flowchart of the control operation, FIG. 3 is a schematic side view of the working vehicle, and FIG. 4 is a schematic plan view showing the traveling method of the working vehicle. FIG. 5 is a schematic plan view showing a conventional traveling method of a working vehicle. (10)...Shelf-like body, (S1)...Detection sensor, (S3)...Distance detection means, (A
)... Work target range, (V)... Work vehicle, (101)... Travel control means, (102
)...Discrimination means.

Claims (1)

[Claims] 1. The vehicle is driven straight in each of a plurality of work strokes lined up in the width direction of the vehicle body, and the traveling direction is reversed in adjacent work strokes, and the vehicle reaches the end of the work stroke. An automatic traveling work vehicle (V) is equipped with a travel control means (101) that causes the vehicle to move closer to the next work stroke according to the
A traveling method for an automatically traveling work vehicle to automatically travel in a work target range (A) having a convex polygonal shape, the work vehicle (V) being provided with a distance detecting means (S_3) for detecting a travel distance in each work stroke.
), and a determining means (
102), and the traveling control means (101
) is configured to reverse the width shifting direction when the determining means (102) detects that the travel distance is smaller than the set value, and the work process is changed to the work target range ( A) A method of running an automated work vehicle that is set in a direction that intersects each side of A). 2. The traveling method of an automatically traveling work vehicle according to claim 1, wherein a shelf-like body (10) is provided around the work target range (A), and a shelf-like body (10) is provided at the front and rear part of the work vehicle (V). A sensor (S_1) for detecting the shelf-like body is provided, and the travel control means (101) is configured such that the sensor (S_1) detects the shelf-like body (10).
) is configured to start the width-adjusting run upon detection of the vehicle.