JPH0314007A - Guiding device for working vehicle - Google Patents

Abstract

PURPOSE:To prevent a guide line from being left on the running trace of a working vehicle while guiding the working vehicle with the guide line by providing a line detecting means, a steering control means, a line forming means, and a line erasing means. CONSTITUTION:A working vehicle V is provided with a line detecting means 6 which detects a guide line L, the steering control means which controls running based on detection information of this means 6, a line forming means 8 which forms a guide line L in an inward position from the line detecting means of a spiral running route in accordance with running, and a line erasing means 7 which erases the guide line L placed behind the line detecting means 6 in accordance with running. A working vehicle V is automatically run along the guide line, and running of the vehicle V is used to erase the guide line placed behind the line detecting means 6 as the running trace while forming the guide line L on the running route in accordance with running.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a guidance device for a working vehicle that automatically travels the working vehicle along a spiral travel route.

[Conventional technology]

Conventionally, guidance lines were previously installed along the entire travel route to allow automatic travel.

[Problem to be solved by the invention]

For example, when the work vehicle is configured as a cleaning work vehicle for cleaning passageways in a building, it is recommended to provide a fixed guide line in the passageway along which the work vehicle travels to improve its aesthetic appearance. There is a risk of damaging the

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to use a structure in which a working vehicle is guided by a guiding line, but to prevent the guiding line from remaining in the trail of the working vehicle.

[Means to solve the problem]

The present invention allows a work vehicle to automatically travel along a spiral travel route, and its characteristic configuration is that the work vehicle includes a line detection means for detecting a guiding line; a steering control means for controlling the steering so that the vehicle travels along the guidance line based on the information; and a steering control means that performs steering control so as to travel along the guidance line based on the information; The vehicle is provided with line forming means for forming the guiding line, and line erasing means for erasing the guiding line located on the rear side of the line detecting means as the vehicle travels.

[For production]

Basically, by controlling the steering based on the detection information of the line detection means, it is configured to automatically travel one line along the guidance line, and by utilizing the travel of the work vehicle,
While the guidance line on the next travel route is formed as the vehicle travels, the guidance line located on the rear side of the line detecting means, which will be the trace of travel, is erased.

〔Effect of the invention〕

Therefore, as the vehicle travels, the next guidance line is formed, and the guidance line in the travel trace is automatically erased, so the work vehicle can automatically travel without leaving any guidance lines in the travel trace. I was able to do it.

〔Example〕

EMBODIMENT OF THE INVENTION Hereinafter, an embodiment in which the present invention is applied to a guidance device for a cleaning work vehicle will be described based on the drawings.

As shown in Fig. 3, a cleaning work vehicle (V) is equipped with a pair of left and right propulsion wheels (1) at the front of the vehicle body, and a single-wheel steering wheel (2) provided at the rear of the vehicle body. The vehicle is configured to be steered by changing the vehicle.

A rotating brush (3) for cleaning and a water sprinkling device (4) for spraying cleaning liquid onto the running surface where the rotating brush (3) acts for cleaning are provided on the front side of the propulsion wheel (1). A water absorption roller (
5) is provided so as to rotate around an axis along the width direction of the vehicle body as the vehicle travels.

Although not described in detail, the water-absorbing roller (5) has water-absorbing properties by wrapping a sponge-like member made of foamed PVA (polyvinyl alcohol) or the like around the outer periphery of the cylindrical roller body. It's like letting them do it. Then, the absorbed cleaning liquid is squeezed out by a sewage recovery device (A) that comes into contact with the outer peripheral portion of the water absorption roller (5) and is recovered to the vehicle body side.

As shown in FIGS. 1 and 3, the running route of the working vehicle (V) is formed in a spiral shape, and the lateral side of the working vehicle (V), which is the outer peripheral side of the spiral running route, A pair of steering control sensors (6) serving as line detection means for detecting a guiding line (L) formed along the traveling route are positioned below at a distance in the longitudinal direction of the vehicle body. The working vehicle (V) is guided by automatically operating the steering wheel (5) to control the steering based on the detection information of the pair of steering control sensors (6) provided therein. By automatically running the spiral running route from the outer circumferential direction to the inner circumferential direction along the service line (L), the running surface within a set range can be automatically cleaned.

At the rear of the vehicle body, which is on the same side as the steering control sensor (6), a used guidance line (L) located on the rear side of the steering control sensor (6) is erased as the vehicle travels. A line erasing section (7) as a line erasing means is provided, and a line erasing section (7) as a line erasing means is provided on a side portion of the vehicle body opposite to the steering control sensor (6). 6) A line forming section (8) is provided as a line forming means for forming the guiding line (L) on the running surface corresponding to the center side of the spiral running route.

That is, as the work vehicle (V) travels, it forms a guidance line (L) to be run next inside the spiral travel route, and also forms a guidance line (L) located in the travel track. While erasing the guidance line (
The vehicle is configured to automatically travel along line L).

However, the guiding line (L), which is the first outer periphery of the spiral traveling route, may be formed by manually driving the work vehicle (V) or may be formed artificially in advance. I will leave it there.

Although not described in detail, when the spiral travel route is traveled to the innermost circumference, the guidance line (L) disappears, so the steering control sensor (6) is connected to the guidance line. When (L) is no longer detected, it is determined that the work is finished and the vehicle stops running.

To explain the guiding line (L), by applying or dropping a water-based paint or the like having a light reflectance and color different from the traveling surface on which the work vehicle (ν) travels in a set width onto the traveling surface. It is supposed to form.

Therefore, the line forming part (8) is configured in a roller type or equipped with a dripping nozzle or the like so that the water-based paint is coated or dripped onto the running surface as it travels.
The line recovery section (7) is configured in a roller type similar to the water absorption roller (5) so as to absorb paint applied to the running surface as the vehicle travels. The steering control sensor (6) is optically configured so as to be able to detect a shift in the vehicle body position with respect to the width direction of the guidance line (L) based on differences in light reflectance and color. will be done.

Next, a control configuration for automatically driving the work vehicle (V) along the guidance line (L) will be described.

As shown in FIG. 2, the steering wheel controls the operation of the steering motor (9) that operates the steering wheel (5) based on the detection information of the pair of front and rear steering control sensors (6). A control device (10) is provided as control means (100). In the figure, (11) is a motor for driving the propulsion wheel (4).

That is, from the deviation state in the vehicle width direction with respect to the guidance line (L) in the front and rear of the vehicle body, which is detected by the pair of front and rear steering control sensors (6), the difference in the vehicle body width direction with respect to the guidance line (L) Find the position of
Further, the inclination with respect to the traveling direction is determined from the difference between the front and rear deviation states, and the steering wheel (2) is controlled by the steering motor (9) based on information on the position in the width direction and the inclination with respect to the traveling direction. By performing a steering operation, the work vehicle (V) is controlled to automatically travel along the guidance line (L).

[Another example]

In the above embodiment, the guiding line (L) is formed using water-based paint, but it may also be formed using powder, for example.

In addition to being formed continuously, they may also be formed at intervals along the direction of travel, such as guiding lines (L
) can be changed in various ways.

In the above embodiment, a pair of steering control sensors (6) as line detection means are provided at the front and rear. Steering control may also be used.

Further, in the above embodiment, the case where the line erasing section (7) as a line erasing means is provided at the rear of the vehicle body was exemplified, but for example, the rotating brush (3) or the water absorption roller (5) The guiding line (L) may be erased by using the guide line (L), and the specific configuration of each part, such as the specific configuration of the guiding line (L) forming means and erasing means, 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 drawings]

The drawings show an embodiment of the guidance device for a working vehicle according to the present invention,
FIG. 1 is a schematic plan view of the traveling route, FIG. 2 is a block diagram of the control configuration, and FIG. 3 is a schematic side view of the working vehicle. (L)...Guidance line, (V)...
Work vehicle, (6)...Line detection means, (7)
... Line agent removal means, (8) ... Line forming means, (100) ... Steering control means.

Claims (1)

[Claims] A work vehicle guidance device for automatically driving a work vehicle (V) along a spiral travel route, the work vehicle (V) having:
A line detection means (6) for detecting the guidance line (L), and a steering control for driving along the guidance line (L) based on the detection information of the line detection means (6). a control means (100), and a line forming means () for forming the guiding line (L) on a running surface corresponding to a center side of the spiral running route than the line detecting means (6) as the vehicle travels. 8) and the guiding line (L) located on the rear side of the line detecting means (6) as the vehicle travels.
).