JPH04259013A - Steering controller for automatic traveling working vehicle - Google Patents

Abstract

PURPOSE:To facilitate the switching between an automatic traveling state and a radio traveling state of an automatic traveling working vehicle. CONSTITUTION:The automatic traveling working vehicle is provided with a sensor 7 which detects the guidance signal sent from a guidance body buried in the ground of a work area and a radio operating part 13 where the vehicle is operated by radio. A selective means is added to select the detection signal received from the sensor 7 or the steering signal received from the part 13 together with a control part 10 where the steering control is applied to a steering device 9 based on the selected signal. Then the vehicle and the part 13 are provided with the automatic/radio switching means 11 and 20 which switch the selective means between a state where the automatic drive is secured with the selection of the detection signal of the sensor 7 and a state where the radio drive is secured with selection of the steering signal of the part 13. Furthermore the vehicle and the part 13 are provided with the display means 12 and 19 indicating a fact that the sensor 7 is detected the guidance signal received from the guidance body.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control system for an automatically traveling work vehicle.

0002

[Prior art] Currently, by applying control technology for autonomous vehicles,
Progress is being made in the development and practical application of self-driving work vehicles for use on rough terrain, which are intended to carry out work such as mowing lawns unmanned on golf course courses without the need for operators to operate them.

[0003] An example of such an autonomous work vehicle is one proposed by the present applicant in Japanese Patent Application No. 2-39167, which uses a sensor that detects a guidance signal from a guide buried underground in a work area. is provided in the automatic driving work vehicle, and a wireless control unit for wirelessly controlling the automatic driving work vehicle is provided, and has selection means for selecting either the detection signal from the sensor or the control signal from the wireless control unit, and the selected The system is equipped with a control section that controls the steering of the autonomous driving vehicle based on signals.

[0004] Furthermore, as for the driving mode of such an automatic driving work vehicle, in a work area where a guide body is buried, the steering device is controlled based on a detection signal from a sensor that detects a guidance signal from the guide body. The vehicle moves automatically from one work area to another using wireless driving, in which the steering device is controlled based on control signals from the wireless control unit. After the automated driving vehicle is moved to the target work area by wireless driving, the indicator installed on the automated driving vehicle confirms that the sensor has detected the guidance signal from the induction body. After the confirmation, the selection means is operated to switch from the wireless driving state to the automatic driving state.

[0005]

[Problem to be Solved by the Invention] However, after the automatic driving work vehicle is moved to the target work area by wireless driving, it is necessary to check whether the sensor has detected a guidance signal from the induction body, and In order to switch the selection means from the wireless driving state to the automatic driving state, the worker must move to the position of the automatic driving work vehicle.

[0006] Here, it is extremely troublesome for the worker to move from the location where he was performing radio control to the location of the automatically traveling work vehicle. Furthermore, it may be dangerous for workers to enter a work area where an autonomous work vehicle is operated.

[0007]

[Means for Solving the Problems] An automated driving work vehicle is provided with a sensor that detects a guidance signal from a guide buried underground in a work area, and a radio control unit is provided to wirelessly control the automated driving work vehicle, and the sensor and a control section for controlling the steering of the steering device based on the selected signal, and selecting the detection signal from the radio control section. The automatic/wireless work vehicle is provided with an automatic/wireless switching means for switching the selection means between a state of automatically traveling by selecting the control signal and a state of wirelessly traveling by selecting the control signal.

[0008] Furthermore, display means for displaying that the sensor has detected a guidance signal from the guide body is provided in the automatic traveling work vehicle and the radio control unit.

[0009]

[Operation] After moving the autonomous work vehicle to the target work area by radio control, the automatic
When the selection means is switched to a state where the detection signal from the sensor is selected and automatic driving is performed by switching the wireless switching means, the control section controls the steering of the steering device based on the detection signal from the sensor, and the automatic driving is started. The work vehicle will be in an automatic driving state. On the other hand, after the work by automatic driving is completed in the target work area, by switching the automatic/wireless switching means of the radio control unit, the control signal from the radio control unit is selected and the state is set for wireless driving. When the selection means is switched, the control section controls the steering of the steering device based on the control signal from the wireless control section, and the automatic traveling work vehicle enters a wireless traveling state. Therefore, switching between the wireless traveling state and the automatic traveling state can be performed without the operator moving to the position of the automatic traveling work vehicle.

[0010]Furthermore, if the sensor detects a guidance signal from the guide after the automatic traveling work vehicle is moved to the target work area by radio control, the display means provided in the radio control unit displays the signal. . Therefore, the operator can confirm that the sensor has detected the guidance signal from the guide without moving to the location of the automatic traveling work vehicle.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be explained based on the drawings. On the abdomen of the self-driving lawn mower 1, which is a self-driving work vehicle,
A mower 4 is installed between the front wheels 2 and the rear wheels 3 so as to be movable up and down. On the other hand, a guide wire 5, which is a continuous conductor, is buried underground in the work area where the automatic mower 1 runs, and both ends of the guide wire 5 are connected to a signal oscillator 6.

A pickup coil 7, which is a sensor for detecting a guidance signal transmitted from the guide wire 5, is installed at the front of the automatic lawn mower 1, and a wireless pickup coil 7 is installed at the rear of the automatic lawn mower 1. An antenna 8 for transmitting and receiving signals is provided. Further, the self-driving lawnmower 1 is provided with a steering device 9 connected to the front wheels 2, and a control section 10 that controls the steering of the steering device 9. The control section 10 is provided with a selection means (not shown) for selecting either a detection signal from the pickup coil 7 or a control signal from a radio control section, which will be described later.

[0013] Here, the automatic traveling lawnmower 1 has the selection means for selecting the detection signal from the pickup coil 7 and automatically traveling, and selecting the control signal and traveling wirelessly. Automatic/wireless switching means 1
1 is provided, and this automatic/wireless switching means 11 is connected to the selection means. The automatic lawn mower 1 is also provided with an online display 12 that is a display means for displaying that the pickup coil 7 has detected the guidance signal transmitted from the guidance wire 5. The device 12 is connected to the control section 10. Note that the selection means is the automatic/wireless switching means 1.
If the pick-up coil 7 fails to detect a guidance signal for a certain period of time when the automatic running state is switched to the automatic running state by 1, the running of the automatic running lawn mower 1 is stopped and the automatic running state is automatically switched to the wireless running state. It has a structure that allows

[0014] Next, a radio control section 13 is provided separately from the above-mentioned self-propelled lawn mower 1 for controlling the self-propelled lawn mower 1 by radio. Antenna 1 for transmitting and receiving signals between
4, and a wireless control unit 15 that processes signals to be transmitted and received. Furthermore, the radio control unit 13 includes a steering setting device 16 for setting a steering target steering angle (steering direction and steering amount), and a traveling speed setting device 17 for setting the traveling speed of the automatic driving lawn mower 1. , a display 18 for displaying the operating status of the self-driving lawn mower 1; and an online display 19 serving as a display means for displaying that the pickup coil 7 has detected the guidance signal transmitted from the guidance wire 5. automatic/wireless switching means 20 for switching the selection means between a state in which the detection signal from the pickup coil 7 is selected and automatic driving is performed and a state in which the control signal from the steering setting device 16 is selected and wireless driving is performed; Each of these devices 16 to 20 is connected to the wireless control section 15, respectively. Note that the signal from the traveling speed setter 17 is transmitted via the control section 10 to a control device (not shown) that controls the engine speed, etc., and the traveling speed is controlled.

In such a configuration, first, a case will be described in which the automatically traveling lawn mower 1 is caused to automatically travel along the guide line 5 based on a detection signal from the pickup coil 7. After moving the automatic lawn mower 1 to the work area where the guide wire 5 is buried, the online display of the radio control unit 13 indicates whether the pickup coil 7 has detected the guide signal transmitted from the guide wire 5. Confirmed by 19. After confirming on the online display 19 that the pickup coil 7 has detected the guidance signal, the radio control unit 13 automatically
By operating the wireless switching means 20, the selection means is switched to an automatic running state, and work is started. With the start of work, the control unit 10 calculates the amount of steering operation based on the detection signal from the pickup coil 7, and the control signal for the amount of steering operation is output to the steering device 9, thereby controlling the automatic driving lawn mower 1. is steered along the guide line 5.

[0016] During automatic driving, signals indicating the operating status of the automatic driving lawn mower 1, including engine abnormalities, are transmitted from the control unit 10 via the antenna 8 at regular intervals, and the signals are sent to the wireless control unit 13. is displayed on the display 18. In addition, during automatic driving, the control unit 10 is in a state where only transmission is possible, so even if the steering setting device 16 or steering speed setting device 17 of the radio control unit 13 is operated, the steering signal is not transmitted to the control unit. 10, and erroneous operation is prevented.

On the other hand, when the selection means is switched to the wireless running state by switching the automatic/wireless switching means 20, wireless running is always performed based on the operation of the radio control section 13. Therefore, when moving the self-driving lawn mower 1 from one work area to another, by operating the wireless control unit 13 from a position away from the self-driving lawn mower 1, the self-driving lawn mower 1 can be moved wirelessly. It can be run.

The selection means can also be switched by switching the automatic/wireless switching means 11 provided in the automatic mower 1.
When the guide signal transmitted from the guide line 5 is detected, it is also displayed on the online display 12 provided in the automatic mower 1.

[0019]

[Effects of the Invention] The present invention provides automatic/wireless switching means for switching the selection means of the automatic traveling work vehicle in the radio control section for wirelessly controlling the automatic traveling work vehicle as described above.
The operation of switching the automatic driving work vehicle from the automatic driving state to the wireless driving state, and the operation of switching from the wireless driving state to the automatic driving state, are performed by operating the automatic/wireless switching means of the radio control unit, and the operator leaves the automatic driving work vehicle. Therefore, the worker does not have to move to the location of the automated driving vehicle every time he or she performs this switching operation, and the work efficiency of the automated driving vehicle can be improved. It is possible to improve the safety of workers because there is no need for workers to enter the work area where the autonomous driving vehicle performs work in an autonomous state.Furthermore, the sensors of the autonomous driving vehicle can By providing a display means in the radio control unit to display that a signal has been detected, it is possible to switch from a wireless driving state to an automatic driving state,
In addition, work can be started smoothly in an automated driving state, and by providing automatic/wireless switching means and display means on both the radio control unit and the automated driving work vehicle, it is possible to prevent one or the other from malfunctioning. This has the effect of allowing work to continue even if the

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a steering control system and a wireless control unit.

FIG. 2 is a side view showing the entire self-driving lawn mower.

[Explanation of symbols]

1 Automated driving work vehicle 5 Derivatives 7 Sensor 9 Steering device 10 Control section 11 Automatic/wireless switching means 12 Display means 13 Radio control section 19 Display means 20 Automatic/wireless switching means

Claims (2)

[Claims] Claim 1: An automated driving work vehicle is provided with a sensor that detects a guidance signal from a guide buried underground in a work area, and a radio control unit that wirelessly controls this automated driving work vehicle, and a sensor that detects a detection signal from the sensor is provided. and a control signal from the radio control unit, and a control unit for controlling the steering of the steering device based on the selected signal, and selects the detection signal to automatically drive. The automatic traveling work vehicle and the wireless control section are provided with automatic/wireless switching means for switching the selection means between a state in which the operation signal is selected and a state in which the vehicle travels wirelessly by selecting the control signal. steering control device. 2. The automated driving vehicle operation system according to claim 1, wherein the automated driving vehicle and the radio control section are provided with display means for displaying that the sensor has detected a guidance signal from the guide body. direction control device.