JPH0570403B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention comprises a plurality of straight strokes, a plurality of turning strokes for moving the aircraft from the end of the straight stroke to the start of the next straight stroke. In each of the above, an automatic travel control means for automatically driving the aircraft and a remote control means for controlling the travel of the aircraft based on instruction information from a transmitter are configured to be switchable from the transmitter side, and A travel distance detecting means for detecting a travel distance from a starting end of a straight-line stroke is provided, and the automatic travel control means is configured such that the travel distance detected by the travel distance detecting means is a predetermined distance set based on the length of the straight-line stroke. The present invention relates to traveling control of an automatic traveling work vehicle configured to start turning control for automatically traveling the turning stroke as the distance is reached.

[Conventional technology]

The above-mentioned travel control device of this type of automatic traveling work vehicle automatically moves to the next straight travel as it steers a predetermined distance set based on the length of the straight travel. An automatic travel control means is provided to control the traveling of the aircraft in each of the and turning strokes, so that the aircraft can automatically travel along a predetermined work process while performing a predetermined work, and the aircraft can also automatically travel while performing a predetermined work. It is equipped with remote control means so that work can be done remotely from a safe location, such as in difficult work areas or on slopes where it is dangerous to board and operate. In addition, we have developed a remote control system and automated driving system to make it convenient to artificially avoid obstacles in front of the vehicle during automated driving, or to move the aircraft at a distant location after completing work using automated driving. The means can be switched from the transmitter side for remote control.

By the way, in the past, the distance detection means for detecting the distance traveled by the aircraft was configured to detect the distance traveled by the aircraft only while the automatic travel control means was operating, and when switching to the remote control means. was set to be inactive or to ignore changes in detection distance during remote control.

[Problem that the invention seeks to solve]

However, in the above-mentioned travel control device for an automatic driving work vehicle, since the automatic driving control means and the remote control means are configured to be switchable from the transmitter side, during automatic driving, the automatic driving control means Inconvenient, for example, after temporarily switching to the remote control means in order to avoid an obstacle in front of the vehicle, when the remote control means is switched to the inactive state, it is impossible to continue automatic driving from that point on. It is possible. However, as mentioned above, in the travel control device of this type of automatic traveling work vehicle, the switching between travel control in a straight stroke and travel control in a turning stroke is automatically performed based on the travel distance of the machine in a straight stroke. As mentioned above, when switching to remote control during automatic driving, the travel distance detection is inactive during remote control, so the travel distance will be reflected as an error. Therefore, even if the traveling distance detecting means detects the distance set based on the length of the straight line journey, there is a possibility that the point is shifted from the appropriate turning start point.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to turn around at the end of a straight line as desired even if the automatic travel control means and the remote control means are switched during automatic travel. The goal is to make it possible.

[Means for solving problems]

The characteristic configuration of the travel control device for an automatic traveling work vehicle according to the present invention is such that the traveling distance detecting means continuously detects the traveling distance even when either the automatic traveling control means or the remote control means is operating. In addition, the detected traveling distance is added when the aircraft is moving forward, and subtracted when the aircraft is moving backward, and its functions and effects are as follows.

[Effect]

That is, the traveling distance detecting means continuously detects the traveling distance in a straight line regardless of whether the automatic traveling control means or the remote control means is operating, and adds the traveling distance when the aircraft is moving forward, and adds it when the aircraft is moving backwards. Since it is configured to sometimes subtract, even if you switch to the remote control method and perform manual operation during automatic driving, the distance traveled during remote control may be deleted, or the distance traveled in forward and backward directions may be deleted. The detection error can be suppressed to a small value compared to a case where the absolute value of the travel distance is always detected regardless of the direction.

〔Effect of the invention〕

Therefore, even when the aircraft's travel is controlled by either the automatic travel control means or the remote control means, the travel distance is continuously detected, so errors in the detected travel distance in a straight line are minimized as much as possible. It can be made into less. Even when switching to the remote control means during automatic driving, it is possible to reduce the error at the turning start point and improve the accuracy of switching control from straight-line driving control to turning driving control.

〔Example〕

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

As shown in Figures 3 and 4, automatic driving, remote control (radio control), and boarding control (manual)
The engine E is installed on the front side of the aircraft V, which can
In addition to providing a boarding control section 1, a drug tank 2 equipped with an exterior cover 2a is mounted on the rear side of the body V. Then, a drug dispersing device 7 is connected to the drug tank 2, which sprays the drug supplied from the drug tank 2 from a plurality of nozzles 5 by a pump 4 provided at the lower part of the body V, and scatters the drug by blowing air from a blower 6. It is attached to the rear side of the machine and serves as a work vehicle for spraying chemicals while driving between fruit trees, mainly in orchards, etc., as shown in Figure 2.
The medicine is sprayed by traveling back and forth between trees outside the trees located at the end of each linear working path while turning in the direction of the next adjacent linear working path. In addition, in Figures 3 and 4, H
is a steering hand H for boarding operation provided in the boarding control section 1.

To explain the configuration of the fuselage V, as shown in FIG. 4, ultrasonic sensors S _{1 and} 3 are provided as non-contact obstacle sensors on the front side of the bumper 8 provided at the front of the fuselage V. The sensors are provided on the left, right and in the center, respectively, with their respective obstacle sensing ranges adjacent to each other. However, the ultrasonic sensors located on the left and right
S ₁ and S ₁ each transmit the obstacle detection information to the aircraft V.
Aircraft V moves between trees F located on both left and right sides of
In order to be able to use the information for steering control when the aircraft travels, it is possible to sense the distance to each of the trees F on both the left and right sides, and the obstacle sensing range is expanded to the outside of the aircraft width. It is set as follows.

Further, an azimuth sensor _S2 is provided above the drug tank 2 to detect the absolute azimuth by sensing the earth's magnetism, so that the direction of the machine V relative to the work process can be detected.

Also, as shown in Figure 2, the aircraft V passes between trees F.
In order to indicate the end of the straight line travel of the tree, a marker m made of a magnetic material such as iron is buried between the trees located at the end of the straight line, and the marker m A magnetic sensing type proximity sensor _S3 for detecting is provided below the front end of the body V.

To explain the configuration of the traveling system of the aircraft V, as shown in FIG. 1, a pair of left and right front wheels 3F and a rear wheel 3R are provided, and a steering operation is performed to separately operate the pair of front and rear wheels 3F and 3R. Hydraulic cylinders 9F, 9R and corresponding control valves 10F, 10R are provided, and both the front wheels 3F and rear wheels 3R function as steering wheels.

In addition, a hydraulic continuously variable transmission device 11 that can freely switch forward and backward speeds and can freely change forward and reverse speeds is provided.
It is connected in conjunction with the engine E, and is configured to simultaneously drive the front and rear wheels 3F and 3R with the output of the transmission 11. The transmission device 1 is configured such that the speed change pedal 12 for onboard operation and the speed change motor 13 as a speed change actuator for remote control can be operated to change speed by either of them.
It is interlocked and connected to the first speed change arm 14.

Further, a distance sensor S ₄ constituting a distance detecting means for detecting the distance traveled is operatively connected to the output of the transmission 11 .

The distance sensor S ₄ includes a pulse generator 27 that is rotationally driven by the output of the transmission 11 and outputs a pulse signal, and a pulse generator 27 that outputs a pulse signal. The counter 28 detects the distance traveled by the vehicle as its count value CNTP1, and is configured to continuously measure the distance traveled regardless of whether the aircraft V is traveling automatically or by remote control. There is. However, the initial value of the counter 28 is
It can be set freely by control device A, and when moving forward, the count value CNTP is set as the detected traveling distance.
1 is automatically added and subtracted when moving backward, and as will be described in detail later, even if the automatic travel control means A and the remote control means B are switched while the aircraft V is traveling automatically. , the error in the detected travel distance is reduced.

In order to change the direction of the pair of front and rear wheels 3F, 3R for steering, there is a parallel steering type in which the front and rear wheels 3F, 3R are steered in the same direction to move the aircraft V in parallel, and the front and rear wheels 3FF, 3R are moved in the opposite direction. The vehicle is configured so that a four-wheel steering type, in which the vehicle V is steered sharply to make a sharp turn, and a two-wheel steering type, in which only the front wheels 3F are steered, similar to a normal automobile, can be used.

During remote control, the parallel steering type and four-wheel steering type can be selected, and during boarding operation, one of the parallel steering type, four-wheel steering type, and two-wheel steering type can be selected. It is structured as follows. However, during automatic driving, the above-mentioned steering types are automatically switched, and by steering the front and rear wheels 3F and 3R with different amounts of steering, it is also possible to move the aircraft in parallel while changing its V direction. I have made it possible.

Further, a target steering angle detection potentiometer _R0 for detecting a target steering angle during boarding maneuver is provided so as to be rotatably operated by the steering handle H, and the front and rear wheels 3F,
Steering angle detection potentiometers R ₁ and R ₂ are provided to detect the steering angle of each of the 3Rs. Further, a shift position detection potentiometer _R3 for detecting the shift position of the transmission device 11 is provided so as to be interlocked with the rotational operation of the shift arm 14. And each potentiometer R ₀
The detection signal from ~ _R3 is input to the control device 15 constituting each of the automatic travel control means A, the remote control means B, and the boarding control means. Further, a control mode selection switch 16 is provided for selecting which of the above-mentioned control means should be used to control the traveling of the aircraft V. However, as will be described in detail later, in the autopilot mode in which the automatic running control means operates, the remote control means B is given priority over the automatic running control means without operating the operating mode selection switch 1. It is configured so that it can be switched to an activated state.

Next, the configuration of each of the control means will be explained in detail.

To explain the configuration of the boarding control means, the first
As shown in the figure, based on the information of the steering type selection switch 17 and the target steering position detection potentiometer _R0 that detects the target steering position during the boarding operation, the steering hydraulic cylinder 9F , 9R are controlled to operate the front and rear wheels 3F, 3R in the instructed steering style and at the target steering angle by the steering handle H. However, the shift position of the transmission device 11, that is, the vehicle speed, during boarding and maneuvering is adjusted by directly operating the shift arm 14 using the shift pedal 12.

To explain the configuration of remote control, a receiver 19 is provided to receive instruction information given from a transmitter 18 for remote control, and based on the received information, the steering hydraulic cylinder 9F,
9R control valves 10F, 10R and variable speed motor 13
respective operation, as well as the control valve 5a of the front nozzle 5,
By controlling the operation of blower 6, etc.,
The travel of the vehicle and the operation of the chemical spraying device 7 are remotely controlled.

To explain the configuration of the transmitter 18, as shown in FIG. 1, a shift lever 20 that indicates a target shift position of the transmission device 11 by forward and backward movement;
The steering type is indicated by the longitudinal movement, and the front and rear wheels 3F, 3R are controlled by the horizontal movement.
A steering lever 21 for instructing a target steering angle is provided, and the chemical spraying device 7
A blower switch 22 that instructs to rotate and stop the blower 6, a nozzle switch 23 that instructs to start and stop the ejection of medicine from the nozzle 5, an emergency stop switch 24 that instructs to make an emergency stop of the aircraft V, and , each of the levers 20 provided on this transmitter 18 when the aircraft V is automatically traveling;
21 and switches 22, 23, and 24 to turn the aircraft V.
In order to remotely control the travel of the vehicle and the operation of the chemical spraying device 7, an interrupt switch 25 is provided as a control switching instruction means for switching the remote control means B to operate preferentially over the automatic travel control means A.

That is, when the aircraft V is automatically traveling by the automatic traveling control means A, for example, the ultrasonic sensor S ₁
If the machine V automatically stops due to the contact sensor S ₀ detecting an obstacle in front of the machine V or malfunctioning, the operator can press the interrupt switch without going to the stopping position of the machine V. If you operate 25,
After that, by remote control using the transmitter 18,
The obstacle can be avoided. Further, as will be described in detail later, when the interrupt switch 25 is turned off, the automatic travel mode is automatically returned to, and the aircraft V can continue to travel automatically.

Next, the configuration of the automatic travel control means A will be explained in detail while explaining the operation of the control device 15.

First, to explain the outline of the aircraft travel during automatic travel control, as shown in Fig. 2, there is a distance between the starting point ST of the work process and the fruit tree F located at the other end opposite to this starting point ST. a linear first stroke (i) that connects the above, and a straight line that turns around the outside of the fruit tree F located on the other end side and goes in the opposite direction by 180 degrees with respect to the linear first stroke (i). a second step (ii) that moves to the third step (iii) of the shape, and a linear work step direction that heads in the same direction as the first step (i) after the third step (iii) In order to change direction, the second step (ii)
The direction sensor S ₂ , distance sensor S ₄ , and Each of the four steps (i) to (iv) is taught based on information detected by the steering angle detection potentiometers R ₁ and R ₂ such as the steering angle. However, in this embodiment, in the straight-line strokes of the first step (i) and the third step (iii), the actual traveling distance from the start point of this straight-line step until the proximity sensor _S3 is activated [will be described later] Corresponds to the reference distance in playback processing]
(DLENGn) _o-1,2 , that is, the length of the straight line and the standard orientation (BASDRn) _o-1,2 , which is the average of the detected orientations,
The steering angle detected by the steering angle detection potentiometers R 1 and R 2 is stored as travel control information for the straight stroke, and in the turning motion of the second stroke (ii) and the fourth stroke (iv), the steering angle detected by the steering angle detection potentiometers R ₁ and R ₂ is Sampling is performed at set distance intervals (in this embodiment, it is set to about 20 cm), and the values are stored as travel control information for each turning stroke (ii) and (iv). (Hereafter referred to as [teaching]).

When the above-mentioned [teaching] is completed, the aircraft V is once moved to the start point ST of the work process, and the first process (i) to the fourth process (iv) stored in the above-mentioned [teaching] are performed. By repeating the travel of each stroke a set number of times while controlling the travel of the aircraft V based on the stored information in each stroke, it moves back and forth between the fruit trees F while automatically turning at the end of each straight stroke. The robot is run to automatically perform chemical spraying work within a predetermined area of the orchard. In other words, a travel control means for controlling the travel of the aircraft V based on the travel control information taught in the above-mentioned [teaching] and an automatic travel control means A for automatically traveling along the work process are configured. , the process for controlling this is hereinafter referred to as [reproduction].

The above-mentioned [reproduction] process will be described in detail below.

As shown in Figure 5, first, the total number of traveling strokes is
Input and set the number of linear strokes (KNUM) (Step #100).

Then, the reference orientation (BASDRn) stored in the above-mentioned [teaching], a dead zone (FKAN2) for performing steering operation when the reference orientation (BASDRn) deviates by more than a set tolerance, and the ultrasonic sensor S The division distance (DIVL) is a preset sensing distance division of ₁ (in this example, within 1m,
(divided into four distance intervals of 2m, 3m, and 4m or more), then subtract the predetermined distance from the reference distance DLENGn stored in the [teaching] step to the previous area KOUTEIF, and set the reference distance DLENGn to the previous area KOUTEIF. Area after adding the specified distance
Calculate and set each of KOUTEIR and deceleration distance KOTEI2 corresponding to the deceleration start point for performing deceleration operation to ensure turning, and
The value CNTP1 of the counter 28 of the distance sensor _S4 , which measures the actual travel distance, is reset to "0" and each travel control information is initialized, and the current travel distance is determined from the first to fourth strokes. A process flag CFLAG indicating whether the process is the first process (i) is set to "1" indicating the first process (i) (steps #101 to #103).

When the stroke flag CFLAG is set in step #103, the transmission 1 is adjusted based on the detected value of the shift position detection potentiometer _R3 .
1 to reach the set travel speed and start traveling, and by checking the number of strokes (KNUM) input in step #100, it is determined whether the vehicle has traveled all the strokes ( Step #104).

Next, based on the information received by the receiver 19,
The interrupt switch 25 provided in the transmitter 18
By checking whether the ON operation has been performed, it is determined whether or not a radio control interrupt has occurred to switch to remote control mode during automatic driving, and the process of [straight line end] that determines the end of the straight line travel described later. The process flag set in
The value of CFLAG is the second step (ii) or the fourth step (iv).
It is determined whether the turning stroke value (2 or 4) is set (step #105, step #106).

However, if the radio control interrupt occurs,
Branches to [radio control interrupt] processing, which will be described later.
The value of the process flag CFLAG is “2” or “4”
If it is set to , the process branches to the [return] process, which will be described later, and the subsequent process is interrupted.

On the other hand, the whole process is not completed, [radio control interrupt]
If there is no direction sensor _S2 and the stroke flag CFLAG is not set to the turning stroke,
And based on each detection data of ultrasonic sensor S ₁ ,
A control signal is output to the electromagnetic valves 10F and 10R of the steering hydraulic cylinders 9F and 9R (steering control) without changing the steering operation amount for steering the front and rear wheels 3F and 3R (step #107). , step #108).

Thereafter, by checking whether the proximity sensor _S3 is turned on, it is determined whether the aircraft V has reached the end point of the straight line stroke, that is, the start point of the turning stroke, and the three Sonic sensor S ₁
Check whether any obstacle is detected within 1m in front of the vehicle. If the proximity sensor S ₃ is ON, the process branches to a [straight line end] process to end the linear stroke and turn toward the next linear stroke, and the ultrasonic sensor S ₁ turns on.
If an obstacle is detected within 1m, the system makes an emergency stop and branches to the process of [radio control request] described later in order to perform the subsequent avoidance by remote control [step #109, step #110].

Next, the count value CNTP of the distance sensor _S4
1 and the count value corresponding to the deceleration distance (KOTEI2) to determine whether the aircraft V has reached the deceleration point, and if the deceleration distance (KOTEI2) has been reached, the After decelerating the vehicle to the set travel speed,
Current direction (NOWDIR) as the detected direction determined based on the detection information by the direction sensor S ₂
The current direction is determined by determining whether or not it deviates from the current reference direction (BASDRn) by more than a preset setting range (SFUKAN) (in this example, it is set to approximately ±20 degrees). (NOWDIIR) deviates from the reference direction (BASDRn) by more than the set range (SFUKAN), the warning light 26 is turned on to notify that the orientation of the aircraft V has deviated by more than the set range (SFUKAN). With,
In order to request that subsequent operations such as correcting the orientation of the aircraft body be performed by remote control, the process branches to a [radio control request] process, which will be described later. However, the distance sensor
The count value CNTP1 of _S4 is the deceleration distance (KOTEI
If the count value corresponding to 2) has not been reached or if the orientation of the aircraft V does not deviate by more than the set value range (SFUKAN), the process from step #104 is repeated (steps #111 to Step #113).

Next, in step #109, the proximity sensor _S3
The processing of [straight line end] that branches when turned ON will be explained.

That is, as shown in FIG. 6, the count value CNTP1 of the distance sensor _S4 is
By determining whether the count value corresponding to the end position of KOTEIF is between the count value corresponding to the end position of the rear area KOTEIB,
It is determined whether the aircraft V is within the turn permission range, and if there is no aircraft V within the turn permission range, the process branches to a [radio control request] process, which will be described later, and the transmitter 18 (Step #200)

If the count value CNTP1 of the distance sensor _S4 is within the turning permission range, the travel flag
Based on the value of CFLAG, set the value of the process flag CFLAG to a value (“2”) indicating the second process (ii) or the fourth process (iv).
or “4”) to determine the reversal direction (BASDR2 or
BASDR1) is set, the number of strokes (KNUM) is subtracted, and the process returns to the steering control processing after step #104 (steps #201 to #206).

Therefore, the process flag is set by the process described above.
The value of CFLAG is “1” or “3” indicating straight line travel.
Since the number has changed from "2" to "4" indicating a turning process, the turning determination process in step #106 automatically branches to the (turning) process.

In the above-mentioned [straight line end] process, when a predetermined distance set based on the length of the straight line stroke is reached, the turning control for automatically running the turning stroke is automatically started. The means have been constructed.

To explain the above-mentioned [turning] process, the stroke flag set in the above-mentioned [straight line end] process
Based on the value of CFLAG, the above [teaching]
The information on the steering angle stored in either the second stroke (ii) or the fourth stroke (iv) is sequentially read out every predetermined distance, and the front and rear wheels 3F, 3R are adjusted so that the steering angle is at that steering angle. By operating it, the machine V is automatically turned along the taught traveling route toward the starting end of the next linear stroke. However, after all the taught steering angle information has been output, the count value CNTP1 of the distance sensor _S4 is reset to "0", and the reference heading (BASDRn) and stroke flag are
Travel control information such as CFLAG will need to be reset.

Next, the processing of the above-mentioned [radio control interrupt] will be described in detail.

As shown in FIG. 7, when this [radio control interrupt] process is started, the warning light 26 provided at the top of the aircraft V is turned on, and this [radio control interrupt] process is started. At the same time, based on the value of the stroke flag CFLAG, it is determined whether the current travel stroke is a straight stroke or a turning stroke (step #400, step #401).

If the current traveling stroke is a straight stroke, it is determined whether or not the processing of this [radio control interrupt] has been completed based on the state of the interrupt switch 25 inputted via the receiver 19, If the process has been completed, the dead zone (in this example, the dead zone (in this example, the step # 115, it is determined whether the aircraft orientation is within the set range (SFUKAN), which is set to approximately ±20 degrees, which is the same as the setting range (SFUKAN) for determining whether the orientation has deviated from the reference orientation (BASDRn).

If the current direction (NOWDIR) is within the dead zone (SFUKAN), the warning light 26 is turned off in order to restart automatic driving, and the determination process (step #105) Return to said dead zone SFUKAN
If it is outside, the warning light 26 is activated again to notify the operator to continue remote control using the transmitter 18, and the process branches to a [radio control request] process (step #), which will be described later. 402~Step #405).

Then, if the interrupt processing is not completed in step #402, the proximity sensor _S3
It is determined whether or not the proximity sensor _S3 is turned on, that is, whether the linear stroke has ended. If the proximity sensor S If ₃ is ON, as in the [playback] routine above,
It is determined whether the count value CNTP1 of the distance sensor _S4 has reached the turning permission range (step #406, step #407).

If the count value CNTP1 of the distance sensor _S4 has reached the turning permission range, the turning process to be started next is the second process (ii) based on the value of the process flag CFLAG. It determines whether it is the fourth stroke (iv), sets the stroke flag CFLAG to the corresponding value, and sets the reversal direction (BASDR1 or BASDR2) to determine the end of turning.
After subtracting the number of strokes (KNUM), the process of determining whether the current stroke is a straight stroke or a turning stroke from step #400 is repeated (step #408
~Step #413).

On the other hand, if the current traveling stroke is a turning stroke,
In addition to setting a dead zone (KFUKAN) in the turning process as a dead zone with respect to the reference direction (BASDRn), in the same process as in step #402,
Wait until the processing of this [radio control interrupt] is completed (step #414, step #415).

Then, as the [radio control interrupt] processing is completed, the next direction of the aircraft V direction is determined based on whether the current direction (NOWDIR) matches within the dead zone (KFUKAN) with respect to the determined direction (BASDIR). It is determined whether or not the direction of the stroke has changed, and if the direction is reversed, the reference data for the linear stroke is reset (initialization routine). The process returns to the process of determining whether it is a turning process or a turning process. On the other hand, even if the process of [radio control interrupt] has been completed, if the current direction (NOWDIR) has not been reversed, the [radio control The process branches to the processing of the request (step #416, step #417).

To explain the processing of the [radio control request], as shown in FIG. 8, the aircraft V is brought to an emergency stop and the warning light 26 (see FIGS. 3 and 4) installed on the top of the aircraft V is activated. It lights up and notifies the operator, and waits until an interrupt occurs in the same way as the above-mentioned [radio control interrupt] processing. Then, when an interrupt occurs, the process branches to step #400 of the above-mentioned [radio control interrupt].

Therefore, during automatic driving, a malfunction may occur or an obstacle may be detected, causing the aircraft V to stop in the middle of a straight or turning journey, or the orientation of the aircraft V may be incorrectly set relative to the standard orientation (BASDFN). If the deviation exceeds the range (SFUKAN), the warning light 26 will light up, so if you turn on the interrupt switch 25 of the transmitter 18, you can continue driving by remote control, and if the above-mentioned predetermined conditions are met. If you satisfy
It is possible to automatically return to automatic driving mode.

Even when the automatic driving mode and remote control mode are switched in this way, the distance sensor _S4 continues to measure the distance traveled.
The travel distance during remote control is not ignored, and the detection error of the travel distance can be reduced.

In addition, the above-mentioned [radio control interrupt] processing is automatically started even if the vehicle is normally running automatically by turning on the interrupt switch 25 of the transmitter 18, and remote control is possible. , of course.

[Another example]

In the above embodiment, the distance sensor S ₄ configured to detect the distance traveled by detecting the output rotation speed of the transmission 11 is provided as the distance detecting means, but for example, The number of rotations of the wheels 3F and 3R may be detected, or a driven wheel may be provided and the distance traveled may be detected based on the cumulative number of rotations of the driven wheel, and the specific configuration of the distance detection means may be modified in various ways. .

Further, in the above embodiment, a case is illustrated in which the structure is configured to turn 180 degrees in order to travel back and forth in a straight line, but the present invention can also be applied to a case in which a straight line travel that intersects at 90 degrees is sequentially rotated. However, the specific forms of each of the linear stroke and the turning stroke can be modified in various ways.

Further, in the above embodiment, the case where the work vehicle is configured as a chemical spraying work vehicle is illustrated, but the present invention
The present invention can also be applied to various types of work vehicles such as combine harvesters and lawn mowing vehicles, and the specific configuration of each part such as the steering means, control means, and various sensors may vary depending on the form and running mode of the work vehicle to which the present invention is applied. Various changes may be made depending on the situation, and the present invention is not limited to this embodiment.

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control device for an automatic traveling work vehicle according to the present invention, FIG. 1 is a block diagram showing the schematic configuration of the control system, FIG. 2 is an explanatory diagram of the work process, and FIG. 3 is a chemical spraying system. The entire working vehicle, Figure 4 is its plan view, Figure 5 is the regeneration flowchart,
Figure 6 is a flowchart for determining the end of a straight line, Figure 7 is a flowchart for radio control interrupt processing, and Figure 8 is a flowchart for determining the end of a straight line.
The figure is a flowchart of a radio control request. 18... Transmitter, V... Airframe, A... Automatic travel control means, B... Remote control means, S4... Mileage detection means, CNTP1... Detected mileage,
DLENG _N ... Length of straight line stroke.

Claims (1)

[Claims] 1 automatic travel control means A for automatically traveling the aircraft V in each of a plurality of straight strokes and a plurality of turning strokes in which the aircraft V is moved from the end of a straight stroke to the start of the next straight stroke; , a remote control means B for controlling the traveling of the aircraft V based on instruction information from the transmitter 18 is configured to be switchable from the transmitter 18 side, and the traveling distance from the starting end of the straight line travel is controlled. Mileage detection means to detect
_S4 is provided, and the automatic travel control means A is configured such that the detected travel distance CNTP1 by the travel distance detection means _S4 is
A travel control device for an automatic traveling work vehicle configured to start turning control for automatically traveling the turning stroke when a predetermined distance set based on the straight-line stroke length DLENGn is reached. The distance detection means _S4 is replaced by the automatic travel control means A.
The configuration is configured to continuously detect the travel distance regardless of whether the remote control means B or the remote control means B are in operation, and the detected travel distance CNTP1 is calculated from the aircraft V.
A travel control device for an automatic traveling work vehicle configured to add when moving forward and subtract when traveling backward.