JPH09142294A - Sensor supporting structure for running guide of unmanned vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure the distance between a sensor for running guide, and a steering system sufficiently, by providing a running road surface contact means installed to a sensor support body or a suspension means, which contacts to the running road surface, and separates the sensor support body from the running road surface. SOLUTION: At the lower side of the support arm 13 of a bracket 12, the second support arm 14 is provided. And a cushion rubber 15 installed to the tip of the second support arm 14 is abutted to the lower surface of a stay 10, and the stay 10 is regulated not to slide to the lower side more than a specific angle. Consequently, when a lawn mower working vehicle is positioned on a horizontal running road surface G, the stay 10 whose downward sliding is regulated by the second support arm 14 and the cushion rubber 15 is extended obliquely downward toward the front side in the advancing direction of the lawn mower working vehicle, and the distance between a sensor 8 fixed to a sensor support body 7, and the running road surface G, is maintained at the L1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for supporting a sensor for guiding the traveling of an unmanned work vehicle, for example, for transporting a golf club or performing lawn mowing work on a golf course, on a vehicle body of the unmanned work vehicle. More specifically, the sensor support structure has been improved so that the distance between the sensor and the sensor such as a magnet buried below the ground surface along the travel path of the unmanned work vehicle can be maintained at a predetermined value or more. Technology.

[0002]

2. Description of the Related Art Conventionally, unmanned work vehicles for transporting golf clubs and performing lawn mowing work have been used in golf courses. In order to guide the travel of these unmanned work vehicles, a detected object such as a magnet is buried below the ground surface along the running course of the unmanned work vehicle. Then, a sensor for detecting the detected object is attached to the unmanned work vehicle,
The unmanned work vehicle is steered according to the detection result of the sensor to determine the traveling direction.

[0003]

However, in the conventional unmanned work vehicle, as shown in FIG. 7, the travel guidance sensor S is directly attached to the vehicle body B of the unmanned work vehicle. As a result, in a golf cart or the like that is paved and travels on a flat traveling road surface, the distance L1 between the traveling guidance sensor S and the traveling road surface G can be kept substantially constant. It is possible to keep a constant distance from the object to be detected such as a magnet buried under the road surface.
Therefore, the level of the output signal obtained from the travel guidance sensor S is stable, and there is no hindrance to the travel guidance of the unmanned work vehicle.

However, in the case of lawn mowing vehicles,
Since the vehicle has to travel on an uneven ground surface, when the travel guidance sensor S reaches the undulation portion, the distance between the travel guidance sensor S and the travel road surface G1 is narrowed to L2 as shown in FIG. , On the contrary, it becomes wider. As a result, the level of the output signal obtained from the travel guidance sensor S becomes unstable, which may interfere with the guidance of the unmanned work vehicle. In particular, a plurality of travel guidance sensors,
In a travel guidance device of the type that is installed in parallel in a direction orthogonal to the travel direction with a certain interval, and determines the traveling direction from the difference in the strength of the output signal obtained from each travel guidance sensor, When the distance between the sensor S and the traveling road surface G is narrowed, output signals at the maximum level are obtained from the plurality of traveling guidance sensors, and it becomes impossible to determine the traveling direction. Further, in the worst case, the traveling guidance sensor S may contact the undulations of the traveling road surface G and be damaged.

Further, in the conventional unmanned work vehicle, since the travel guidance sensor is directly attached to the vehicle body, a sufficient distance can be secured between the travel guidance sensor and the steering system for steering the wheels of the unmanned work vehicle. As a result, there is a delay in the feedback control after the traveling guidance sensor detects a detected object such as an embedded magnet. Therefore, reduce the traveling speed of the unmanned work vehicle in order to secure the time required for feedback control,
Alternatively, the processing speed of the feedback control is inevitably increased. In the former case, the traveling performance of the unmanned work vehicle is deteriorated, and in the latter case, the manufacturing cost is increased.

Therefore, an object of the present invention is to solve the above-mentioned problems of the prior art and to keep the distance between the travel guidance sensor and the travel road surface at a predetermined value or more. (EN) Provided is a travel guidance sensor support structure for an unmanned work vehicle, which can not only always obtain a stable output signal from the sensor, but can also secure a sufficient distance between the travel guidance sensor and the steering system. Especially.

[0007]

SUMMARY OF THE INVENTION In a travel guidance sensor support structure for an unmanned work vehicle according to the present invention, the unmanned work vehicle is provided with a travel guidance sensor for detecting a body to be detected which is buried under the ground surface along the travel path. The sensor is supported by the sensor support. The sensor support is suspended by the suspension means so as to be displaceable in the vertical direction in front of the vehicle body of the unmanned work vehicle in the traveling direction. Further, a traveling road surface contact means that is in contact with the traveling road surface and separates the sensor support from the traveling road surface is attached to the sensor support body or the suspension means. That is, since the sensor support is always separated from the road surface by the traveling road surface contact means, the distance between the sensor and the traveling road surface can be maintained. Further, since the sensor support is suspended on the vehicle body so as to be vertically displaceable, it is possible to follow ups and downs of the traveling road surface. Further, since the sensor support is suspended so as to be positioned ahead of the vehicle body of the unmanned work vehicle in the traveling direction, the distance between the sensor and the steering system of the unmanned work vehicle can be reduced compared to the case where the sensor is directly attached to the vehicle body. It can be taken large.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a travel guidance sensor support structure for an unmanned work vehicle according to the present invention will be described in detail below with reference to FIGS. 1 to 6.

First Embodiment First, referring to FIG. 1, the overall structure of a lawnmower working vehicle to which the travel guide sensor support structure according to the present invention is applied will be described. This lawnmower working vehicle 1 is a lawn for a golf course. It is an autonomous traveling lawn mowing work vehicle that cuts GPS, GPS navigation and geomagnetic sensor,
By combining position recognition using an encoder that measures the number of rotations of wheels and the number of rotations of the wheel, copying running using a cut mark sensor, and selecting a running path using a running program, unattended and automatic turf at each hole of a golf course It is possible to mow.

The lawnmower vehicle 1 is a four-wheel drive vehicle that rotationally drives a pair of left and right front wheels 2R, 2L and a pair of left and right rear wheels 3R, 3L, and a pair of left and right rear wheels 3R, 3L.
The steering direction is changed by turning the steering wheel. Further, a total of three lawnmower working machines 5 are suspended on the front end portion 4a of the chassis frame 4, and a sensor portion 6 of the traveling guide device is suspended on the rear end portion 4b of the chassis frame 4. When lawn mowing work is performed, the lawn mowing work vehicle 1 travels at low speed in the left direction in FIG. 1 with the lawn mowing work machine 5 on the front side, but moves between holes for performing lawn mowing work. At this time, the sensor portion 6 is set to the front side so as to travel at a high speed in the right direction in the drawing.

The sensor portion 6 of the traveling guidance device is shown in FIG.
As shown in FIG. 2, a columnar sensor support 7 made of a nonmagnetic material such as an aluminum material and extending horizontally in the width direction of the vehicle body of the lawnmower work vehicle 1, and attached to the sensor support 7. The sensor support 7 is provided with a total of eight sensors 8a to 8h arranged at regular intervals in the longitudinal direction. It should be noted that these sensors 8a to 8h are adapted to change the level of the output signal according to the strength of the magnetism emitted by the magnet (object to be detected) 9 buried under the ground surface. On the other hand, the magnets 9 buried below the surface of the earth are embedded so that the magnets 9a are arranged so as to be aligned in a vertical line along the traveling path, and the magnets 9a are arranged in a transverse line in a direction orthogonal to the direction in which the traveling path extends. It is composed of a magnet 9b.

When the lawnmower working vehicle 1 travels along the traveling path, the output signal of the sensor closest to the magnet 9a among the sensors 8a to 8h has the highest level. Therefore, when the lawnmower working vehicle 1 is traveling along the center of the traveling path, the level of the output signal of the sensor 8d or 8e located in the central portion among the total of eight sensors is the highest. On the other hand, when the lawnmower vehicle 1 deviates from the center of the traveling path, the sensor having the highest output signal level is 8a.
Side or 8h side, the guidance device of the lawnmower work vehicle 1 operates the steering system to operate the pair of left and right rear wheels 3R, 3L.
To steer to correct the traveling direction of the lawnmower work vehicle 1.

On the other hand, when the lawnmower working vehicle 1 moves forward on the traveling path and reaches the magnets 9b embedded so as to be aligned in a horizontal line, the output signals of all the sensors 8a to 8h become high in level. Then, the guidance device of the lawnmower working vehicle 1 determines that the lawnmower working vehicle 1 has reached the end of the traveling path, and stops the lawnmower working vehicle 1, or moves toward the next traveling path. Run 1 Note that the magnets 9b are detected using the sensors 8a to 8h even when performing lawn mowing work, so that the lawn mowing work vehicle 1 travels and the lawn mowing work machine 5 operates.
It is also possible to control the lawn mowing operation and the like.

Next, the structure for suspending the sensor support 7 on the vehicle body of the lawnmower working vehicle 1 will be described. As shown in FIG. 2, the sensor support 7 is provided on the front side in the traveling direction of the lawnmower working vehicle 1. The rear end portion 4b of the chassis frame 4 of the lawnmower vehicle 1 is extended by a pair of round bar-shaped stays (suspension means) 10 that are also made of a non-magnetic material such as aluminum.
Is suspended. Then, the base end 10 of the stay 10
A short pipe 11 is fixed to a. On the other hand, a bracket 12 formed of a steel plate and fixed to the rear end portion 4b of the chassis frame 4 is integrally provided with a pair of support arms 13 extending in parallel with each other. The pipe 11 is sandwiched between the support arms 13 and is rotatably supported around a horizontally extending rotary shaft. As a result, as shown in FIG. 3, the stay 10 is made swingable around a swing shaft 10c whose base end 10a is axially supported by the chassis frame 4 and extends horizontally.
0b is vertically displaceable.

A second support arm (displacement restricting means) 14 is provided below the support arm 13 of the bracket 12. The cushion rubber 15 attached to the tip of the second support arm 14 contacts the lower surface of the stay 10 and regulates the stay 10 so that the stay 10 cannot swing downward beyond a predetermined angle. As a result, as shown by the solid line in FIG. 3, when the lawnmower working vehicle 1 is located on the horizontal traveling road surface G, downward swinging is restricted by the second support arm 14 and the cushion rubber 15. Stay 10
Extends obliquely downward toward the front in the traveling direction of the lawnmower work vehicle 1, and the distance between the sensor 8 fixed to the sensor support 7 and the traveling road surface G is maintained at L1.

On the other hand, as shown in FIG. 2, by means of brackets 16 made of a non-magnetic material fixed to both ends of the sensor support 7, a round bar-like support also made of a non-magnetic material such as an aluminum material. The shaft 17 is supported so as to extend parallel to the sensor support 7. A total of four rotating rollers 18 (traveling road surface contact means) made of a non-magnetic material are rotatably attached to the support shaft 17. In addition,
As shown in FIG. 3, these rotating rollers 18 are arranged so as to be located obliquely below the sensor support 7 with respect to the front side in the traveling direction of the lawnmower working vehicle 1. As a result, as shown by the chain double-dashed line in FIG.
When the vehicle runs and reaches a portion G1 where the traveling road surface G is inclined, the rotating roller 18 contacts the traveling road surface G1 and lifts the sensor support 7. Therefore, the sensor 8 is separated from the traveling road surface G1 by the rotating roller 18, and the distance between the sensor 8 and the traveling road surface G1 is maintained at L2.

That is, according to the traveling guide sensor support structure of the first embodiment, when the lawnmower working vehicle 1 travels on the horizontal traveling road surface G, the distance between the sensor 8 and the traveling road surface G is increased. It is possible to keep the interval dimension of L1 at L1. Further, since a gap is opened between the rotating roller 18 and the traveling road surface G, when the obstacle on the traveling road surface G is small, it is possible to prevent the rotating roller 18 from coming into contact with the obstacle. Further, when the lawnmower working vehicle 1 reaches the inclined portion G1 of the traveling road surface G and the rotary roller 18 is in contact with the inclined portion G1, the sensor 8
The distance dimension between the inclined portion G1 and the inclined portion G1 can be kept at least L2. As a result, the sensor 8 does not come too close to the magnet 9 buried below the ground surface. Therefore, when traveling while detecting the magnet 9a buried along the traveling path by the sensors 8a to 8h, a plurality of magnets 9a and 9b are detected. It does not happen that the output signal level of the sensor becomes the maximum state and the running of the unmanned work vehicle 1 cannot be guided.

Further, since the sensor support 7 is suspended by the stay 10 and is located on the front side in the traveling direction of the rear end portion 4b of the chassis frame 4 of the lawnmower working vehicle 1, the sensors 8a to 8h and the rear wheel 3R are provided. It is possible to set a large distance to the steering system that steers 3L. As a result, it is possible to prevent the feedback control from being delayed after the sensors 8a to 8h detect the magnet 9a. Therefore, the traveling speed of the unmanned work vehicle is reduced to secure the time for the feedback control, or the feedback control is performed. It is not necessary to use an expensive control device to improve the processing speed, and the traveling performance of the lawnmower working vehicle 1 is not deteriorated and the manufacturing cost is not increased.

Further, since the traveling guidance sensor 8 is arranged at a position distant from the vehicle body of the lawnmower working vehicle 1, the influence of magnetism due to the respective steel parts constituting the vehicle body of the lawnmower working vehicle 1 is affected. Can be avoided. As a result, the accuracy of detection of the embedded magnet 9 by the travel guidance sensor 8 can be improved, so that the travel of the lawnmower working vehicle 1 can be guided with high accuracy.

In the traveling guide sensor support structure of the first embodiment, when the rotating roller 18 abuts on a wall surface that rises vertically from the traveling road surface G, for example, the side surface of a curb, etc., the rotating roller 18 Cannot lift the sensor support 7 upwards. Therefore, the lawnmower working vehicle 1 is provided with an obstacle detection sensor using ultrasonic waves or infrared rays, which can detect a wall surface standing in front of the rotating roller 18 in the traveling direction. When the obstacle detection sensor detects an obstacle, the traveling guidance device stops the lawnmower work vehicle to prevent the rotary roller 18 from colliding with the obstacle. When an obstacle is detected, the stay 10 may be lifted upward by using an actuator and the sensor support 7 may be housed in the vehicle body side of the unmanned work vehicle 1. In addition, the sensor support 7
In addition, a sled plate that can pass over an obstacle may be further attached.

Second Embodiment Next, a travel guide sensor support structure according to a second embodiment of the present invention will be described with reference to FIGS. 4 and 5. The travel guidance sensor support structure of the second embodiment is a further improvement of the travel guidance sensor support structure of the first embodiment. That is, in the travel guidance sensor support structure of the first embodiment shown in FIG. 3, depending on the inclination of the traveling road surface G, the direction of the ground reaction force received by the rotating roller 18 from the traveling road surface G is the axial direction of the stay 10. There is a risk that the rotation rollers 18 will be unable to lift the sensor support 7 upward. Therefore, in the traveling guidance sensor support structure of the second embodiment, the rotating roller 18
Even if the direction of the ground reaction force received from the traveling road surface G coincides with the axial direction of the stay 10, the sensor support 7 can be reliably lifted upward.

That is, as shown in FIG. 4, a first bracket 20 formed of a steel plate is fixed to the rear end portion 4b of the chassis frame 4 of the lawnmower work vehicle 1. The second bracket (support member) 22 is attached to the pair of support arms 21 that are integrally provided on the first bracket 20.
Is swingably supported around a horizontally extending swing shaft 23. On the other hand, the support arm 2 of the first bracket 20
A second support arm 24 is provided at a lower portion of the first support arm 24, and a cushion rubber 25 is attached to the tip of the second support arm 24.
And, the lower end 2 of the vertical wall 26 of the second bracket 22
6a abuts on the cushion rubber 25, and the second bracket 22 is regulated so as not to swing clockwise around the swing shaft 23 in FIG.

Further, the sensor support 7 is attached to the pair of support arms 27 projecting from the upper end of the second bracket 22 so as to extend toward the front side in the traveling direction of the lawnmower work vehicle 1.
A base end 10a of a stay 10 that suspends the is swingably supported around a swing shaft 10c. Further, a second support arm 28 is provided at a lower portion of the support arm 27 of the second bracket 22 so as to extend toward the front side in the traveling direction of the lawnmower working vehicle 1. The cushion rubber 29 attached to the tip of the second support arm 28
Contact the lower surface of the stay 10, and the stay 10 is moved by the swing shaft 1.
The sensor support 7 is swung in the clockwise direction in the figure around 0c.
Is regulated so that it will not be displaced further downward.

Next, the operation of the traveling guidance sensor support structure of the second embodiment constructed as described above will be explained. The traveling road surface G1 gently inclines as shown by the chain double-dashed line in FIG. In this case, the rotating roller 18 that comes into contact with the traveling road surface G lifts the sensor support body 7, and the distance between the sensor 8 and the traveling road surface G1 can be maintained at L2. On the other hand, as shown in FIG. 5, a step G2 is formed on the traveling road surface G, and when the ground reaction force that the rotating roller 18 receives from the step G2 presses the stay 10 in the axial direction, the second bracket 22 is released. Swings counterclockwise in the figure around the swing shaft 23, and displaces the stay 10 rearward in the traveling direction of the lawnmower work vehicle 1. At the same time, since the stay 10 rotates around the swing shaft 23 below the swing shaft 10c of the stay 10, the sensor support 7 is also displaced upward as the free end 10b of the stay 10 is displaced upward. , A step G on the road surface G
2 can be followed.

That is, according to the traveling guide sensor support structure of the second embodiment, when the ground reaction force received by the rotating roller 18 from the traveling road surface G acts as a pressing force in the axial direction of the stay 10, the stay is maintained. Since 10 is displaced rearward in the traveling direction of the unmanned work vehicle 1, it is possible to prevent unreasonable force from acting on the rotating roller 18, the bracket 16, the sensor support 7, the stay 10, and the like. Further, since the stay 10 can rotate around the swing shaft 23 that is below the swing shaft 10c that supports the base end 10a of the stay 10, the rotary roller 1
Even when the ground reaction force 8 receives from the traveling road surface G acts as a pressing force in the axial direction of the stay 10, the free end 10b of the stay 10 is displaced upward, so that the sensor support 7 reliably follows the traveling road surface G. Can be made.

Third Embodiment Next, with reference to FIG. 6, a support structure for the travel guiding sensor of the third embodiment will be described. The support structure for the travel guiding sensor is the first structure shown in FIG. The rotary roller 18 attached to the sensor support 7 of the embodiment is replaced with a curved sled plate 31 from a plate made of a magnetic material such as an aluminum plate or a resin plate. The inclination of the front surface of the sled plate 31 is selected to be a gentle angle so as to follow ups and downs of the traveling road surface G. Further, the rear end portion 31a of the sled plate 31 is curved upward so that the lawn mowing vehicle 1 can slide on the traveling road surface G even when traveling in the opposite direction for performing lawn mowing work. Has been Further, the bracket 32 for fixing the sled plate 31 to the sensor support 7 extends to the upper edge of the sled plate 31,
Even if the sled plate 31 comes into contact with the undulations of the traveling road surface G or obstacles,
The curved shape is not easily deformed. That is, in the travel guidance sensor support structure of the unmanned work vehicle according to the present invention, the traveling road surface contact means may be not only the rotating roller but also a sled plate as in the third embodiment.

Although the respective embodiments of the traveling guidance sensor support structure for the unmanned work vehicle according to the present invention have been described above in detail, the present invention is not limited to the above-described embodiments, and is based on the gist of the present invention. It goes without saying that various modifications are possible. For example, in the above-described embodiment, the sensor support is suspended so as to be separated from the body of the unmanned work vehicle, but if the influence of magnetism of each component forming the body of the unmanned work vehicle can be avoided, It may be suspended between the front and rear wheels below the vehicle body. Further, in the above-described second embodiment, a first bracket is provided between the body of the unmanned work vehicle and the second bracket that pivotally supports the stay.
However, if the plurality of first brackets are stacked, the rearward displacement allowable amount of the stay can be further increased and the road followability of the sensor support can be further improved. be able to.

[0028]

As is clear from the above description, according to the traveling guidance sensor support structure for an unmanned work vehicle of the present invention, not only the traveling guidance sensor can be made to follow ups and downs of the traveling road surface, but also the ground. Since the travel guidance sensor does not come too close to the detected object buried under the surface, the level of the output signal obtained from the travel guidance sensor can be stabilized. As a result, the unmanned work vehicle can be guided along the traveling path with high accuracy. Further, since the travel guidance sensor can be located ahead of the vehicle body of the unmanned work vehicle in the traveling direction, the distance between the sensor and the steering system of the unmanned work vehicle can be reduced as compared with the case where the sensor is directly attached to the vehicle body. It can be taken large. As a result, it is possible to prevent the feedback control from being delayed after the travel guidance sensor detects the detected object buried under the ground surface, so that the unmanned work vehicle travels to secure the time required for the feedback control. There is no need to reduce the speed or use an expensive control device to improve the processing speed of the feedback control, and the traveling performance of the lawnmower work vehicle and the manufacturing cost do not increase. Further, since the travel guidance sensor is arranged at a position away from the vehicle body of the lawnmower work vehicle, it is possible to avoid the influence of magnetism due to the respective steel parts constituting the vehicle body of the lawnmower work vehicle. As a result, the accuracy of detection of the embedded magnet by the travel guidance sensor can be improved, so that the travel of the lawnmower working vehicle can be guided with high accuracy. further,
It is possible to reliably prevent the traveling guidance sensor from colliding with the traveling road surface and being damaged.

[Brief description of the drawings]

FIG. 1 is a plan view schematically showing a chassis structure of a lawnmower work vehicle to which a traveling guidance sensor support structure for an unmanned work vehicle according to the present invention is applied.

FIG. 2 is a perspective view showing a travel guidance sensor support structure for an unmanned work vehicle according to the present invention.

FIG. 3 is a side view for explaining the operation of the travel guidance sensor support structure for the unmanned work vehicle shown in FIG.

FIG. 4 is a side view for explaining the travel guidance sensor support structure of the unmanned work vehicle and the operation thereof according to the second embodiment of the present invention.

5 is a side view for explaining the operation of the travel guidance sensor support structure of the unmanned work vehicle shown in FIG.

FIG. 6 is a side view of a travel guidance sensor support structure for an unmanned work vehicle according to a third embodiment of the present invention.

FIG. 7 is a side view of a conventional travel guidance sensor support structure for an unmanned work vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned work vehicle 2 Front wheel 3 Rear wheel 4 Chassis frame 5 Lawn mowing work machine 6 Sensor part of travel guidance device 7 Sensor support 8 Travel guidance sensor 9 Magnet (detected object) 10 Stay (suspension means) 11 Pipe 12 Bracket 13 Support Arms 14 Support Arms (Displacement Restricting Means) 15 Cushion Rubber 16 Brackets 17 Rotating Shafts 18 Rotating Rollers (Running Road Surface Contact Means) 20 First Brackets 21 Support Arms 22 Second Brackets 23 Swing Shafts 24 Second Supports Arm 25 Cushion rubber 26 Vertical wall 27 Support arm 31 Sled plate 32 Bracket G, G1, G2 Running road surface

Claims (8)

[Claims] 1. A travel guidance sensor for detecting an object to be detected which is buried below the ground surface along a travel path of an unmanned work vehicle, a sensor support for supporting the travel guidance sensor, and this sensor support. And a suspension means for suspending the vehicle body vertically displaceably forward of the vehicle body of the unmanned work vehicle, and a sensor support body that contacts the traveling road surface and separates the sensor support body from the traveling road surface. Alternatively, there is provided a traveling road surface contact means attached to the suspension means, and a traveling guide sensor support structure for an unmanned work vehicle. 2. A lower part of the sensor support so that a predetermined gap is opened between the traveling road surface contacting means and the traveling road surface at least when the unmanned work vehicle is traveling on a horizontal traveling road surface. 2. The travel guide sensor support structure for an unmanned work vehicle according to claim 1, further comprising a displacement restricting means for restricting displacement to the vehicle. 3. The suspension means extends forward in the traveling direction of the unmanned work vehicle, has a base end pivotally supported by the vehicle body and is swingable, and has a free end vertically displaceable. 3. The traveling guide sensor support structure for an unmanned work vehicle according to claim 1, wherein the sensor support structure is a rod-shaped member. 4. The displacement regulating means is a support arm projecting from the vehicle body, which abuts on the rod-shaped member to regulate downward swinging of the rod-shaped member. Item 3. A sensor support structure for traveling guidance of an unmanned work vehicle according to Item 3. 5. A base end of the rod-shaped member is pivotally supported by a supporting member pivotally supported by the vehicle body, and when a pressing force in the axial direction acts on the rod-shaped member, The travel guide sensor support structure for an unmanned work vehicle according to claim 3 or 4, wherein a base end of the unmanned work vehicle is displaceably supported on a side opposite to a traveling direction of the unmanned work vehicle. 6. The travel guide sensor support for an unmanned work vehicle according to claim 1, wherein the traveling road surface contact means is a rotating roller that rolls on the traveling road surface. Construction. 7. The traveling road surface contact means is a sled plate that slides on the traveling road surface.
2. A sensor support structure for guiding the travel of an unmanned work vehicle according to any one of 1. 8. The object to be detected is a magnetic material, and
2. The traveling guidance sensor is of a magnetic detection type, and at least the sensor support and the traveling road surface contact means are manufactured from a non-magnetic material.
7. The sensor support structure for running guidance of an unmanned work vehicle according to any one of 1 to 7.