JPH09212240A - Guide controller for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving vehicle guide controller capable of automatically and suitably changing/moving the route of a moving vehicle between plural traveling routes in addition to guide traveling on a traveling route. SOLUTION: A guide line 2 with set length to which current is supplied is arranged on the ground side, a controller guides and travels a traveling vehicle V on each of plural traveling routes in a prescribed guide area based upon the detection information of a magnetic field detecting means and the length of the guide line 2 is set up to the same width as width in the direction along the traveling route in the guide area or almost the same. At the time of detecting that the vehicle V reaches the end position of the traveling route, the execution of guide traveling control is stopped, the vehicle V is traveled straight for a set distance based upon the detection information of a traveling distance sensor and then turned until the azimuth of the vehicle body is reversed based upon the detection information of an azimuth sensor and steering control is executed to move the vehicle body straight up to the detection of arrival of the vehicle V at the end position of the traveling route.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a guide wire of a set length to which current is supplied on the ground side, and a guide wire on the moving vehicle side.
Based on the steering operation means capable of changing the direction of the vehicle body, the magnetic field detection means for detecting the strength of the magnetic field formed by the current supplied to the guide wire, and the detection information by the magnetic field detection means, In each of the plurality of travel routes in the guidance area, there is provided travel control means for executing guidance travel control for controlling the steering operation means so as to guide travel of the mobile vehicle, and the length of the travel guide wire. The present invention relates to a guidance control device for a moving vehicle, which is set to have the same or substantially the same length as the width in the direction along the travel route in the guidance area.

[0002]

2. Description of the Related Art In a guidance control device for a moving vehicle having the above-mentioned structure, if a current value supplied to the guide wire is constant, each point in the guide area formed by the guide wire has the same distance from the guide wire. Since the strength of the magnetic field at is almost constant, that fact can be used to calculate the strength of the magnetic field based on
The moving vehicle is guided to travel along a predetermined travel route.

However, in the above guide control device, the length of the traveling guide wire is set to a finite length which is the same as or substantially the same as the width of the guide area, so that the guide wire flows into this guide wire. In the intensity distribution of the magnetic field formed by the electric current, in the vicinity of both end portions of the guide wire, that is, in the vicinity of the end portion of the travel route, for example, as shown in FIG. 1, the distance from the guide wire is the same. However, a non-linear region occurs in which the magnetic field strengths do not have the same value.

In the vicinity of the end of the traveling route, it is necessary to turn the moving vehicle toward the next traveling route, but as described above, since the magnetic field strength is non-linear, the strength of the magnetic field is strong. Therefore, the traveling control based on the detection information of the height cannot be accurately performed.

Therefore, conventionally, at the end of the traveling route, for example, a configuration has been considered in which control information is commanded by a manual operation based on radio control.

[0006]

However, according to the above-mentioned prior art, although the guided traveling on the traveling route is automatically performed, the operation by the radio control is executed every time the moving vehicle reaches the end of the traveling route. However, there was still room for improvement because it was not possible to achieve sufficient automation.

The present invention has been made by paying attention to such a point, and its purpose is not only to perform guide traveling on a traveling route but also to automatically and appropriately perform route changing movement of a moving vehicle between traveling routes. It is a point to provide a guidance control device for a moving vehicle that can be operated.

[0008]

According to the characterizing feature of claim 1, the mobile vehicle guides and travels along the travel route based on the guide travel control, and reaches the end position of the travel route. When this is detected by the route end detecting means, the traveling control means executes the turning control. That is,
Stop the execution of the guided traveling control, and based on the detection information of the distance detecting means provided in the moving vehicle, the moving vehicle travels straight for a set distance, and then the detection information of the azimuth detecting means provided in the moving vehicle. Based on the above, until the direction of the vehicle body is reversed or almost reversed, the moving vehicle is made to turn with the set steering operation amount, and further, based on the detection information by the route end detecting means provided in the moving vehicle. The vehicle body travels straight until it is detected that the moving vehicle has reached the end position of the travel route.

Therefore, on the outer sides of both end portions of the traveling route, the strength distribution of the magnetic field formed by the electric current supplied to the guide wire of finite length corresponds to the above-mentioned nonlinear region. By setting the end positions in advance, it is possible to accurately guide the vehicle on the traveling route based on the detection information of the magnetic field strength.

In the above non-linear region, the moving vehicle is allowed to travel straight for a set distance while being guided, and then the direction is reversed based on the traveling distance information and the direction detection information. Since the vehicle travels straight to the end position of the travel route, the moving vehicle reaches the start end of the next travel route in a state where the direction is reversed from the guided travel state and along the travel route.

As a result, while adopting a rational installation configuration in which the length of the guide wire is set to be the same as or substantially the same as the width of the guide area, without using the detection information of the magnetic field,
The vehicle can be moved from the terminal end of the traveling route to the starting end of the next traveling route in an appropriate state, and the traveling can be automatically controlled over a plurality of traveling routes.

According to the characteristic configuration of claim 2, the traveling control means executes the turning control, and then the moving vehicle detects the end portion of the traveling route based on the detection information by the route end portion detecting means. When it is detected that the vehicle has reached the position, the steering operation means is controlled based on the information detected by the magnetic field detection means, and the moving vehicle is guided to travel along the next travel route.
In other words, when the moving vehicle reaches the end position of the traveling route, if the position is laterally displaced with respect to the next traveling route, the moving vehicle is guided to travel along the traveling route so that the traveling vehicle is moved to the end position. To do.

Then, after the moving vehicle is in the state of traveling along the next traveling route in the proper traveling posture, the forward / reverse traveling switching means is switched to the backward traveling state based on the information detected by the route end detecting means, and the moving vehicle is moved. The moving vehicle is moved backward in a straight traveling state until it is detected that the position of the end of the traveling route, that is, the starting end of the next traveling route is reached. By doing so, the moving vehicle can be moved to the start end portion of the next traveling route even if the vehicle is laterally displaced with respect to the next traveling route after the turning control is executed. After that, the moving vehicle is guided to travel along the next travel route based on the information detected by the magnetic field detection means.

According to the third aspect of the present invention, the traveling control means executes the turning control, and thereafter, based on the detection information by the route end detection means, the traveling vehicle is located at the end position of the travel route. When it is detected that the moving vehicle has been reached, the steering operation means is controlled based on the information detected by the traveling magnetic field detecting means, and the moving vehicle is guided to travel along the next traveling route. In other words, when the moving vehicle reaches the end position of the traveling route, if the position is laterally displaced with respect to the next traveling route, the moving vehicle is guided to travel along the traveling route so that the traveling vehicle is moved to the end position. To do.

Then, after the moving vehicle is in a state of traveling along the next traveling route in the proper traveling posture, the forward / reverse switching means is switched to the backward traveling state, and the detection information by the magnetic field detecting means and the corresponding traveling path are associated. Based on the stored information stored in advance, the moving vehicle is made to travel backward while being along the next travel route. Therefore, even when the direction of the vehicle body is deviated from the travel route when the reverse travel is started, the vehicle can be made to travel in the reverse direction along the travel route, ensuring that the start end of the next travel route is secured. Can be moved to. After that, the moving vehicle is guided to travel along the next traveling route based on the information detected by the magnetic field detecting means.

According to a fourth aspect of the present invention, the traveling control means executes the turning control, and then the traveling vehicle detects the end position of the traveling route based on the detection information by the route end detection means. When it is detected that the moving vehicle is guided to travel until the magnetic field detecting means detects the strength of the magnetic field corresponding to the next traveling route based on the detection information by the magnetic field detecting means. When the strength of the magnetic field corresponding to the next traveling route is detected, that is, when the detected value falls within the control dead zone of the guided traveling, the moving vehicle is caused to travel straight for the set distance based on the detection information of the distance detecting means. Then, based on the information detected by the magnetic field detection means, the steering operation means is controlled so that the moving vehicle is guided and traveled along the next travel route, and the width is adjusted.

In other words, in order to improve the followability of the guide traveling control, when the front side of the moving vehicle is equipped with the magnetic field detecting means and the width of the vehicle is adjusted toward the next traveling route, the detection by the magnetic field detecting means is performed. If the guide traveling control based on the information is continued to follow the traveling route next time, a relatively long distance is required until the posture along the traveling route is stabilized. This is because the vehicle body travels in an oblique direction with respect to the target travel route, and therefore the ratio of the vehicle body movement amount to the change (control deviation) in the magnetic field detection information becomes large, and the steering operation amount relative to the vehicle body movement amount. This is because the (control amount) becomes relatively small, and as a result, the followability of the control of the steering operation deteriorates, and a long distance is required until it stabilizes.

On the other hand, as described above, when the detection value of the magnetic field detection means falls within the control dead zone, the vehicle travels straight for a set distance and then switches to the guidance travel control again to switch the travel time. The control deviation (i.e., the amount of lateral deviation from the target position of the magnetic field detection means) becomes large, and a large amount of steering operation causes the vehicle to immediately follow the next traveling route until the posture is stabilized along the next traveling route. It can be done with a short distance.

According to a fifth aspect of the present invention, the guide wire on the end side of the traveling route is installed on the ground side in a state intersecting with the guide wire in a state where current is supplied. , The route end detecting means, based on the strength of the magnetic field formed by the current supplied to the guide wire on the side of the traveling route,
Since the detection information is the same as the magnetic field detection means because it is configured to detect the end position of each traveling route, it is possible to combine the signal processing configuration and the control configuration. There is no disadvantage that the control configuration becomes complicated as compared with the case of using another detection information such as a configuration in which the end position is detected by detecting the presence or absence of light, or a configuration in which ultrasonic waves are used for detection.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION A guidance control device for a moving vehicle according to the present invention will be described below. As shown in FIG. 1, in a rectangular field 1 as an example of a guidance area, a work vehicle V as an example of a moving vehicle is provided in each of a plurality of parallel traveling routes k along the longitudinal direction of the field 1. , Is configured so that it can be guided and run in an unmanned state.

On each side (ridge) of the outer periphery of the field 1,
Each of the guide wires 2 having a length substantially equal to the length of the ridge is installed along the longitudinal direction of the ridge, and each of the guide wires 2 is provided with an AC current having a predetermined frequency by a current supply source as a current supply means. Is supplied. In other words, alternating currents of the frequency fa (Hz) and the frequency fc (Hz) are supplied by the current supply sources 3 to the respective guide lines 2 a and 2 c installed along the ridges on both sides along the long direction of the field 1. The frequency fb (Hz) and the frequency fd are supplied by the current supply sources 3 to the respective guide wires 2b and 2d which are supplied and installed on the ridges on both sides along the short direction.
(Hz) alternating current is supplied. The frequency is
The frequency is set to several hundred Hz to several tens KHz.

As shown in FIG. 2, each of the guide wires 2 is constructed so that the current flows through the ground through a plurality of piles 4 made of a conductive material that are driven into the ground. , Even if the guide wire is installed over a long distance,
The configuration is such that the installation can be easily performed only by driving the stake 4 on both sides in the longitudinal direction. In the ground, the driving depth of the pile 4 is set so that the current flows through the lower clay layer G2 having a relatively low electric resistance, instead of the ground layer G1 having a relatively high electric resistance.

When a current flows through the induction wire installed as described above, a magnetic field is formed by the current. The theoretical value of the magnetic field strength with respect to the distance from the induction wire can be calculated. , The strength of the magnetic field is inversely proportional to the square of the distance from the guide wire. Therefore, if the supplied current value is constant, as shown in FIG. 3, the change characteristic of the magnetic field strength with respect to the distance from the induction wire is determined, and the magnetic field at a certain point in the field 1 is determined. Has a substantially constant magnitude.

As shown in FIG. 13, the work vehicle V is provided with a rotary tilling device 6 as a ground working device at the rear portion of the four-wheel type traveling vehicle body 5, and the ground working (cultivating work) of the field 1 while traveling is performed. ) Can be done. An engine is mounted on the traveling vehicle body 5, and the power of this engine is transmitted via a transmission and an electromagnetically operated traveling clutch 8 equipped with a forward / reverse traveling switching mechanism 7 as forward / reverse traveling switching means capable of switching the traveling direction of the vehicle body. It is configured so that the vehicle body travels by being transmitted to each wheel, and the power of the engine is transmitted to the rotary tiller 6.
The left and right front wheels are provided so as to be steerable by an electric motor 9 as a steering operation means.

The working vehicle V detects a traveling distance of the vehicle body by detecting the number of rotations of the axle, and a traveling distance sensor 10 as a distance detecting means composed of, for example, a rotary encoder or the like, and an orientation of the vehicle body. An azimuth sensor 11 as azimuth detecting means, a control device 12 using a microcomputer as traveling control means for controlling the operations of the forward / reverse switching mechanism 7, the steering electric motor 9 and the like are provided.

Further, three magnetic field sensors for detecting the strength of the magnetic field formed by the alternating currents supplied to the above-mentioned induction wires are arranged in parallel at the front of the traveling vehicle body 5 along the lateral direction of the vehicle body. The side magnetic field sensors 13R and 13L located on both the left and right sides are configured to detect the strength of the magnetic field formed by the alternating current of the frequency fa and the frequency fc. The central magnetic field sensor 14 located at is configured to detect the strength of the magnetic field formed by the alternating current having the frequencies fb and fd.

Then, the control device 12 drives the work vehicle V in each of the traveling routes k based on the information detected by the side magnetic field sensors 13R and 13L.
The guided traveling control for guiding traveling along the line, and
Based on the information detected by the central magnetic field sensor 14, it is detected that the terminal end or the starting end of each travel route k has been reached, and when it reaches the terminal end, the work vehicle V is turned to travel adjacently. It is configured to execute a turning control for guiding the vehicle to enter the next traveling route.

Therefore, each side magnetic field sensor 13R, 1
The 3L constitutes a magnetic field detecting means GK for guiding the vehicle body, and the central magnetic field sensor 14 constitutes a route end detecting means for detecting the start end portion and the end portion of the traveling route. That is, as shown in FIG. 4, the output of each of the side magnetic field sensors 13R and 13L and the central magnetic field sensor 14 is processed by the signal processing unit 15, and then the control device 12 is processed.
And controls the drive operation unit for the steering electric motor 9 so as to guide and travel along each travel route k based on the magnetic field detection information, and at the end of the travel route k, Based on the magnetic field detection information and the detection information of the azimuth sensor 11 and the travel distance sensor 10, the steering electric motor 9, the forward / reverse switching mechanism 7, the traveling clutch 8 and the like are controlled so as to turn.

Each of the magnetic field sensors 13R, 13L, 14
As shown in FIG. 5, a detection coil 16 in which an induced electromotive force is generated by an alternating magnetic field formed by an alternating current flowing through an induction wire, and an amplifier 17 which amplifies the output of the detection coil 16 to a predetermined level, Of the output of the detection coil 16, a bandpass filter BPF as a frequency filter that passes only the output corresponding to the frequency of the current flowing in each induction wire, an amplifier 18 that amplifies the output of this bandpass filter BPF, and the like are configured. ing.

Therefore, each side magnetic field sensor 13R, 13L
The band-pass filter BPF suppresses the detection information by the center-side magnetic field sensor 14 from being mixed in with the detection information by the band-pass filter BPF.
The PF constitutes the information mixture suppressing means.

In this way, each side magnetic field sensor 13R, 1
3L, detection information corresponding to each of the frequency fa and the frequency fc is output, and the central magnetic field sensor 14 outputs the detection information corresponding to each of the frequency fb and the frequency fd. However, the signal processing unit 15 selectively outputs the detection information of the higher detection level, that is, the detection information of the work vehicle V closer to the corresponding guide line. The signal processing unit 15 is shown in FIG.
As shown in the figure, each of the magnetic field sensors 13R, 13L, 14
DC conversion circuits DC for converting the outputs of the above to DC signals are respectively provided, and the converted outputs are input to the controller 12, and the controller 12 detects the detection level among the outputs of different frequencies in each of the magnetic field sensors 13R, 13L, and 14. It is configured to determine an output on the higher side of and to apply a selection signal to the _three analog switches AS _1, AS _2, AS ₃ so as to select the output.

Based on the detection information from the central magnetic field sensor 14, the control device 12 separates the guide wire 2b or 2d installed on the ridge extending along the short direction from the guide wire on the higher detection level side. Is calculated, and when the separation distance reaches a set value, it is determined that the work vehicle V has reached the end position of each traveling route k. As shown in FIG. 7, the guide wires 2b and 2d installed on the ridges along the short direction are installed in a state where both end portions are bent in a substantially L shape toward the inside of the field 1. . With this configuration, the intensity of the magnetic field is substantially the same over the entire length of the guide lines 2b and 2d at a point where the separation distance of the guide lines 2b and 2d from the intermediate portion t is the set distance. k
Is set as the end position. This end position is a point located on the inward side of the field 1 by a set distance from the length L of the end bent portion. Incidentally, according to the experiment conducted by the present applicant, if the length H of the bent end portion is, for example, 3 m, the end portion is located at a distance of 5 m from the guide wire.

As described above, the reason for setting the end position of the traveling route k to the inner side of the end part of the field 1 is that in the magnetic field formed by the guide wire of finite length as shown in FIG.
In the magnetic field strength distribution at the same distance, the relationship between the magnetic field strength and the distance is not linear near the end of the guide wire, and guidance control based on the magnetic field strength may not be performed well. Because there is.

Further, as shown in FIG. 8, the electric currents flowing through the guide wires 2a and 2c installed in the ridges along the long direction flow into the guide wires installed in the ridges along the short direction through the ground. As a frequency filter that is an example of a current suppressing unit that suppresses the above, a bandpass filter 19 that allows passage of only the frequency of the current supplied to the induction wires 2a and 2c is provided. This bandpass filter 19
Is composed of a resonance circuit in which a coil 19a and a capacitor 19b are connected in series, and its resonance frequency corresponds to the frequency of the current. Therefore, even if a current with a different frequency flows from the other induction wire through the ground, the inflow current is suppressed from flowing through the induction wire, minimizing the possibility that each magnetic field sensor will detect erroneous information. There is.

Detection of the side magnetic field sensors 13R and 13L
Each analog switch AS corresponding to output information₁, AS_ThreeOut of
The amplification gain for amplifying the force is
Change and adjust to multiple stages (four stages) based on switching information
It is configured to be. That is, each of the amplification gains
Outputs of four different amplifiers 21, 22, 23, 23
For inputting one of the two to the control device 12.
Switch AS_Four, AS _FiveIs selected by the control device 12
It is configured to dictate the content. Supplied to the guide wire
The strength of the magnetic field formed by the current
Changes greatly with changes in the separation distance.
If the amplification gain is kept constant, the
It is difficult to detect with appropriate resolution and detection accuracy is low
To the control device 12
The input level is, for example, as shown in FIG.
The appropriate magnetic field strength when the separation distance changes by a unit distance
So that the change in height is identifiable, in other words
Amplification gain so that it is in the appropriate output range with high resolution
Is automatically adjusted.

The respective side magnetic field sensors 13R and 13L are
One of the side magnetic field sensors is installed at a set interval in the vehicle body width direction, and when the work vehicle V travels along one of the plurality of travel paths k, the traveling vehicle Magnetic field detection unit G for the current traveling route for detecting the strength of the magnetic field for executing the guidance control along the traveling route k in the middle
Functions as K _1, the other side the magnetic field sensor, to be detected by the magnetic field detector GK ₁ for the current travel route when caused to travel the work vehicle along the next adjacent travel path k Field detection unit GK for the next traveling route for detecting the strength of the magnetic field
It is configured to function as ₂ . That is, the other side magnetic field sensor sequentially detects the magnetic field of the next traveling route k while traveling on the current traveling route k, and this detection information is the distance information detected by the traveling distance sensor 10. It is configured to be sequentially stored in the memory 25 as a storage unit in a state of being associated with.

The control device 12 determines the magnetic field detection information stored in the memory 25 and the end position of the travel route k detected by the travel distance sensor 10 in the next travel route k in which the magnetic field detection information is stored. The target value of the magnetic field strength at each point on the travel route k is obtained based on the travel distance information of the current travel route, and the target value and the side magnetic field sensor functioning as the magnetic field detection unit GK ₁ for the current travel route. The guide traveling control for driving and controlling the electric motor 9 for traveling is executed so that the detected value of the driving electric motor 9 coincides with the detected value of Further, the control device 12 sets the target value of the amplification gain of the magnetic field sensor when the vehicle is guided to travel on the next travel route k based on the magnetic field detection information stored in the memory 25, and at the same time, sets the target value on the next travel route k. It is configured such that the gain is automatically adjusted to the target value before the guided traveling. Specifically, if the maximum value of the strength of the magnetic field stored in the memory 25 exceeds the set upper limit value, it is 1 more than the current gain.
If an amplifier having a lower gain is selected and the maximum value is lower than the lower limit setting, an amplifier having a gain one step higher than the current gain is selected with respect to the analog switches AS ₄ and AS _5. To instruct the selection signal. The gains of the analog switches AS ₄ and AS ₅ are always adjusted to the same value. The set upper limit value and the set lower limit value are set as upper and lower limit ranges in which linearity of output change as an analog value is guaranteed.

Next, the control operation of the controller 12 will be described. When the work vehicle V is guided in the field 1, the work vehicle V is manually driven on the first travel route k in a state where the work vehicle V is along the appropriate travel route k prior to the automatic guidance control by the control device 12. Let it. At that time, as the traveling is started from the starting end position of the traveling route k, the detection information of the side magnetic field sensor on the side of the next traveling route (the sensor 13R on the right side in the case of FIG. 1) and the detection of the traveling distance sensor 10 are detected. The information and the information are sequentially written and stored in the memory 25.

Then, the automatic guidance control is started from the next traveling route k, and as shown in FIG. 10, first, the amplification gain and the magnetic field detection unit GK ₁ for the current traveling route are set in accordance with the working state. Initialize a functional side magnetic field sensor (left sensor 13L in the case of FIG. 1) (step 1).

Then, while the work vehicle V is traveling at the traveling speed for work, based on the magnetic field detection information stored in the memory 25 and the detection information of the traveling distance sensor 10, the current time on the traveling route k. The steering electric motor 9 is driven so that the target value of the strength of the magnetic field is obtained and the detection value of the side magnetic field sensor 13L that functions as the magnetic field detection unit GK ₁ for the current travel route becomes the target value. Control (step 2). When this guided travel control is executed, the detection information of the side magnetic field sensor on the side of the next travel route (the sensor 13R on the right side in the case of FIG. 1) that functions as the magnetic field detection unit GK ₂ for the next travel route is traveled. The information is sequentially written and stored in the memory 25 in a state of being associated with the detection information of the distance sensor 10 (step 3).

When it is detected that the end of the traveling route k is reached based on the detection information of the central magnetic field sensor 14,
Count up the number of travel routes N (steps 4 and 5),
If the count value has not reached the set number of routes NS in the field 1, the target value of the amplification gain is set as described above from the maximum value of the magnetic field strength written and stored in the memory 25, and the gain is set. A selection signal is instructed to the analog switches AS ₄ and AS ₅ to automatically adjust the gain so that the value becomes the target value (steps 7 and 8).

Next, the side magnetic field sensor functioning as the magnetic field detector GK ₁ for the current traveling route is switched to the opposite side sensor (the sensor 13R on the right side in FIG. 1) (step 9). This is because their positional relationship is reversed due to changes in the orientation of the vehicle body.

Next, a turning control is carried out to turn the vehicle body so as to position it at the starting end of the next traveling route k (step 10). This turning control will be described based on the control flowcharts of FIGS. 11 and 12 and the traveling state diagram shown in FIG. Based on the information detected by the travel distance sensor 10, the vehicle travels straight ahead while maintaining the steering operation in the neutral state for a set distance from the end position of the travel route k (step 10).
1, 102), the azimuth sensor 11 is reset, and until the azimuth of the vehicle body is detected to be reversed by 180 degrees, the maximum turning angle or a set turning angle close to the maximum turning angle (corresponding to the set steering operation amount) is set. To turn (steps 103 to 10)
6). When it is detected that the direction of the vehicle body is reversed by 180 degrees, it is already detected that the vehicle body is located inside the field beyond the end of the route based on the detection information of the central magnetic field sensor 14. , The forward / reverse switching mechanism 7 is switched to the reverse traveling state, and the vehicle is made to travel backward in the straight traveling state in which the steering operation is maintained in the neutral state until the route end position is reached (step 107).
~ 110), when the route end position is reached, the traveling is stopped and the forward / reverse switching mechanism 7 is switched to the forward traveling state (step 111). If it does not exceed the end of the route in step 107, the vehicle travels forward in a straight traveling state in which the steering operation is maintained in the neutral state until it is located at the end of the route (step 11).
2, 113). The control from step 101 to step 113 corresponds to the turning control.

After that, the magnetic field detector GK ₁ for the current traveling route
Based on the detection information of the side magnetic field sensor (13L in the case of FIG. 14 (B)) functioning as and the stored information stored in the memory 25, the vehicle body can be moved along the next traveling route, The steering electric motor 9 is controlled to execute the guidance traveling control (step 114). Then, when it is detected that the strength of the magnetic field detected by the side magnetic field sensor 13L falls within the control dead zone, in other words, the strength of the detected magnetic field and the memory stored in the memory 25. When the deviation from the information falls within the target deviation and the side-side magnetic field sensor 13L detects the strength of the magnetic field corresponding to the next traveling route, the set distance is set in the straight state in which the steering operation is maintained in the neutral state. Only forward (step 115-1)
17). The set distance is set to a value corresponding to the distance traveled until the right and left central portions of the rear wheels are located on the next travel route.

When it is detected that the vehicle has traveled the set distance, the guide traveling control is executed again based on the detection information of the side magnetic field sensor 13L and the stored information to cause the vehicle body to follow the next traveling route ( Step 118). At this time, since the side magnetic field sensor 13L is away from the next traveling route as shown in FIG. 14, the deviation between the detected value of the side magnetic field sensor 13L and the stored value (control target) is large,
The control amount (steering operation amount) becomes large, and a sharp turn traveling is performed in the opposite direction (see FIG. 15), and it can be completed in a short distance until the stable state along the next traveling route is reached. .

After that, as the guided traveling control is executed, the vehicle body travels along the traveling route almost the next time, and if the detected magnetic field remains in the dead zone for a set period of time, the vehicle travels. It is stopped and the forward / reverse switching mechanism 7 is switched to the reverse state (steps 119 to 12).
1) The vehicle body is made to travel backward in the straight traveling state (step 122). When it is detected based on the detection information of the central magnetic field sensor 14 that the vehicle is located at the end of the travel route (the start end of the next travel route), the vehicle body is stopped and the forward / reverse switching mechanism 7 is set to the forward state. Switch to (step 123, 1
24).

Then, the routine proceeds to step 2, where the guide traveling control is executed while the vehicle is traveling along the next traveling route, and
The storage operation in the memory 25 as described above is executed.

After that, the guide traveling control as described above is executed. At this time, if the gain is changed in step 8, the detection information stored in the memory 25 also corresponds to the change amount. The target value for traveling is calculated by multiplying the gain. Then, steps 2 to 10 are repeated to sequentially guide the work vehicle V along each traveling route k, and when the number of traveling routes n reaches the set number of routes ns, the control ends (step 6).

In the current traveling route k, the strength of the magnetic field stored when traveling in the previous traveling route k and the current traveling route k
Is controlled to be the same as the detected magnetic field at
Since the installation intervals of the side magnetic field sensors 13R and 13L are set to be narrower than the working width of the rotary tiller 6 to the ground, the work area of the rotary tiller 6 is to be wrapped in each traveling route k. Therefore, the unworked area does not occur. Also, the left and right side magnetic field sensors 1
The installation intervals of 3R and 13L can be changed and adjusted.

[Other Embodiments] (1) In the above embodiment, the vehicle body is moved backward in step 122 of FIG. 12, but at this time, the side that functions as the magnetic field detection unit for the current travel route is used. Based on the detection information of the magnetic field sensor 13L and the stored information stored in the memory 25, the vehicle is moved backward while controlling the steering electric motor 5 so that the vehicle body can follow the next traveling route. You may control. With such a configuration, when the vehicle is traveling backward, the vehicle body can be accurately moved to the starting end of the next traveling route even if the orientation of the vehicle body is slightly oblique to the direction along the traveling route. You can

(2) In the above embodiment, in steps 107 to 110 of FIG. 11, when the direction is reversed, the vehicle body is moved backward to the end of the route if it has already passed the end of the route. , In place of such a configuration, when turning traveling is being performed, which may be controlled as follows,
When it is determined that the end of the route has been reached based on the detection information of the central magnetic field sensor 14, the distance traveled by the traveling distance sensor 10 from that time point to the time point when the reversal of the bearing is completed. In the subsequent guidance travel control, the guidance control may be executed excluding the stored data for the travel distance. This way,
In the turning control, the number of times the vehicle body is moved backward is reduced, the dead time due to switching between forward and backward movement is reduced, and efficiency can be improved.

(3) In the above-described embodiment, in the turning control, when the value of the detected magnetic field falls within the dead zone, the set distance is advanced straight and then the guide travel is performed again. Then, as shown in FIG. 16, when the guide traveling control is continued without performing straight traveling and the vehicle body is in a state along the next traveling route, the vehicle may be made to travel backward to the end position of the traveling route in a straight traveling state. Good. The control flow chart in this case is a flow chart in which steps 115 to 118 in FIGS. 11 and 12 are omitted. Further, changes in the detected magnetic field and the steering operation amount are as shown in FIG. 17, and the vehicle travels along a relatively long distance along the travel route until it becomes stable.

(4) Instead of the above turning control, the following control may be performed. As shown in FIG. 18, after the vehicle body is turned to be located at the end of the route, the guided traveling control is continued without performing the straight traveling, and when the vehicle body is in the state along the next traveling route, the backward traveling is performed. Instead, the guide traveling control along the traveling route may be continued as it is.
The control flowchart in this case is shown in FIG. 11 and FIG.
2 is a flowchart in which steps 115 to 124 in 2 are omitted. However, in this control configuration, the above-described storage operation is performed by the side magnetic field sensor that functions as the magnetic field detection unit GK ₂ for the next traveling route from the time when the vehicle body width adjustment starts. Therefore, at the route start end, a detection error due to the width adjustment occurs. Therefore, such an error is corrected so that the reference information becomes appropriate.

In other words, in the first manually run route, the reference value is stored as appropriate reference information. Therefore, the stored value at that time is associated with the run distance information at the route start end of the next run route. A difference from the information that is sequentially stored, for example, when FIG. 18A is the first route, the appropriate reference information indicated by the broken line and the stored information at the time of width adjustment as shown in FIG. Based on the difference, it is possible to obtain the amount of deviation due to the width adjustment. However, since the strength of the magnetic field changes non-linearly every time the traveling route changes, as shown in FIG. 3, errors caused by such non-linear characteristics are also reduced. It should be noted that the error in the travel distance information due to the width adjustment is appropriately corrected based on the steering operation amount. That is, the difference value A between the detection values of the left and right side magnetic field sensors 13R and 13L in the travel route to be corrected and the travel route two times before the travel route (the travel route having the same traveling direction) with respect to the deviation amount obtained as described above. ), The difference value B between the detection values of the left and right side magnetic field sensors 13R and 13L.
And the correction ratio of the error caused by the non-linear characteristic is multiplied to obtain the correction amount of the non-linear error in the travel route, and the stored information sequentially stored in the memory is corrected by this correction amount. is there. Then, by executing such a correction operation for each traveling route, it is possible to obtain appropriate reference information.

In this way, in the subsequent guide travel, the reference information near the end of the travel route has little error as described above and can be set in a state substantially along the travel route. The disadvantage that the work vehicle V meanders can be avoided in advance.

(5) In the above embodiment, the central magnetic field sensor as the route end detecting unit detects the end position on the traveling route, and the turning control or the guided traveling control is executed based on the detected information. However, instead of such a central magnetic field sensor, for example, by irradiating laser light in the lateral direction at the path end and detecting the path end by a sensor that detects this laser light, Alternatively, it may be implemented in various configurations such as a configuration in which the moving vehicle is instructed to manually reach the end of the route by radio control.

(6) In the above-described embodiment, when conducting the guided traveling control, the strength of the magnetic field detected by the magnetic field detection unit for the next traveling route is stored in the memory, and the stored information is used as the control target. However, instead of such a configuration, the control target is controlled based on the stored information that is preset and stored as map data as a value corresponding to each traveling route for each field. It may be configured to. In this case, it is not necessary to provide a pair of magnetic field detecting means on the left and right sides, and only one magnetic field detecting means can be used.

(7) In the above embodiment, after the turning control is executed, the width adjustment is executed toward the next traveling route. However, instead of such a structure, the turning control is executed. After that, the guide traveling control may be directly executed from that position. In this case, the detected magnetic field strength is maintained constant instead of performing control based on the stored information as described above. It may be implemented in such a travel control mode.

(8) In the above embodiment, the case where the guide wires are installed on both the left and right sides of the guide target area is illustrated, but the guide wires may be installed on only one side. In this case, the guide travel is performed. As for the control, the traveling route closer to the guide line may be sequentially guided to the far side route, or the traveling route farther to the guide line may be sequentially guided to the closer route.

(9) In the above-described embodiment, a rotary cultivating device is provided as a ground work device as a mobile vehicle. However, instead of such a configuration, for example, work provided with a seedling planting device and a reaper harvesting machine. It may be a car, or a work vehicle for construction machinery or cleaning work. Further, a moving vehicle such as a transport vehicle that does not perform the work may be used.

It should be noted that although reference numerals are given in the claims for facilitating the comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a plan view showing a guiding state.

FIG. 2 is a side view showing an installation state of a guide wire.

FIG. 3 is a diagram showing a magnetic field strength distribution.

FIG. 4 is a control block diagram.

FIG. 5 is a configuration diagram of a magnetic field detection unit.

FIG. 6 is a configuration diagram of a signal processing unit.

FIG. 7 is a plan view showing an installation state of a guide wire.

FIG. 8 is an electric circuit diagram of the induction wire.

FIG. 9 is a diagram showing output characteristics when a gain is switched;

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

FIG. 13 is a plan view of the work vehicle.

FIG. 14 is a plan view showing a turning motion state.

FIG. 15 is a characteristic diagram showing a control state.

FIG. 16 is a plan view showing a turning operation state of another embodiment.

FIG. 17 is a characteristic diagram showing a control state of another embodiment.

FIG. 18 is a plan view showing a turning operation state of another embodiment.

[Explanation of symbols]

 2 guide wire 5 steering operation means 7 forward / reverse switching means 10 distance detecting means 11 azimuth detecting means 12 traveling control means 14 route end detecting section GK magnetic field detecting means V moving vehicle

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Reference number within the agency FI Technical display location // A01B 69/00 303 A01B 69/00 303L (72) Inventor Yukio Yokoyama Ishizukita-machi, Sakai City, Osaka Prefecture No. 64 Inside Kubota Sakai Factory

Claims (5)

[Claims] 1. A guide wire (2) of a set length to which a current is supplied is installed on the ground side, and a steering operation means (5) capable of changing a vehicle body direction is installed on a moving vehicle (V) side. A magnetic field detecting means (GK) for detecting the strength of a magnetic field formed by the current supplied to the guide wire (2), and information detected by the magnetic field controlling means (GK),
A travel control means (12) for executing guide travel control for controlling the steering operation means (5) to guide the traveling of the moving vehicle (V) is provided in each of the plurality of travel routes in the predetermined guide area. In the guidance control device for a moving vehicle, the length of the traveling guide wire (2) is set to be the same as or substantially the same as the width in the direction along the traveling route in the guide area. A distance detecting means (10) for detecting a traveling distance and an azimuth detecting means (1) for detecting an azimuth of a vehicle body of the moving vehicle (V).
1) and a route end detecting unit (14) for detecting an end position of each traveling route, and the traveling control unit (12) uses information detected by the route end detecting unit (14). On the basis of this, when it is detected that the moving vehicle (V) has reached the end position of the travel route, execution of the guided travel control is stopped, and based on the detection information of the distance detection means (10),
The moving vehicle (V) is caused to travel straight for a set distance, and then, based on the detection information of the direction detecting means (11), the moving vehicle (V) is set and steered until the direction of the vehicle body is reversed or almost reversed. The vehicle body is turned by the operation amount, and the vehicle body is detected until the moving vehicle (V) reaches the end position of the traveling route based on the detection information by the route end detecting means (14). A vehicle guidance control device configured to execute turning control for controlling the steering operation means (5) to move the vehicle straight. 2. A forward / backward switching means (7) capable of switching the traveling direction of the vehicle body is provided on the moving vehicle (V) so as to be switchable by the travel control means (12), and the travel control means (12). ) Is based on the detection information by the route end detecting means (14) after executing the turning control, the moving vehicle (V)
When it detects that has reached the end position of the traveling route,
Based on the detection information by the magnetic field control means (GK),
After the traveling vehicle (V) is guided to travel along the next traveling route, and the traveling vehicle (V) is in a state of being along the next traveling route in a proper traveling posture, the route end detecting means (14) )
Until the moving vehicle (V) reaches the end position of the travel route on the basis of the detection information by the vehicle, the moving vehicle (V) is moved backward in a straight traveling state, and then the traveling magnetic field control is performed. Based on the information detected by the means (GK), the moving vehicle (V) is moved along the next traveling route.
2. The guidance control device for a mobile vehicle according to claim 1, wherein the steering control means (5) and the forward / reverse switching means (7) are configured to be guided to travel. 3. The traveling control means (12) is provided with a forward / reverse switching means (7) capable of switching the traveling direction of the vehicle body in the moving vehicle (V) so as to be switchable. ) Is based on the detection information by the route end detecting means (14) after executing the turning control, the moving vehicle (V)
When it detects that has reached the end position of the traveling route,
Based on the information detected by the traveling magnetic field control means (GK), the traveling vehicle (V) is guided to travel along the next traveling route, and the traveling vehicle (V) travels next time in an appropriate traveling posture. After being in a state along the route, the vehicle moves along the next traveling route based on the detection information by the magnetic field control means (GK) and the stored information preset and stored corresponding to the traveling route. The vehicle (V) is caused to travel backward, and then the steering operation means (5) is used to guide the traveling of the moving vehicle (V) along the next traveling route based on the detection information by the magnetic field control means (GK). The guide control device for a mobile vehicle according to claim 1, which is configured to control the vehicle. 4. The traveling control means (12) executes the turning control, and then the moving vehicle (V) based on the detection information by the route end detection means (14).
When it detects that has reached the end position of the traveling route,
Based on the detection information by the magnetic field control means (GK),
Until the magnetic field control means (GK) detects the strength of the magnetic field corresponding to the next travel route, the moving vehicle (V) is guided to travel along the next travel route, and the distance detection means (10). ), The moving vehicle (V) is made to travel straight for a set distance, and then the moving vehicle (V) is guided along the next traveling route based on the detection information by the magnetic field control means (GK). The guidance control device for a mobile vehicle according to claim 1, wherein the guidance control device is configured to control the steering operation means (5) to drive the vehicle. 5. The guide wire (2) on the end of the travel route along a direction intersecting with the guide wire (2) is installed on the ground side in a state where current is supplied, The part detecting means (14) detects the end position of each of the travel routes based on the strength of the magnetic field formed by the current supplied to the guide wire (2) on the end of the travel route. The guide control device for a mobile vehicle according to claim 1, 2, 3, or 4, which is configured.