JPH0949729A - Method for driving mobile working machine and method for forming working data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To survey by an automatic mobile machine provided with a radio navigation device by GPS and form working data based on a survey. SOLUTION: A mobile working machine functioning as a mobile station 1 is provided with a GPS receiver 500 on a vehicle body 10, a receiver 510 for receiving GPS data, a GPS data controller 530 and a self driving device. A fixed station 700 arranged in the vicinity of a working area has a receiver 710 and a transmitter 720, receiving data from a GPS satellite and sending the data to the mobile station 1. The mobile working machine is driven by a man and geographical features are surveyed. Upon necessities, the man 2 carries the GPS controller 530 to complement the survey. Working data are formed on a personal computer based on map data, thus making possible the execution of unmanned work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic mobile work machine equipped with an autonomous navigation system having various sensors and a radio navigation system using GPS.

[0002]

2. Description of the Prior Art An angle sensor,
By installing an autonomous navigation device having a vehicle speed sensor or the like, unmanned autonomous driving becomes possible. Unmanned driving can also be performed by using a radio navigation device that is also used in a car navigation device and that receives a radio signal from a GPS satellite to recognize its own current position. Regardless of which navigation device is used, it is necessary to prepare map information of the area in which the vehicle is traveling in advance.

[0003]

DISCLOSURE OF THE INVENTION The present invention provides a driving method for creating map data using a mobile work machine having radio navigation by GPS, and a method for creating work data based on the created map data. To do.

[0004]

A driving method according to the present invention includes a vehicle having driving wheels and steered wheels, a work unit mounted on the vehicle, an engine mounted on the vehicle, and each wheel by the power of the engine. A means for driving the work unit, a controller mounted on the vehicle, a device for receiving radio waves from GPS satellites and a GPS receiving fixed station on the ground, and a radio navigation device for automatically operating the vehicle are provided. This is a method of operating a mobile work machine, which measures the terrain by measuring the current position while operating the mobile work machine by a manned person. Then, the method of creating work data is to obtain terrain data by measuring the current position while manipulating a mobile work machine by a manned person, creating map data based on the terrain data, and based on the map data. The method further includes a step of creating moving path data of the mobile work machine, and a step of creating operation data of the mobile work machine based on the moving path data.

[0005]

By this method, map data can be easily obtained, and work data can be created from the obtained map data to enable unattended work.

[0006]

1 is a plan view of a mobile work machine according to the present invention, and FIG.
Is a side view. The mobile work machine, generally designated by reference numeral 1,
Mobile work machine 10 and body 1 mounted on main body 10
2 The mobile work machine body 10 is, for example, a lawn mower, and includes a main frame 20 and a main frame 20.
It has two front wheels 22 and one rear wheel 24 for supporting.
At the bottom of the frame 20, the grass cutting unit 7
0 and 72 are provided, and the engine 30 is provided above the frame 20. The engine drives the hydraulic pump 40, and the pressure oil generated by the hydraulic pump 40 drives and steers the wheels, raises and lowers the cutting unit, and drives the cutter.

A fuel tank 32 is provided on both sides of the frame 20,
A hydraulic pump tank 34 and the like for the hydraulic pump are provided. A seat 50 for an operator and a steering wheel 60 are arranged on the frame 20. When manned driving, the body 12 is opened and the operator gets on and operates. Around the seat 50, operation levers 80 and 82 for manned driving are arranged.

In principle, the mobile work machine 1 is a machine in which movement and work are performed by unmanned operation, and a controller 200 for that purpose is mounted. Further, the mobile work machine 1 is equipped with a GPS device for mounting its own position, and is provided with a communication device for receiving data from a GPS receiving fixed station for improving position detection.

FIG. 3 is a block diagram showing the system configuration of the mobile work machine. A mechanism for driving and operating the mobile work machine includes a hydraulic pump 100 driven by an engine 30, and pressure oil sent from the hydraulic pump controls the steering angle of the steered wheels 24 via an operating cylinder 110. The steering control device 120 has a steering control mechanism 124 driven by a steering control actuator, and the control amount is detected by each steering sensor 126. When manned, the steering wheel 50 is manually operated.

The pressure oil is sent to the hydraulic motor 130 and drives all the wheels 22, 24. The travel control device 140 has a drive control mechanism 144 driven by a travel control actuator 142, and the control amount is controlled by a travel control angle sensor 146.
Detected in. Specifically, the angle of the accelerator opening is controlled,
To be detected. During manned operation, the accelerator pedal 90 is manually operated.

A hydraulic motor 150 driven by pressure oil drives the cutters of the cutter units 70 and 72. The cutter drive control device 160 has a drive control mechanism 164 driven by a cutter drive actuator 162, and the control amount is detected by an operation confirmation sensor 166. During manned operation, it is manually operated by the operation lever 80. The hydraulic cylinder 170 driven by pressure oil moves the cutter units 70 and 72 up and down, and the cutter up-and-down control device 1
80 has a drive control mechanism 184 driven by a cutter drive actuator 182, and the control amount is detected by an operation confirmation sensor 186. During manned operation, it is manually operated by the operation lever 80.

The controller 200 includes map information means 21.
0, work path generating means 220, trajectory target value means 230,
Position estimation means 240, error correction means 250, target speed /
The direction calculation means 260 is provided. The output of the target speed / direction calculation means 260 is sent to the control device of each device via the operation command means. The engine is started via the engine control device 310 by the main switch of the switch box 330. The bumper switch 320 provided on the bumper of the vehicle body frame 20 detects that the vehicle body has contacted an obstacle, stops the engine, and executes an emergency stop.

This mobile work machine has various sensors for performing unmanned movement and work. The obstacle recognition sensor 340 detects surrounding obstacles using ultrasonic waves or the like.
The internal field sensor 400 equipped on the mobile machine includes a geomagnetic sensor 410, an optical fiber gyro 420, and a vehicle speed sensor 4.
30 to detect the traveling direction and movement amount of the machine. The steering angle sensor 126 detects the steering angle, and the traveling control sensor 1
46 detects the accelerator angle. The mobile work machine 1 can perform automatic running and work by unmanned operation based on the information from these sensors and the map information provided in the controller.

The mobile work machine 1 has a GPS sensor 500 in addition to these internal field sensors 400. This G
The PS sensor 500 can receive a radio wave from a GPS satellite and calculate a current position. The communication interface 52 includes a device 510 for receiving GPS data from a GPS receiving fixed station installed near the work area.
The controller 200 receives this data via 0. By including this GPS system, the mobile work machine can accurately recognize its current position.

In FIG. 4, the mobile work machine has a GPS receiver 50.
It shows that the 0 antenna is mounted on the top of the body 12, and also shows the configuration of the GPS radio wave reception fixed station 700 installed near the work area. The GPS radio wave reception fixed station 700 includes a GPS antenna 710 and a GPS receiver 7
20 and a data transmission communication device 730. Fixed station 7
The GPS data received by 00 is transmitted from the antenna 732, and the GPS device of the controller 200 received by the antenna 510 of the mobile work machine 1 corrects the GPS data based on the data from the ground station to perform accurate position detection. Can be done.

FIG. 5 is a plan view for explaining a work when the mobile work machine of the present invention is used to perform the map making and the lawn mowing work required for the lawn mowing work at a golf course by unmanned operation, FIG. 6 is an explanatory diagram. 5 and 6, the first tee ground T ₁ of the golf course 1
No. ₁ fairway F ₁ , No 1 putting green G ₁
And 2nd tee ground T ₂ , 2nd fairway F ₂ , 2nd putting green G ₂ , 3rd teeground T ₃ , 3rd fairway F ₃ and 3rd putting green G _3. ing.

The fixed station 700 for GPS is installed in, for example, a club house. The mobile work machine 1 is currently on the second fairway F ₂ and receives radio waves D ₁ , D ₂ , D ₃ , D ₄ from the _four GPS satellites S ₁ , S ₂ , S ₃ , S _4. Then, the current position is recognized, the correction data P ₁ from the fixed station 700 is received, and the error caused by the arrangement of the satellites S ₁ , S ₂ , S ₃ , and S ₄ is corrected to obtain a more accurate current position. Know your position.

However, in a real golf course, there are mountains M ₁ , forests W _1, etc. in the golf course, and the mobile work machine 1 has four satellites S ₁ , S ₂ , S ₃ and S _4. Signal D ₁ ,
A situation occurs in which D ₂ , D ₃ , and D ₄ cannot be received simultaneously. In this state, the mobile work machine 1 cannot recognize the current position by GPS. Also, for example, satellite S ₁ ,
S _2, S _3, signal D ₁ of the from _{S 4, D 2, D 3} , even D ₄ ready to receive, obstructions and mountain M ₁ between the fixed station 700 and the mobile work machine 1 Therefore, when the mobile work machine 1 cannot receive the correction data P ₁ from the fixed station, the current position cannot be accurately grasped.

The mobile work machine of the present invention has an internal sensor 400.
Since it is possible to perform autonomous navigation, it is possible to ensure accurate movement while mutually compensating for radio navigation using GPS. First, PDOP, which is an error factor of radio navigation
Value (Position Dilution Of Precision) Figure 7,
This will be described with reference to FIG. The PDOP value is an index indicating the relationship between satellite arrangement and positioning accuracy. As shown in FIG. 7, the first G
The PS satellite S ₁ has a range error E ₁ which is an inherent positioning error, and the second GPS satellite S ₂ also has an inherent range error E ₂ . Two satellites S _1, S ₂ is in the state of being close as shown in FIG. 7, when performing the positioning in area E ₁₀ is
The error characteristics are as shown by the diagonal lines.

As shown in FIG. 8, when the satellites S ₁ and S ₂ are arranged in a well-balanced manner, the positioning error characteristic is also a characteristic that can be easily corrected. Since the position of the GPS satellite can be constantly calculated, the PDOP value in a certain area on the earth can be predicted. The smaller the PDOP value, the higher the positioning accuracy. Therefore, by using the radio navigation only when the PDOP value is smaller than the set value, it is possible to measure the self-position more accurately.

FIG. 9 is a flowchart for the mobile work machine to select the autonomous navigation by the internal sensor and the radio navigation by the GPS. The self-position module started in step ST1 performs GPS signal reception processing in step ST2. In step ST3, it is checked whether the correction signal from the fixed station is received. If the correction signal is received, the process proceeds to step ST4 and the current PDOP value is read. The current PDOP value is a preset value 6
In the following cases, sufficient positioning accuracy can be obtained even by GPS radio navigation, so proceed to step ST5 and
The conversion process of the S data format is executed, and the self position is measured in step ST6.

Based on this measurement result, step ST7
Controls the operation of mobile work machines. At this time, the exercise is controlled by obtaining information regarding the target route from the memory 230 of the vehicle-mounted controller. The correction signal from the fixed station determined in step ST3 cannot be received, or P corresponding to the position of the GPS satellite determined in step ST4 is received.
When the DOP value is 6 or more, which is the set value, the process proceeds to step ST10, the mobile work machine selects the autonomous navigation, inputs the data of each sensor required for the autonomous navigation,
To process. Format conversion of the sensor data is executed in step ST11, and self-position measurement by autonomous navigation is executed in step ST6.

The present invention provides an operating method for a mobile work machine having the above functions. FIG. 10 is an explanatory diagram showing a layout of an operation panel mounted on the mobile work machine 1. The main operation panel 600 has a keyboard 610 for the engine and a keyboard 620 for switching the operation mode. As the operation mode, a manual operation mode, an automatic operation mode, a survey operation mode, and a teaching operation mode are prepared. The survey mode is the panel 622.
All switches, outer circumference, and automatic can be selected by the switch of, and similarly, the teaching mode can be selected by the switch of the panel 624, which is the same mode as the survey operation. The program No. is displayed on the main operation panel 600. An input keyboard 634, a return button 636, a reset button 638, a start button 630, an engine stop button 632, and the like are prepared. On the cutter operation panel 650 of the lawn mowing unit, the power switch 6
52, a cutter rotation switch 654, and a cutter up / down switch 656 are provided.

FIG. 11 is a flow chart showing the outline of the driving operation method. The process started in step S100 is
In step S110, operation preparation is performed. The operation preparation includes online teaching and offline teaching, and online teaching performs teaching mode operation. Off-line teaching includes processes such as topographical survey, map data creation, and work instruction. After the preparation for operation is completed, the actual operation is executed in step S120.
The operation modes include a mode in which an operator gets on a mobile work machine to perform a manual operation, and an automatic mode in which an unmanned operation is performed.

FIG. 12 is an explanatory diagram showing a surveying method for creating a topographic map. A mobile work machine 1 functioning as a mobile station includes a GPS receiver 500 on a vehicle 10 and a communication device 5 for receiving GPS data from a fixed station 700.
10 and has a receiving controller 530 for processing the received GPS data. The fixed station 700 is a GPS
A receiver 710 that receives data from a satellite and a communication device 720 that transmits GPS data to a mobile station are provided.
As the mobile station, in addition to the mobile work machine 1 that is manned, the operator 2 can walk on the GPS receiver 500 and the GPS data controller 530 while collecting topographical data.

In FIG. 13, for example, under the tree W ₁ , radio waves from GPS satellites may not be received in some cases.
At this time, the operator 2 can move to a position where radio waves can be received, perform surveying, correct the movement amount as an offset amount, and obtain accurate data.

FIG. 14 is a plan view showing the topography of the golf course obtained by the above survey. Plane figures such as tee ground T, fairway F, forest W, pond WH, bunker SB, and putting green G are displayed.

FIG. 15 shows a state in which surveying is automatically performed only by the mobile work machine 1 operated by manned operation without intervention of an operator.

FIG. 16 shows an example of a terrain to which automatic surveying is applied. The target is a park G ₁ or the like surrounded by a boundary line B ₁ and having no obstacle in the air. The automatic work machine 1 is driven by a driver, moves from the start position SF along the outer periphery of the park along the route D ₁ , and returns to the start position SF.

FIG. 17 is a diagram showing a hardware configuration of a personal computer for creating map data from survey data and work instruction data for an automatic work machine, and a software configuration. The personal computer 800 is a floppy disk drive 8
10, having a hard disk drive and a mouse 820,
Create work instruction data with appropriate software.

FIG. 18 is an explanatory view showing the flow of data processing. The absolute position data received by the GPS receiver 500 is transmitted to the controller 200 of the automatic lawnmower via the receiving controller, and further, It is sent to the personal computer 800. The personal computer 800 creates topographical data and obstacle data based on the survey data, and synthesizes these to create map data. This processing is performed within the map data creation phase 802. In the work instruction phase 804 in the personal computer 800, a movement path path of the lawnmower is created based on the map data, and operation data regarding driving operation and work operation in this path is created. The created work instruction data is used by the lawn mower controller 2
00. PC 800 and controller 20
The transfer of data between 0 is performed, for example, via a floppy disk.

FIG. 19 shows an example of work instructions displayed on the screen of the personal computer 800. The work procedure for cutting the grass on the fairway F of the golf course in the direction indicated by the arrow is displayed. The lawn mowing is started from the start point SF, and the lawn mowing is executed while returning to the return area SR. Avoiding the sand bunker SB and the like adjacent to the fairway F, the movement and the lawn mowing work are continued, and when the lawn mowing of all the work areas is completed, the process returns to the start point SF. Prior to the start point SF, an approach start point SP at which the lawnmower starts the approach from a stationary state may be set.

FIG. 20 shows a screen when the work area is divided into blocks and a lawn mowing operation is instructed. The block is rectangular, and the block is arbitrarily specified with priority on work efficiency.

FIG. 21 exemplifies a turn-back pattern in the turn-back area SR, and each turn-back pattern is selected according to the terrain and is used as a work instruction. Also, the lawn mowing direction can be selected from a pattern for mowing in the parallel direction and a pattern for mowing in a spiral.

FIG. 22 is a flow chart showing the transition of operation modes. In the process started in step S200, the power of the controller is turned on in step S201, and the controller is initialized in step S202. After checking the completion of initialization in step S203, the engine is started in step S204, and the operation start process is completed.

In step S205, the operation mode is selected. There are three types of operation modes: teaching / surveying mode, manual mode, and automatic mode. When the auto mode is selected, the auto mode operation is executed in step S210, the operation end is checked in step S230, the engine is stopped in step S232, the controller power is turned off in step S234, and the operation ends. The processing is completed, and all the processing is ended in step S240. When the teaching / surveying mode is selected, the operation mode is selected in step S220l. In the teaching mode, the teaching mode operation is executed in step S222, and in the surveying mode, the surveying mode is executed in step S221.

FIG. 23 is a flow chart showing the processing of the manual mode operation. Each process from the start of step S300 to the end of step S317 is shown.

FIG. 24 is a flow chart showing the processing of the automatic mode operation. Each process from the start of step S400 to the end of step S430 is shown.

FIG. 25 is a flow chart showing the processing of the surveying mode operation. Each process from the start of step S500 to the end of step S530 is shown.

FIG. 26 is a flow chart showing the processing of the teaching mode operation. Each process from the start of step S600 to the end of step S620 is shown.

FIG. 27 is a flowchart showing the operation processing. From the start-up of the online teaching software system using a personal computer, the creation and correction of lawnmower operation data,
A series of processes up to loading the operation data into the lawnmower is shown.

FIG. 28 is an explanatory view showing the operating means of the lawn mower body 1. The operator OP carries the transmitter 560 and sends a command to the wireless receiver 550 of the lawnmower body to control the lawnmower body 1.

FIG. 29 is an explanatory view showing another operation means of the lawnmower main body 1. Operator OP is a personal computer 800
While sending and receiving data to the transceiver 560 via the, and transmitting and receiving data between the transceiver 550 and the lawn mower body 1,
Take control.

FIG. 30 is an explanatory view showing a processing means when an abnormality occurs in the lawnmower main body 1 operating in the automatic mode. When the lawnmower main body 1 self-detects that an abnormality has occurred, the transceiver 550 notifies the transceiver 560 installed in the management room 570. This data is modem 562
Is transferred to the pager 564 carried by the manager OP, and the manager OP rushes to the site and recovers the abnormal state of the lawnmower main body 1.

[0045]

As described above, the present invention uses a mobile work machine equipped with a radio navigation system using GPS to measure a target area of work by manned driving and create map data. The created map data can be processed on a personal computer to create work data, which can be given to a mobile work machine to achieve unattended automatic work.

[Brief description of drawings]

FIG. 1 is a plan view of a mobile work machine according to the present invention.

FIG. 2 is a side view of the mobile work machine of the present invention.

FIG. 3 is a control circuit diagram of the mobile work machine according to the present invention.

FIG. 4 is an explanatory diagram of a GPS fixed station used in the mobile work machine of the present invention.

FIG. 5 is a plan view of a golf course as a work target.

FIG. 6 is a side view of a golf course which is a work target.

FIG. 7 is an explanatory diagram showing a relationship between a position of a GPS satellite and a range error.

FIG. 8 is an explanatory diagram showing a relationship between a position of a GPS satellite and a range error.

FIG. 9 is a flowchart of control processing.

FIG. 10 is an explanatory diagram of an operation panel.

FIG. 11 is a flow chart of processing of driving.

FIG. 12 is an explanatory diagram showing a survey using GPS.

FIG. 13 is an explanatory diagram showing a survey using GPS.

FIG. 14 is an explanatory diagram showing an example of the topography to be surveyed.

FIG. 15 is an explanatory diagram showing surveying using GPS.

FIG. 16 is an explanatory diagram showing an example of the terrain to be surveyed.

FIG. 17 is an explanatory diagram showing a personal computer system for data processing.

FIG. 18 is an explanatory diagram of a data processing method.

FIG. 19 is a diagram showing a personal computer screen for creating work data.

FIG. 20 is a diagram showing a personal computer screen for creating work data.

FIG. 21 is an explanatory diagram showing a movement pattern.

FIG. 22 is a transition diagram of operation modes.

FIG. 23 is a flowchart of the process of manual mode operation.

FIG. 24 is a flow chart of processing in auto mode operation.

FIG. 25 is a flowchart of the process of survey mode operation.

FIG. 26 is a flowchart of the process of teaching mode operation.

FIG. 27 is a flowchart of the operation.

FIG. 28 is an explanatory diagram showing an automatic driving method.

FIG. 29 is an explanatory diagram showing an automatic driving method.

FIG. 30 is an explanatory diagram showing an automatic driving method.

[Explanation of symbols]

 1 Mobile Work Machine 10 Mobile Work Machine Main Body 20 Frame 22 Front Wheel 24 Steering Wheel 30 Engine 60 Steering Wheel 70, 72 Cutting Unit 100 Hydraulic Pump 200 Control Unit 400 Internal Sensor 500 GPS Sensor 600 Main Operation Panel 650 Cutter Operation Panel 700 Fixed Station

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G09B 29/00 G09B 29/00 Z // G01C 21/00 G01C 21/00 A (72) Inventor Yuji Matsuda 7-1, 1-1 Higashi Narashino, Narashino, Chiba Prefecture Industrial Equipment Division, Hitachi, Ltd. (72) Inventor Noriyuki Kamiya 7-1 Higashi Narashino, Narashino City, Chiba Prefecture (72) Industrial Equipment Division, Hitachi, Ltd. (72) Inventor Toshihiro Aono 502 Jinrachicho, Tsuchiura-shi, Ibaraki Machinery Research Institute, Hiritsu Manufacturing Co., Ltd. (72) Inventor Masami Otomo 7-1-1 Higashi Narashino, Narashino City, Chiba Prefecture Hitachi Keiyo Engineering Co., Ltd. (72) Inventor Kenji Kiyono 1-1-1, Higashi Narashino, Narashino, Chiba Prefecture, Hitachi Keiyo Engineering Co., Ltd. (72) Inventor Kazuo Kobayashi 4-6, Kanda Surugadai, Chiyoda-ku, Tokyo Hitachi Industrial Co., Ltd.

Claims (4)

[Claims] 1. A vehicle having drive wheels and steered wheels, a working unit mounted on the vehicle, an engine mounted on the vehicle, a means for driving each wheel and the working unit by the power of the engine, and a unit mounted on the vehicle. And a controller for receiving radio waves from GPS satellites and radio waves from a fixed station on the ground, and a radio navigation device for automatically driving a vehicle. A method of operating a mobile work machine that measures the terrain by measuring the current position while operating the work machine. 2. A vehicle having drive wheels and steered wheels, a working unit mounted on the vehicle, an engine mounted on the vehicle, means for driving each wheel and the working unit by the power of the engine, and mounted on the vehicle. And a controller for receiving radio waves from a GPS satellite and a fixed station on the ground, and a radio navigation device for automatically driving a vehicle. Method for operating a mobile work machine that executes work by unmanned operation based on the work data that is stored. 3. A vehicle having drive wheels and steered wheels, a working unit mounted on the vehicle, an engine mounted on the vehicle, a means for driving each wheel and the working unit by the power of the engine, and a unit mounted on the vehicle. And a device for receiving a radio wave from a GPS satellite and a radio wave from a fixed station on the ground, and a radio navigation device for automatically driving a vehicle. A step of obtaining topographical data by measuring the current position while operating the mobile work machine by a manned person, a step of creating map data based on the topographical data, and a movement route data of the mobile work machine based on the map data. And a step of creating operation data of the mobile work machine based on the travel route data, a method of creating work data of the mobile work machine. 4. The method for creating work data of a mobile work machine according to claim 3, wherein in the step of creating operation data of the mobile work machine, the operation data is created by dividing an area to be worked into rectangular blocks.