JPH10124143A - Guidance controller for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a guidance controller for a moving vehicle which does not make the work for installing a guide line troublesome and also always performs correct guidance control regardless of the change of installing place of the guide line. SOLUTION: In the guidance controller, guide lines 2 to which current is supplied form current supply sources 3 are installed on the ground side. The guidance controller has a controller 1 which controls the traveling state of a moving vehicle V that should be performed guidance traveling in plural prearranged traveling courses which separate the vehicle V from the lines 2 based on detection information of a magnetic field detecting means GK which detects the intensity of magnetic field that is formed by current as distance information from the lines 2. In such cases, the liens 2 are installed on the ground side with their outward part and homeward part that forms a closed loop through which current than is fed from current supply sources conducts positioned in appropriate intervals in a flat plane sight.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling operation means provided on a ground side with a guide wire to which a current is supplied from a current supply source, and a traveling operation means capable of controlling a traveling state on a moving vehicle side, and formed by the current. A magnetic field detecting means for detecting the strength of the magnetic field to be detected as distance information from the guide line, and a plurality of moving vehicles separated from the guide line based on the distance information detected by the magnetic field detecting means. The present invention relates to a guidance control device for a mobile vehicle, provided with control means for controlling the traveling operation means so as to perform guided traveling on a scheduled traveling route.

[0002]

2. Description of the Related Art A guidance control device for a mobile vehicle having the above-mentioned structure has a magnetic field formed by a current supplied to a guidance wire.
Since it has characteristics determined according to the distance from the guide line, the mobile vehicle can be guided and run based on the detection information of the strength of the magnetic field.

[0003] In the guidance control device having the above-described configuration, conventionally, for example, Japanese Patent Application No. 6-1843 filed earlier by the present applicant.
As shown in No. 37, there has been a configuration in which a closed circuit of a current supplied from a current supply source is configured by a closed circuit passing through an induction wire and underground.

[0004]

SUMMARY OF THE INVENTION In the guidance control device having the above-described structure, in order to supply a current to the induction wire, a closed circuit for passing the current is formed by effectively utilizing the underground. In the case where a long guide wire is installed, the time and labor required for installation of the guide wire are reduced.

[0005] However, in such a configuration in which the current flows using the underground, if the installation location of the guide wire is different, the ground resistance to the underground changes due to soil properties, water content, and the like. Thus, there is a high possibility that the current supplied to the induction wire fluctuates. As a result, there is a possibility that the magnitude of the current serving as a reference for the guidance control of the mobile vehicle fluctuates, and the guidance control of the mobile vehicle cannot be performed properly.

Therefore, in order to avoid such disadvantages, it is necessary to perform a special grounding work to adjust the grounding resistance to be within an allowable range, or to adjust the grounding resistance every time the guidance control is executed. For example, there is a disadvantage that the construction work for installing the guide wire requires rather troublesome work, and there is room for improvement in this respect.

[0007] The present invention has been made in view of such a point, and its object is to minimize the trouble of installing the guide wire, and regardless of the change in the installation place of the guide wire. Another object of the present invention is to provide a guidance control device for a mobile vehicle that can always perform appropriate guidance control.

[0008]

According to the first aspect of the present invention, the guide wire to which the current for guiding the mobile vehicle is supplied is supplied from the forward path portion and the current supply source. And a return section for forming a closed loop through which a current flows through are arranged at an appropriate distance in plan view on the ground side.

Therefore, the current supplied from the current supply source flows through each of the forward path portion of the guide line located on the moving vehicle side and the return path portion of the guide line for forming a closed loop. In other words, by configuring a series of closed circuits through which current can flow through only the induction wire, the installation location is different from when the current flows through the underground as in the conventional configuration. Even in such a case, the possibility that the electric resistance in the closed circuit fluctuates due to soil properties, ground resistance, and the like is reduced, and the current supplied to the induction wire is stabilized accordingly.

In addition, no special construction is required to ground the guide wire to the ground, and the installation of the guide wire can be reduced.

As a result, the installation time of the guide wire is reduced,
Moreover, even when the guidance target location of the mobile vehicle is different, the current flowing through the guidance line does not greatly fluctuate from a preset current value, and it is possible to always perform appropriate guidance control stably. It has become possible.

According to the characteristic configuration of the present invention, the outgoing path portion of the guide line is installed along the respective planned traveling routes, and the return path portion is parallel to the outgoing path portion. Or installed so as to be almost parallel,
The control unit is configured to control the traveling operation unit based on the separation distance information detected by the magnetic field detection unit so as to guide the moving vehicle along each of the planned traveling routes.

That is, if the forward path is installed along each of the planned traveling paths and the distance from the guide line is constant, the strength of the magnetic field detected by the magnetic field detecting means is the same. Therefore, in the scheduled traveling route separated from the guide line by the set distance, for example, the guidance control is performed so that the detection value of the magnetic field detection unit is maintained at the target value of the magnetic field strength corresponding to the set distance. Thus, it is possible to perform guided traveling along the planned traveling route.

[0014] Further, since the return path is installed so as to be parallel or substantially parallel to the forward path,
The combined magnetic field of the magnetic field formed by the current flowing in the return path and the magnetic field formed by the current flowing in the forward path is
Although the strength of the magnetic field in the scheduled traveling route is obtained, the forward and backward portions are installed in parallel or almost in parallel, so that the magnetic field does not greatly change as the vehicle travels on the scheduled traveling route, and the guidance control is improved. It can be performed in a stable state.

According to the characteristic configuration of the third aspect, the outgoing path portion of the guide line is installed along a direction intersecting with each of the planned traveling routes, and the return path portion is provided with the guide line. The control unit is installed so as to be parallel or substantially parallel to the outward path portion, and based on the separation distance information detected by the magnetic field detection unit, the moving vehicle is located at the end of each of the planned traveling paths. Then, the control state of the travel control means is switched.

That is, the forward path is installed along a direction intersecting with each of the planned traveling paths, and a point separated from the guide line by a set distance is located at an end of the planned traveling path. For example, when the detection value of the magnetic field detection means reaches the target value of the magnetic field strength corresponding to the set distance, it can be determined that the moving vehicle is located at the end of the planned traveling route, and for example, It is possible to switch the control state of the traveling control means, such as starting traveling or ending a turn.

[0017] Further, since the return section is installed so as to be parallel or substantially parallel to the forward section,
The combined magnetic field of the magnetic field formed by the current flowing in the return path and the magnetic field formed by the current flowing in the forward path is
Although the strength of the magnetic field at the end of the planned traveling route is obtained, since the forward path portion and the return path portion are installed in parallel or almost parallel, the magnetic field may greatly change at each end position of the plurality of planned traveling routes. Therefore, it is possible to position each end position with as high accuracy as possible.

According to a fourth aspect of the present invention, there is provided an agricultural work vehicle in which the traveling vehicle travels along a plurality of scheduled traveling routes in a field, and performs the work.
The outgoing path is located along one side in the width direction of the ridge in the field, and the return path is located along the other side in the width direction of the ridge on the ground side.

When the agricultural work vehicle is guided along each scheduled travel route, work is performed in the field. In addition, the outgoing path portion of the guide line is located along one side in the width direction of the ridge, and the return path portion is installed along the other side in the width direction of the ridge. That is, it is installed using the boundary between the ridge and the field.

Therefore, even when the agricultural work vehicle runs in the field, the guide line does not interfere with the agricultural work vehicle, and
In addition, even when a worker assists the work or a farm work vehicle moves on the ridge, the possibility that the guide line interferes can be minimized.

As a result, by adopting a rational installation form of the guide wire, it is possible to effectively control the guidance of the moving vehicle without disadvantage such as being damaged by interference with external objects. It became.

According to the characteristic configuration of the fifth aspect, the guide wire is installed in a state of being placed on the ground surface on the ground side.

Therefore, the guide wire can be installed simply by placing it on the ground surface. For example, the guide wire can be easily installed without troublesome work such as embedding it in the ground over a long distance, and can be removed. In this case, simple work can be performed without any trouble.

According to a sixth aspect of the present invention, the output signal of the strength of the magnetic field detected by the magnetic field detecting means and input to the control means is set to an appropriate level for the control operation of the control means. A gain adjusting means for adjusting an output gain of the magnetic field detecting means is provided.

A current flowing in a forward path portion of the induction wire;
Since the direction of the current flowing in the return path is opposite to the direction of the current, the magnetic field formed by each acts so as to cancel each other out. The output gain of the magnetic field detection means is adjusted by the gain adjustment means so that the output signal of the magnetic field strength is at an appropriate level for the control operation of the control means, although it is smaller than that of the conventional configuration having only one. Therefore, appropriate guidance control can be executed.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a guidance control device for a mobile vehicle according to the present invention will be described. The guidance control device for mobile vehicles
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 moved along each of a plurality of traveling paths k parallel to each other along the longitudinal direction of the field 1. It is configured so that the vehicle can be guided and guided in an unmanned state.

On each side (ridge) in the outer peripheral portion of the field 1,
Each of the guide wires 2 having substantially the same length as the length of the ridge is installed along the longitudinal direction of the ridge, and an alternating current having a predetermined frequency is supplied to each of the guide wires 2 by a current supply source. 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. Alternating currents of frequency fb (Hz) and frequency fd (Hz) are supplied by the respective current supply sources 3 to the respective guide wires 2b and 2d that are supplied and installed on the ridges on both sides along the short direction. The frequency ranges from several hundred Hz to several tens KHz.
Set to about.

[0028] Each of the guiding line 2a, 2c includes a forward portion 2 _OL thereof, the current supplied from the current source 3 and a return portion 2 _FL for forming a closed loop flowing, suitably in a plan view It is installed on the ground side at a distance. Specifically, as shown in FIG. 2, the forward portion 2 _OL is positioned along the one widthwise side of ridge AZ in the field, the return portion 2 _FL along the widthwise direction other side of the ridge AZ There in a state of being placed on the ground the ground surface in a state that position and, the backward part 2 _FL, are installed to be parallel or substantially parallel to said forward portion 2 _OL. That is, ridge A
It is installed in a loop by effectively utilizing the boundary between Z and the field scene.

When a current flows through the guide 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 guide wire 2 can be obtained by calculation. The strength of the magnetic field is inversely proportional to the square of the distance from the guide wire 2. Then, the reversed direction to each other and the forward part 2 the current flowing through the current and the return portion 2 _FL flowing through the _OL, the magnetic field to be formed acts as cancel each other in the opposite direction, the appropriate distance from one another in a plan view As shown in FIG. 3, the characteristics of the change in the magnetic field strength with respect to the distance from the guide wire 2 are determined, so that the magnetic field strength at a certain point in the field 1 is The size is almost constant.

FIG. 3 shows actual measurement data by the present applicant. A current of about 3 amps is supplied to the guide wire, and the length of each of the forward section _2OL and the return section _2FL is about 80 meters. , Their spacing in plan view is about 1 meter,
In a substantially intermediate position of the forward portion 2 _OL, in which the distance between the magnetic field strength at that point from the guide wire was measured.

The work vehicle V is provided with a rotary tillage device 6 as a ground work device at the rear of the four-wheeled traveling vehicle body 5, so that the ground work (tiling work) of the field 1 can be performed while traveling. It is configured as an agricultural work vehicle.
An engine is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel via a transmission equipped with a forward / reverse switching mechanism 7 capable of turning on and off the power transmission so that the vehicle travels. , The power of the engine is a rotary tilling device 6
Is to be conveyed to. The left and right front wheels are provided so as to be steerable by an electric motor 9.

The working vehicle V has a traveling distance sensor 10 as a distance detecting means, for example, a rotary encoder for detecting the traveling distance of the vehicle body by detecting the number of revolutions of the axle, and the direction of the vehicle body. An azimuth sensor 11 as azimuth detecting means, a control device 12 using a microcomputer as control means for controlling operations of the forward / reverse switching mechanism 7, the steering electric motor 9, and the like are provided. The forward / reverse switching mechanism 7 and the steering electric motor 9 constitute traveling operation means SS capable of operating the traveling state of the work vehicle.

At the front of the traveling vehicle body 5, the strength of the magnetic field formed by the alternating current supplied to each of the guide lines is detected as information on the position (separation distance) of the work vehicle with respect to each of the guide lines. The three magnetic field sensors 13R, 13L located on the left and right sides are provided in a state where they are arranged side by side along the vehicle body width direction. Guide lines 2a, 2 installed along
c is detected as the strength of the magnetic field formed by the alternating current having the frequency fa and the frequency fc. Is configured to detect the position information from each of the guide wires 2b and 2d installed along the ridges on both sides along the short-length direction as the strength of the magnetic field formed by the alternating current having the frequency fb and the frequency fd. I have.

Then, the control device 12 moves the work vehicle V along each traveling path k on each of the plurality of traveling paths k based on information detected by the side magnetic field sensors 13R and 13L as the magnetic field detecting means GK. Guide traveling control for causing the vehicle to perform guided traveling is performed, and based on the detection information from the central magnetic field sensor 14, it is detected that the traveling route k has reached the terminal end or the starting end, and that the reaching of the terminal end has been detected. Then
The vehicle is configured to perform a turning control to cause the work vehicle V to turn around and guide the vehicle to enter an adjacent next traveling route.

That is, as shown in FIG. 4, the outputs of the side magnetic field sensors 13R, 13L and the central magnetic field sensor 14 are respectively processed by the signal processing unit 15 and then given to the control unit 12, where Based on the detection information, the steering electric motor 9 is guided so as to be guided along each traveling route k.
At the end of the traveling route k, the magnetic field detection information and the direction sensor 11 and the traveling distance sensor 1
Based on the detection information of 0, the steering electric motor 9, the forward / reverse switching mechanism 7, and the like are controlled so as to make a cornering run.

As shown in FIG. 5, the central magnetic field sensor 14 includes a detection coil 16a in which an induced electromotive force is generated by an alternating magnetic field formed by an alternating current flowing through the induction wires 2b and 2d, and an output of the detection coil 16a. 16b that amplifies the current to a predetermined level, and the frequency f of the current flowing through each of the induction wires 2b and 2d in the output of the detection coil 16a.
It is configured to include a band-pass filter BPF as a frequency filter that passes only the outputs corresponding to b and fd, a DC conversion circuit DC that converts the output to a DC signal, and the like.

The side magnetic field sensors 13R and 13L respectively include a vertical detecting coil 17 for detecting a magnetic field component of an alternating magnetic field formed by an alternating current flowing through the induction wires 2a and 2c along the vehicle vertical direction, and a vehicle width direction. Width detecting coil 18 for detecting a magnetic field component along the line, and amplifiers 19 and 2 for amplifying the output of each detecting coil to a predetermined level.
0, a band-pass filter BPF as a frequency filter that passes only the output corresponding to the frequencies fa and fc of the currents flowing through the induction wires 2a and 2c among the outputs of the detection coils 17 and 18, and converts the output to a DC signal DC conversion circuit DC, and calculation units 21 and 22 for calculating the strengths of the respective magnetic fields based on the vertical component and the horizontal component corresponding to each of the frequencies fa and fc. I have. As shown in FIG. 12, the calculation units 21 and 22 calculate the strength of the composite magnetic field r based on the triangle theorem based on the vehicle body vertical component p and the lateral width component q. It is configured.

With this configuration, for example, FIG.
As shown in FIG. 2 (a), even when the work vehicle V is running and one of the wheels enters the concave portion and the vehicle body is inclined at an angle θ from the horizontal position, the vehicle is supplied to the guide line. The magnetic field formed by the currents
As shown in FIG.
By calculating the resultant magnetic field by calculation, the strength of the accurate magnetic field, that is, the separation distance from the guide wire can be accurately detected.

As described above, 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
As shown in the figure, each of the magnetic field sensors 13R, 13L, 14
Is output to the control device 12, and the control device 12 determines the output having the higher detection level among the outputs of different frequencies of the magnetic field sensors 13R, 13L, and 14 and selects the output. Analog switches AS _1,
AS _{2 and} AS ₃ are configured to supply a selection signal.

Based on the detection information of the central magnetic field sensor 14, the control device 12 separates from the guide wire 2b or 2d, which is installed on the ridge 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. In addition, this guide wire 2
In b and 2d, a current closed circuit is formed using the underground as a return path portion for passing a current.

As described above, the reason why the end position of the traveling route k is set inward of the end of the field 1 is that, 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.

As shown in FIG. 8, each guide wire 2 has
As a frequency filter which is an example of a current suppressing unit that suppresses a current flowing through another induction wire from flowing through the ground, a band-pass filter 23 that allows passage of only a frequency of a current supplied to the induction wire is provided. Have been. The band-pass filter 23 is configured by a resonance circuit in which a coil 23a and a capacitor 23b are connected in series, and is configured such that its resonance frequency corresponds to the frequency of the current. Therefore, even if a current of a different frequency flows through the ground from another induction wire, the inflow current is suppressed from flowing through the induction wire, and the possibility that each magnetic field sensor detects erroneous information is minimized. I have.

The signal processing unit 15 controls the output of the intensity of the magnetic field, which is detected by the magnetic field detecting means GK and is input to the control device 12, to an appropriate level for the control operation of the control device 12. A gain adjusting unit TU for adjusting the output gain of the magnetic field detecting unit GK is provided. More specifically, each of the side magnetic field sensors 13R, 13R
Each of the analog switches AS ₁ and AS corresponding to the detection information of L
The amplification gain for amplifying the output of ₃ is
It is configured to change and adjust in a plurality of steps (four steps) based on the switching information from. In other words, the control device 12 is connected to the analog switches AS ₄ and AS ₅ for inputting any of the outputs of the four amplifiers 24, 25, 26 and 27 having different amplification gains to the control device 12.
Is configured to instruct selection contents. As described above, the strength of the magnetic field formed by the current supplied to the induction wire greatly changes with the change in the separation distance, and when the amplification gain is kept constant, the strength is appropriate over the entire range. Since it is difficult to detect with a high resolution and the detection accuracy may be reduced, when the input level to the control device 12 changes, for example, as shown in FIG. In other words, the amplification gain is automatically adjusted so that an appropriate change in the magnetic field strength can be identified, in other words, an appropriate output range having an appropriate resolution.

Each of the side magnetic field sensors 13R and 13L is
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 . In other words, 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. In such a state, the information is sequentially stored in a memory M as a storage means.

In the next traveling path k in which the magnetic field detection information is stored, the control unit 12 calculates the magnetic field detection information stored in the memory M and the end position of the traveling path k detected by the traveling distance sensor 10. based of on the travel distance information, it obtains a target value of the strength of the magnetic field at each point on the travel route k, and its target value, the side magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route Is configured to execute guided traveling control for driving and controlling the traveling electric motor 9 based on the deviation from the detected value.

The control device 12 also controls the magnetic field detector G for the current traveling route when the vehicle is guided along the next traveling route k based on the magnetic field detection information stored in the memory M.
Sets a target value of the output gain of K _1, prior to the induction travel in the next travel path k, is configured to automatically adjust the output gain to the target value. Specifically, if the maximum value of the magnetic field strength stored in the memory M exceeds the set upper limit value for gain adjustment, an amplifier having a gain one stage lower than the current gain is selected, and If the value is less than the lower limit value for gain adjustment, a selection signal is issued to the analog switches AS ₄ and AS ₅ so that an amplifier having a gain one stage higher than the current gain is selected. Has become. Each analog switch AS ₄ , A
Gain of S ₅ is always to be adjusted to the same value. The set upper limit and the set lower limit for the gain adjustment are
It is set as an upper and lower limit range in which the linearity of the output change as an analog value is guaranteed.

[0047] The control unit 12 includes a detection value of the lateral magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route, a steering operation amount deviation is multiplied by a control constant of the target value, i.e. , And a target operation amount of the electric motor is obtained. Then, the magnetic field detector GK for the current traveling route
₁ and based on the magnetic field strength of the detection information detected by the magnetic field detector GK ₂ for the next travel route, the time of traveling the following travel route, as the operation amount is a proper range, the control It is configured to correct the constant.

Next, the control operation of the control device 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 this time, the detection of the traveling magnetic field sensor 10 and the detection information of the side magnetic field sensor (the sensor 13R on the right side in the case of FIG. 1) of the next traveling route along with the start of traveling from the starting end position of the traveling route k. The information is sequentially written and stored in the memory M in a state where the information is associated with the information. Also, among a plurality of data sampled at every set time as the vehicle travels on the first travel route, a plurality (n) of the respective detection values of the left and right side magnetic field sensors 13R and 13L near the center of the travel route. An average value of the difference values of the sampling data α ₁ ... Α _n , β ₁ ... Β _n is obtained, and the steering on the traveling route is determined based on the average value and a constant γ set in advance based on experiments or the like. previously obtained control constants for the control as a reference control constants G _1. Specifically, the calculation is performed based on the following [Equation 1].

[0049]

(Equation 1)

Then, the work vehicle is moved to the starting end of the next traveling route k.
After moving to, automatic guidance control is started.
Prior to that, as shown in FIG.
Magnetic field detector GK₁Side magnetic field sensor that functions as
In the case of 1, the sensor 13L on the left side is initialized.
Together with step 1) before it is applied on that route
The control constant is set (step 2). Of this control constant
To explain the setting, the starting point of the current travel route
Of the left and right side magnetic field sensors 13R and 13L
The difference value Zn of the output value is obtained, and the difference value Zn
Difference value Z in traveling route₁And the reference control constant G
₁Based on the following [Equation 2]
Control constant Gn is calculated. Note that each of the difference values Z
n, Z₁Is set sampling for each driving route
The average value of multiple detection values sampled every time
Is calculated.

[0051]

Gn = (Z ₁ / Zn) · G ₁

The setting of such control constants is executed for each traveling route at the beginning of the route.

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 M and the detection information of the traveling distance sensor 10, the current position on the traveling route k is determined. seeking a target value of the strength of the magnetic field, the steering operation amount deviation is multiplied by a control constant between the detection value and the target value of the lateral magnetic field sensor 13L functioning as the magnetic field detecting unit GK ₁ for the current travel route The steering electric motor 9 is drive-controlled to obtain the steering operation amount (step 3). When the guided travel control is performed, the side magnetic field sensor follows the travel path side that functions as the magnetic field detecting unit GK ₂ for the next travel path (right side of the sensor 13R in the case of FIG. 1)
Are sequentially written and stored in the memory M in a state in which the detection information of step (1) corresponds to the detection information of the traveling distance sensor 10 (step 4).

When it is detected based on the detection information of the central magnetic field sensor 14 that the terminal of the traveling route k has been reached,
The number n of traveling routes is counted up (steps 5 and 6),
If the count value has not reached the set number of routes ns of in the field 1 (step 7), the memory M to write the stored magnetic field strength maximum value Xm of, beyond the gain adjustment setting an upper limit value S _GM The analog switch AS so that an amplifier having a gain one stage lower than the current gain is selected.
₄ , a selection signal is instructed to AS ₅ to change the output gain to the lower side (steps 8 and 9). The maximum value Xm
Is smaller than the set lower limit value _SGL for gain adjustment, a selection signal is instructed to the analog switches AS ₄ and AS ₅ so that an amplifier having a gain one stage higher than the current gain is selected. , The output gain is increased (steps 10 and 11). When the output gain is changed in this way, the control constant is also appropriately corrected in accordance with the change amount (steps 12 and 13).

In this way, the electric motor is always driven and controlled with an appropriate control constant according to the detected value of the strength of the magnetic field and the changing situation of the output gain, so that hunting of the control and occurrence of a detection error occur. As much as possible.

Next, the side magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route is switched to that of the opposite side (the right side of the sensor 13R) (step 14). This is because their positional relationship is reversed by a change in the direction of the vehicle body.

Next, turning control for turning the vehicle in a turning direction so as to be positioned at the start end of the next traveling route k is executed (step 15). As shown in FIG. 13 (a), after the vehicle travels straight ahead while maintaining the steering operation in the neutral state for a set distance from the end position of the traveling route k, the direction sensor 11 is reset, and the direction of the vehicle body is set to 180. The vehicle travels at the maximum turning angle until it is detected that the vehicle has been inverted, and then travels straight until it is detected that the start point of the next travel route k has been reached based on the detection information of the central magnetic field sensor 14. (Step 16).

At the beginning of the next traveling route,
As shown in FIG. 13B, based on the detection information of the side magnetic field sensor functioning as the magnetic field detector for the current traveling route k and the storage information stored in the memory M, the next traveling route is determined. It is necessary to move the vehicle forward while turning so as to be in line with the vehicle, and to perform the width adjustment. At this time, the magnetic field detection information for the next traveling route is in a bent state. The state is corrected to an appropriate state based on the detection information of the path and the detection information of the degree of change in the magnetic field as described above. After that, the guided traveling control is executed in a state along the traveling route.

After it is detected based on the detection information of the central magnetic field sensor 14 that the starting point of the next traveling route k has been reached, the detection value of the magnetic field detector GK ₁ for the current traveling route and the target When the set time elapses after the deviation from the value (stored information) falls within the set range and the value is stabilized, the above-described setting of the control constant is executed. That is, the left and right side portions field sensor 13R in the current travel route, the difference value Zn of the detected value of each of 13L, based on the difference value Z ₁ and the reference control constants G ₁ in the first traveling path, above [equation 2 ], The control constant Gn in this traveling route
Is calculated. Note that the difference value Zn in the current traveling route
Is calculated based on the detection information on the start end side.

Thereafter, the above-described guided traveling control is executed. At this time, if the gain has been changed in steps 9 and 11, the amount of change in the detection information stored in the memory M is also changed. Is multiplied by a gain corresponding to the target value. Then, steps 2 to 15 are repeated to guide the work vehicle V sequentially along each traveling route k, and when the number reaches the set number of routes ns, the control ends (step 7).

In the current traveling route k, the previous traveling route k
Is controlled so that the strength of the magnetic field stored when traveling on the vehicle and the detected magnetic field on the current traveling route k are the same, and the installation interval of each of the side magnetic field sensors 13R and 13L is determined by a rotary tiller. Since the work width of the rotary tilling device 6 is set to be narrower than the ground work width of No. 6, the work area of the rotary tilling device 6 is wrapped on each traveling path k, and no unworked area is generated. Further, the installation intervals of the side magnetic field sensors 13R and 13L are configured to be changeable and adjustable.

[Other Embodiments] (1) In the above embodiment, the guide wires 2a and 2c installed along the ridges on both sides along the long direction of the field 1 are installed in a loop so as to surround the ridges. The guide lines 2b and 2d installed on the ridges on both sides along the short direction are
It may be configured to be installed in a loop shape so as to surround the ridge.
Then, instead of the configuration of the above-described embodiment using the magnetic field detection information for each of the guided driving control of the moving vehicle along each scheduled traveling route and the control for detecting the end of each scheduled traveling route, The magnetic field detection information may be used only for

In this case, when only the guidance driving control is used, the end detection may be performed by, for example, irradiating a laser beam in the lateral direction at the end of the path and detecting the laser light with a sensor. The end may be detected,
Alternatively, the present invention may be implemented in various configurations, such as a configuration in which a mobile unit is instructed to reach the end of the route by wireless information from a control unit fixed on the ground.

When the magnetic field detection information is used only for edge detection, a laser beam is irradiated along a traveling route as guidance control for a moving vehicle, and a sensor for detecting the laser beam is used. The vehicle may be guided so as to detect a laser beam, or may be guided by wireless control.

(2) In the above embodiment, the gain adjusting means is configured to switch the gain to four stages. However, the number of stages may be changed, or the gain may be changed and the number of stages may be changed. Alternatively, the amplification factor may be changed and adjusted steplessly. Further, a configuration in which such automatic adjustment of the output gain is not performed may be adopted.

(3) In the above-described embodiment, the case where the guide lines are provided on both the left and right sides of the guidance target area has been exemplified. However, the guide lines may be provided on only one side. May be guided sequentially from a traveling route closer to the guide line to a route farther away, or may be sequentially guided from a traveling route farther from the guide line to a route closer to the guide line.

(4) In the above-described embodiment, the four-wheel type mobile vehicle is configured such that the left and right front wheels are provided to be steerable and swingable. However, all four wheels are provided to be steerable and swingable, and the front and rear wheels are provided. It is possible to adopt a configuration that makes a turn with a small turning radius that swings in different directions from each other, and a running configuration in which the front and rear wheels swing in the same direction and the moving vehicle moves in parallel in an oblique direction. There may be. Further, a configuration in which a pair of left and right crawler traveling devices are provided and a steering operation configuration for applying braking to one side may be employed.

(5) In the above embodiment, the rotary tilling device is provided as a moving vehicle. However, the mobile device may be provided with a seedling transplanting device, a chemical spraying device, or the like. It may be a mobile vehicle such as a transport vehicle that does not include the vehicle.

[Brief description of the drawings]

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

FIG. 2 is a diagram showing an installation state of a guide wire;

FIG. 3 is a diagram showing a magnetic field intensity 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 an induction wire.

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

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a plan view of a moving vehicle.

FIG. 12 is a diagram showing a magnetic field detection state.

FIG. 13 is a diagram showing a turning control state.

[Explanation of symbols]

2 Guidance line 2 _OL forward path 2 _FL return path 3 Current supply source 12 Control means GK Magnetic field detection means SS Traveling operation means TU Gain adjustment means V Moving vehicle

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yuji Yamanaka 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (6)

[Claims] 1. A guide line to which a current is supplied from a current supply source is provided on the ground side, a traveling operation means capable of controlling a traveling state, and a strength of a magnetic field formed by the current on a moving vehicle side. Magnetic field detecting means for detecting as a distance information from the guide line, and guiding the vehicle on a plurality of scheduled traveling paths separated from the guide line based on the distance information detected by the magnetic field detecting means. A guidance control device for a mobile vehicle, comprising: a control unit that controls the traveling operation unit so as to control the traveling operation unit, wherein the guidance line has a forward path portion and a current supplied from the current supply source. A guidance control device for a mobile vehicle installed on the ground side in a state where a return section for forming a closed loop is located at an appropriate interval in plan view. 2. The outgoing route portion of the guide line is installed along the respective scheduled traveling routes, and the return route portion is installed so as to be parallel or substantially parallel to the outgoing route portion, The control unit is configured to control the traveling operation unit based on the separation distance information detected by the magnetic field detection unit so as to guide the traveling vehicle along each of the planned traveling routes. 2. The guidance control device for a mobile vehicle according to claim 1. 3. The outgoing route portion of the guide line is installed along a direction intersecting with each of the planned traveling routes, and the return route portion is parallel or substantially parallel to the outgoing route portion. The control means determines that the moving vehicle is located at the end of each of the planned traveling paths based on the separation distance information detected by the magnetic field detecting means, and 2. The guidance control device for a mobile vehicle according to claim 1, wherein the control state of the control means is switched. 4. An agricultural work vehicle in which the traveling vehicle performs work while traveling along a plurality of scheduled traveling routes in a field, wherein the guide line is provided along one side in a width direction of a ridge in the field. The guidance control device for a mobile vehicle according to any one of claims 1 to 3, wherein a part is located and the return path part is located along the other side in the width direction of the ridge on the ground side. . 5. The guidance control device for a mobile vehicle according to claim 1, wherein the guidance line is installed so as to be mounted on the ground surface on the ground side. 6. An output of the magnetic field detecting means so that an output signal of the strength of the magnetic field detected by the magnetic field detecting means and inputted to the control means is at an appropriate level for a control operation of the control means. The guidance control device for a mobile vehicle according to any one of claims 1 to 5, further comprising gain adjustment means for adjusting a gain.