JPH1056817A - Position detecting apparatus for movable vehicle and guidance and control device using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position detecting apparatus for a movable vehicle, capable of accurately detecting the intensity of a magnetic field even in a case in which a relative position between the movable vehicle and a magnetic field to be detected formed by an electric current sent to a guidepath wire by various factors. SOLUTION: In this position detecting apparatus for a movable vehicle in which a guidepath wire to be supplied with an electric current is installed at the ground side and a magnetic sensor 13R for detecting the position of the movable vehicle relatively to the guidepath as the intensity of a magnetic field formed by the electric current is laid at the movable vehicle side, the magnetic field sensor 13R is constituted of plural detecting parts 17 and 18 for detecting the magnetic field formed by the electric current as the intensities of magnetic field components in plural mutually crossing directions separately. The intensity of the magnetic field formed by the electric current as the position of the movable vehicle relatively to the guidepath is detected based on the detected information at the detecting parts 17 and 18.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle, in which a guide line to which an electric current is supplied is installed on the ground side. The present invention relates to a position detection device for a mobile vehicle provided with a magnetic field detection means for detecting the position of a vehicle and a guidance control device for the mobile vehicle using the same.

[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.
Because it has characteristics determined according to the separation distance from the guide line, based on the detection information of the strength of this magnetic field, in each of a plurality of parallel traveling paths along the longitudinal direction of the guide line,
The mobile vehicle can be guided and driven.

[0003] In the above-described mobile vehicle position detecting device, conventionally, a guide line is installed substantially along the surface of the ground, and a magnetic field formed by a current supplied to the guide line. Is formed in a concentric circle centered on the longitudinal axis of the guide wire, so that the magnetic field is substantially in the vertical direction even at a location separated from the guide wire, The detecting means is configured to detect only the strength of the magnetic field along a certain direction (for example, a vertical direction).

[0004]

However, the above-mentioned conventional configuration has the following disadvantages and has room for improvement.

[0005] For example, the road surface is inclined in the middle of a planned traveling path on which a mobile vehicle whose position is to be detected travels,
It is conceivable that the mobile vehicle travels in a state in which the mobile vehicle is tilted from the horizontal attitude in the vehicle width direction or the vehicle front-rear direction, but when the mobile vehicle is tilted in this way, the magnetic field detecting means is similarly tilted. As a result, the magnetic field detection direction is inclined in a different direction from the vertical direction. as a result,
Even if the magnetic field formed by the current is in the vertical direction, the magnetic field detected by the magnetic field detecting means detects only the component in the direction intersecting the vertical direction, and the detected value is the magnetic field formed by the current. May be different from the strength of the position, and there is a possibility that position detection cannot be performed with high accuracy.

In view of this, a configuration is conceivable in which the magnetic field detection means is supported so that the attitude can be changed relative to the moving vehicle and the ground attitude is always the same (for example, the vertical attitude is maintained). However, even in the case of such a configuration, there is a possibility that the magnetic field detecting means vibrates due to the vibration or the posture change of the vehicle body, and a detection error may occur, and the position may not be accurately detected. . In addition, the magnetic field formed by the current may deviate from the concentric state due to the influence of an external magnetic field or the bending of the magnetic field by a body having a ferromagnetic material. Even if the direction is kept up and down,
There is a possibility that the position of the magnetic field to be detected cannot be accurately detected because the magnetic field to be detected itself is inclined and a detection error occurs.

The present invention has been made in view of such a point, and an object of the present invention is to change a relative attitude of a moving vehicle and a detected magnetic field formed by a current supplied to a guide line due to various factors. Even in such a case, it is an object of the present invention to provide a position detection device for a mobile vehicle that can accurately detect the position of the mobile vehicle by accurately detecting the strength of the magnetic field.

Another object of the present invention is to provide a mobile vehicle guidance control system capable of accurately performing a mobile vehicle guidance control by accurately detecting the location of the mobile vehicle using the mobile vehicle position detecting device. The point is to provide a device.

[0009]

According to the characteristic structure of the position detecting device for a moving vehicle according to the first aspect, the position of the moving vehicle with respect to a guide line installed on the ground and supplied with electric current is determined.
Magnetic field detecting means for detecting the intensity of the magnetic field formed by the current is provided. The magnetic field detecting means converts the magnetic field formed by the current as the strength of a magnetic field component along a plurality of directions intersecting each other. It is configured to include a plurality of detection units for separately detecting, and detects the strength of the magnetic field formed by the current as the position of the moving vehicle with respect to the guide line based on the detection information in each of the detection units. It is configured as follows. In other words, the strength of the magnetic field formed by the current supplied to the induction wire has a characteristic that is determined according to the separation distance from the induction wire. The relative position of the moving vehicle can be detected.

The magnetic field formed by the current is detected separately as the strength of the magnetic field component along a plurality of directions intersecting each other, and the strength of the magnetic field, that is, the moving vehicle, is determined based on each detected information. Will be detected.

Therefore, no matter how the magnetic field formed by the current supplied to the induction wire is inclined, the magnetic field is detected as the strength of the magnetic field components along a plurality of directions intersecting each other. Thus, it has become possible to provide a mobile vehicle position detecting device capable of accurately detecting the strength of a magnetic field, that is, the positional information of the mobile vehicle.

According to a second aspect of the present invention, the magnetic field detecting means includes a vertical direction detecting section for detecting the strength of a magnetic field along the vertical direction, and a direction substantially perpendicular to the vertical direction. And a width direction detecting unit for detecting the strength of the magnetic field in the direction along the vehicle body width direction of the moving vehicle.

A long guide wire is generally installed along the ground, and a magnetic field formed by the guide wire has a substantially circular shape centered on an axis along the longitudinal direction of the guide wire. Therefore, it is considered that the position where the mobile vehicle installed on the ground is located is almost vertically up or down. Therefore, by detecting the vertical component of the magnetic field and the component in a direction substantially perpendicular to the magnetic field, the strength of the magnetic field can be accurately improved by a relatively simple configuration as compared with the case where three or more detection units are provided. It can be detected.

According to a third aspect of the present invention, the guide line is configured such that a current flowing through the guide line circulates through the ground.

Therefore, by using the underground which is a conductor, it is not necessary to form a long detour along the ground as a return path of the current, so that the equipment for guidance is not enlarged and simple. As a result of this configuration, due to the current flowing in the ground near the induction wire, the magnetic field formed by the current in the ground causes There is a possibility that the formed magnetic field may be affected to cause a state different from a normal concentric circle state, but even in such a case, the strength of the magnetic field can be detected with high accuracy.

According to a fourth aspect of the present invention, there is provided a mobile-vehicle guidance control device including the mobile-vehicle position detecting device according to the first, second, or third aspect of the present invention. In each of a plurality of traveling routes parallel to each other,
Control means for controlling the steering operation means based on the information detected by the magnetic field detection means to guide the vehicle along each traveling path is provided in the mobile vehicle.

That is, since the position (separation distance) of the moving vehicle with respect to the guide line can be accurately detected by the magnetic field detecting means, a plurality of traveling routes along the longitudinal direction of the guide line and parallel to each other are detected based on the detected information. In each case, by guiding the vehicle so as to keep the distance from the guide line constant, it is possible to provide a guidance control device for a mobile vehicle that can accurately guide the mobile vehicle.

According to the characteristic configuration of the guidance control device for a mobile vehicle according to the fifth aspect, the mobile vehicle is one of a plurality of travel routes.
Magnetic field detection means for the current traveling route for detecting the strength of the magnetic field to execute the guidance control along the traveling route during traveling along the next traveling route. And a magnetic field detecting means for the next traveling route for detecting the intensity of the magnetic field detected by the magnetic field detecting means for the current traveling route when the mobile vehicle travels.

Therefore, by performing the guidance control using the detection value of the magnetic field detection means for the next traveling route as the target value, the guidance control can be performed in a state where the positional deviation from the previous traveling route is small, and the magnetic field generated by each magnetic field detection means can be controlled. Can be detected with high accuracy, the displacement error can be minimized, and highly accurate guidance control can be performed.

According to the characteristic configuration of the guidance control device for a mobile vehicle, when traveling on a certain traveling route, when the end of the traveling route is detected by the route end detecting unit, Information detected by the magnetic field detection unit for the next travel route is sequentially stored in the storage unit in association with detection information of the distance detection unit that detects the travel distance of the mobile vehicle.
Then, when traveling on the next traveling route, the control means:
The steering control is executed using the storage information stored in the storage means as the target value.

Therefore, by storing the strength of the magnetic field in the next traveling route, an appropriate target value can always be set according to the actual condition of the traveling road surface, and the target value in each of a plurality of traveling routes can be set. Need not be stored in advance, and the capacity of the storage means can be reduced.

According to the characteristic configuration of the guidance control device for a mobile vehicle according to the present invention, the mobile vehicle includes a ground work device and is guided along each travel route in a field. Therefore, when the ground work is performed by the ground work device, there is a high possibility that the mobile vehicle is inclined according to the road surface conditions in the field, but even in such a case, the mobile vehicle is tilted based on the magnetic field detection information. Can be accurately detected, and guided traveling can be accurately performed.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A mobile vehicle position detecting device and a mobile vehicle guidance control device according to the present invention will be described below.

As shown in FIG. 1, the guidance control device for a moving vehicle moves a work vehicle V as an example of a moving vehicle along a longitudinal direction of the field 1 in a rectangular field 1 as an example of a guidance area. In each of the plurality of traveling paths k parallel to each other, the vehicle can be guided to travel in an unmanned state.

Each side (ridge) on 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 configured such that the current flows through the ground through a plurality of piles 4 made of a conductive material that is driven into the ground. , Even if the leads are installed over long distances,
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 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 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.

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 work vehicle V can perform ground work (tiling work) on the field 1 while traveling. It has become. 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 transmitted to the rotary tilling device 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 has a running distance sensor 10 as a distance detecting means, for example, a rotary encoder for detecting the running 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.

At the front of the traveling vehicle body 5, as information on the position (separation distance) of the work vehicle with respect to each of the guide lines, the intensity of a magnetic field formed by an alternating current supplied to each of the guide lines is detected. Three magnetic field sensors are provided side by side along the vehicle body width direction. Of these, the side magnetic field sensors 13R and 13L located on the left and right sides are ridges on both sides along the long direction of the field 1. 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.

The control device 12 moves the work vehicle V along each traveling route k on each of the plurality of traveling routes k based on the detection information from the respective side magnetic field sensors 13R and 13L as the magnetic field detecting means GK. Is performed, and based on information detected by the central magnetic field sensor 14 as a route end detecting unit, each travel route k is controlled.
When it is detected that the vehicle reaches the terminal end or the start end, and when the terminal reaches the terminal end, the turning control is performed to cause the work vehicle V to turn around and guide the vehicle to enter the next traveling route adjacent thereto. It is configured. Therefore, each side magnetic field sensor 1
The 3R, 13L and the guide wires 2a, 2c constitute a work vehicle position detecting device.

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 a signal processing unit 15 and then given to the control unit 12, and these magnetic field 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 which generates an induced electromotive force by an alternating magnetic field formed by an alternating current flowing through an induction wire;
An amplifier 16b that amplifies the output of the detection coil 16a to a predetermined level, and a frequency filter that passes only the output of the detection coil 16a corresponding to the frequencies fb and fd of the current flowing through each of the induction wires 2b and 2d. It comprises a band-pass filter BPF, a DC conversion circuit DC for converting its output into a DC signal, and the like.

The side magnetic field sensors 13R and 13L are provided with a vertical direction detecting coil 17 (vertical direction detecting coil) for detecting a magnetic field component of the alternating magnetic field formed by the alternating current flowing through the induction wires 2a and 2c along the vehicle vertical direction. Part), a width direction detection coil 18 for detecting a magnetic field component along the vehicle body width direction (an example of a width direction detection unit), amplifiers 19 and 20 for amplifying the output of each of these detection coils to a predetermined level,
Of the outputs of the detection coils 17 and 18,
a, a band-pass filter BPF as a frequency filter that passes only the outputs corresponding to the frequencies fa and fc of the currents flowing through 2c, a DC conversion circuit DC for converting the output to a DC signal, and corresponding to the frequencies fa and fc. Based on the vertical component and the horizontal component, the calculation units 21 and 22 for calculating the strengths of the respective magnetic fields are provided. 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, 1R
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 controller 12 separates the distance from one of the guide lines 2b and 2d, which is installed on the ridge along the short direction, with the higher detection level. 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 why the end position of the traveling route k is set inward from 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.

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
The output of the four different amplifiers 24, 25, 26, 27
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.

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 device 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.

[0044] Also, the control device 12, the magnetic field detector and the detection value of the lateral magnetic field sensor which serves as a GK _1, steering operation amount deviation is multiplied by a control constant between the target value for the current travel route, 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. In addition, as the vehicle travels along the first travel route, an average value of the difference values of the plurality of sampling data of the respective detection values of the left and right side magnetic field sensors 13R and 13L near the center of the travel route is determined. ,
A control constant for steering control on the travel route is obtained as a reference control constant based on constants set in advance based on experiments and the like.

Then, after the work vehicle is moved to the start end of the next traveling route k, the automatic guidance control is started.
As shown in 0, prior to, firstly, the side magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route of initializing (sensor 13L on the left in the case of FIG. 1) (Step 1) , The control constant applied to the travel route is set (step 2). To explain the setting of the control constant, the difference value Z between the respective detection values of the left and right magnetic field sensors at the starting end of the current traveling route is described.
_{1 based} on the difference value Z ₁ , the difference value Zn in the first travel route, and the reference control constant G ₁ ,
The control constant Gn for this traveling route is calculated based on the following [Equation 1].

[0047]

Gn = (Z ₁ / Zn) · G ₁

The setting of such control constants is executed for each traveling 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 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 drive of the electric motor is always controlled with an appropriate control constant according to the detected value of the magnetic field strength and the changing situation of the output gain, so that the hunting of the control and the 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, a 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 reversed, and then travels straight until it reaches the start end of the travel route k based on the detection information of the central magnetic field sensor 14 (step 16). Further, as shown in FIG. 13B, the next traveling based on the detection information of the side magnetic field sensor functioning as the magnetic field detecting unit for the current traveling route k and the storage information stored in the memory M. The vehicle moves forward while turning, so as to be in a state along the route, and the width is adjusted. After that, the guidance traveling control is executed in a state along the traveling route.

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 strength of the magnetic field stored when traveling the preceding 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 tilling device 6 with respect to the ground, the working area of the rotary tilling device 6 wraps on each traveling path k. That is, no unworked area is generated.

The installation intervals of the side magnetic field sensors 13R and 13L are configured to be changeable and adjustable. By changing the installation intervals, for example, calculation information for calculating a target value of the control device is changed. Without doing so, it is possible to change the interval of each traveling route k according to the condition of the field or the like.

[Other Embodiments] (1) In the above embodiment, the magnetic field detecting means detects the strength of the magnetic field based on the magnetic field component in the vehicle body vertical direction and the magnetic field component in the vehicle body width direction. However, the present invention is not limited to such a configuration. In addition to these components, the composite magnetic field may be obtained by adding the magnetic field components before and after the vehicle body. In this case, the detection accuracy can be further improved. or,
The detection direction of the magnetic field component is not limited to the direction described above, and may be any direction as long as it is a plurality of directions that intersect each other.

(2) In the above embodiment, only the left and right side magnetic field sensors are configured to separately detect a plurality of magnetic field components. However, the central magnetic field sensor may be configured as described above.

(3) In the above embodiment, two magnetic field detecting means are provided at a set interval in the vehicle body width direction. However, only one magnetic field detecting means may be provided. Alternatively, three or more components may be provided. Further, the magnetic field detecting means may be provided not only at the front part but also at the rear part of the moving vehicle, and may be configured to separately detect the positions at the front and rear of the vehicle.

(4) In the above embodiment, the end position of the traveling path is detected by the central magnetic field sensor as the path end detecting section, and the turning control and the guidance driving control are executed based on the detected information. However, instead of such a central magnetic field sensor, for example, a laser beam may be irradiated laterally at the end of the path, and the end of the path may be detected by a sensor that detects this laser light. Alternatively, the present invention may be implemented in various configurations such as a configuration in which the mobile vehicle is instructed that the vehicle has reached the end of the route manually by radio control.

(5) In the above embodiment, the control constant is corrected in accordance with the detection that the moving vehicle has reached the end of the traveling route. However, the turning control of the vehicle body is executed. The configuration may be performed later.

[0062] (6) In the above embodiment, a configuration for automatically adjusting the output gain of the magnetic field detecting portion GK ₁ for the current travel route, may be configured without such automatic adjustment.

(7) In the above embodiment, 4
Of the wheel configuration, only the front wheel is configured to be steerable and swingable, but all four wheels are configured to be steerable and swingable. It may be configured to be able to travel in a form that can be translated in parallel, or in a form in which it can swing in a different direction and be turned with a small turning radius, etc. A configuration in which the steering operation is performed by the relative rotation difference may be employed.

(8) In the above 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. In the control, the vehicle may be guided to a route that is farther away from the guide line, and may be sequentially guided to a route that is closer to the far side.

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

[Brief description of the drawings]

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

FIG. 2 is a side view 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 a 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 plan view showing a turning control state.

[Explanation of symbols]

2 the magnetic field detector GK ₂ following induction line 6 ground work apparatus 9 steering operating means 10 distance detecting means 12 control means 14 route edge detection unit 17 detecting unit 27 storage unit GK magnetic field detector GK ₁ for current travel route Magnetic field detector for traveling route V Moving vehicle

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yukio Yokoyama 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (7)

[Claims] 1. A guide line to which a current is supplied is installed on the ground side, and a magnetic field detection for detecting a position of a moving vehicle with respect to the guiding line as a strength of a magnetic field formed by the current on a moving vehicle side. Means for detecting the position of a moving vehicle, wherein the magnetic field detecting means detects a magnetic field formed by the current as the strength of a magnetic field component along a plurality of directions intersecting each other. And a plurality of detection units, and based on the detection information in each of the detection units,
A mobile vehicle position detecting device configured to detect a strength of a magnetic field formed by the current as a position of the mobile vehicle with respect to the guide line. 2. A vertical direction detecting unit for detecting the intensity of a magnetic field along a vertical direction, a direction substantially orthogonal to the vertical direction and a direction along a vehicle width direction of the moving vehicle. 2. The position detection device for a mobile vehicle according to claim 1, further comprising: a width direction detection unit that detects the strength of the magnetic field. 3. The position detecting device for a mobile vehicle according to claim 1, wherein the guide wire is configured such that a current flowing therethrough circulates through the ground. 4. A guidance control device for a mobile vehicle using the position detection device for a mobile vehicle according to any one of claims 1 to 3, wherein the vehicle is provided along a longitudinal direction of the guide line. Control means for controlling a steering operation means for guiding a moving vehicle along each of the traveling paths based on information detected by the magnetic field detecting means in each of a plurality of traveling paths parallel to each other. Control system for moving vehicles. 5. The magnetic field detecting means is provided on the moving vehicle in a state where a plurality of the magnetic field detecting means are installed at an interval corresponding to an interval between adjacent traveling routes, and the moving vehicle is included in the plurality of traveling routes. When traveling along one of the following, the magnetic field detecting means for the current traveling route for detecting the strength of the magnetic field in order to execute the guidance control along the traveling route during the traveling, and the next adjacent traveling route And a magnetic field detecting means for a next traveling path for detecting the strength of a magnetic field to be detected by the magnetic field detecting means for the current traveling path when the moving vehicle travels along. The guidance control apparatus for a mobile vehicle according to claim 4, wherein 6. A distance detecting means for detecting a traveling distance of the moving vehicle, a route end detecting unit for detecting an end of the traveling route, and an end of the traveling route by the route end detecting unit. Storage means for sequentially storing the detection information in the magnetic field detection means for the next traveling route in association with the detection information of the distance detection means, and the control means, With the storage information stored in the storage unit as a control target, based on the detection information of the distance detection unit and the detection information of the magnetic field detection unit for the current traveling route,
The guidance control device for a mobile vehicle according to claim 4, wherein the guidance control device is configured to control the steering operation means. 7. The guidance of a mobile vehicle according to claim 4, wherein the mobile vehicle includes a ground work device and is guided along each travel route in a field. Control device.