JPH11288313A - Guidance controller for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately guide traveling along with the direction of a side adjacent to a corner part based on the detection information of a magnetic field for guidance inside a guidance area shaped with the above corner part. SOLUTION: Concerning this guidance controller, guide lines 2a, 2b, 2c and 2d installed on the ground side are arranged along with two sides adjacent to the corner part of a guidance area 1, a control target value for guidance is set as the information of equal magnetic field strength in respect to a guiding route u1 provided with the corner part shaped equally or almost equally with the shape of the corner part in the same distance from the two sides adjacent to the corner part along with these respective sides, when the moving vehicle is located on the guiding route u1, magnetic field detection information is processed so that the detection value of the strength of magnetic fields for guidance from the respective guide lines 2a, 2b, 2c and 2d after arithmetic processing on the set conditions can be coincident with the equal magnetic field strength, steering operation is performed so that the magnetic field detection value after that arithmetic processing can be coincident with the equal magnetic field strength, and the moving vehicle is traveled on the guiding route u1 while being guided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering operation means on a ground side, on which a guide line for supplying a current to form a magnetic field is provided, and on a mobile vehicle side, a steering operation means capable of changing the body direction is provided. Magnetic field detecting means for detecting the strength of the guiding magnetic field formed by the current supplied to the wire, and a detecting means for guiding the moving vehicle in a guiding area having a predetermined shape based on detection information of the magnetic field detecting means. And a travel control means for performing guidance control for controlling the operation of the steering operation means.

[0002]

2. Description of the Related Art In a guidance control device for a mobile vehicle having the above configuration,
For example, a guide line is installed on the outer peripheral side of the guide area in a state along the directions of a plurality of travel paths set to be juxtaposed in the guide area, and the magnetic field detection value of the guide magnetic field from the guide line is used as the guide line. Guidance control is performed such that the steering operation means is operated so as to be a guidance control target value set in advance in association with each point, and the mobile vehicle is guided and guided in a state appropriately along each traveling route ( For example, see JP-A-10-56818).

For example, when the moving vehicle is a work vehicle for tilling, and the guidance area is a rectangular field or the like having a corner at the outer periphery, an automatic area is provided at the center of the guidance area. Although the tilling work is performed by guided traveling, in the field part near the corner of the guidance area, conventionally, the work vehicle is caused to travel around the outer peripheral side of the field by manual operation in a state along the corner shape of the field. Thus, an unrunning portion (uncultivated land portion) is not generated in the field.

[0004]

However, in the above-mentioned prior art, there was a problem that the operation was complicated because the vehicle was manually driven around the corner in the guidance area. Therefore, in order to allow the mobile vehicle to automatically travel near the corners of the above-mentioned guidance area, as shown in FIG. 21, a guidance line 2 ′ to which currents having different frequencies are supplied along each side of the guidance area 1 is used. Installed, and the detection value of each induction magnetic field from each induction wire 2 ′ was normalized by each frequency and supply current so that currents of the same magnitude were supplied at the same frequency. Means for obtaining the value of each magnetic field, adding the values thus normalized, that is, obtaining the position at which the equal magnetic field strength is obtained in the sum, and setting the information on the equal magnetic field strength as the control target value for guidance is considered. Can be However, according to this means, as shown by three equi-magnetic field strength lines u1 ', u2', u3 'having different magnetic field strengths, near the corners of the guidance area, the lines of the iso-magnetic field strengths have corner shapes. When the mobile vehicle travels along any of the lines u1 ', u2', and u3 'of the same magnetic field strength, the corners of the guidance area deviate from the corners. It is not possible to solve the problem that the vehicle travels along the arcuate path and the untraveled portion occurs.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a method for controlling the corner portion based on detection information of a guiding magnetic field near a corner in a guidance area having a corner portion on a peripheral edge. An object of the present invention is to guide the vehicle along a guidance path having a shape that conforms to the shape in an appropriate steering state as much as possible so that an untraveled portion is not generated in the guidance area.

[0006]

According to the first aspect of the present invention, a guide area of a predetermined shape for guiding a mobile vehicle is provided with a corner, and is installed on the ground side so that a current is supplied to form a magnetic field. Induction lines are provided on the outer periphery of the induction area along each of two sides adjacent to the corners of the induction area, and are supplied with currents of different frequencies. A guide route along two sides adjacent to the corner and having the same or substantially the same shape as the corner is set in the guide area. The guidance control target value for the guidance route is set as information on the isomagnetic field strength,
Further, the detection value detected by the magnetic field detecting means for detecting the strength of the guiding magnetic field formed by the current supplied to each of the guide lines corresponding to each of the guide lines is determined by the magnetic field strength correcting means. Calculation processing is performed under the set conditions. The detection value obtained by the arithmetic processing is equal to the uniform magnetic field strength set as the guidance control target value when the moving vehicle is located on a guidance route having a corner having the same or substantially the same shape as the corner. Is to be matched. Under the above conditions,
The traveling control means actuates the steering operation means so that the detection value obtained by the magnetic field strength correction means matches the control target value for guidance set by the control target value setting means, With this guidance control, the moving vehicle travels on the guidance route.

Therefore, the detected value obtained by the magnetic field strength correcting means coincides with the guidance control target value set as the information on the uniform magnetic field strength on the guidance route along the corner of the guidance area. If the steering control is performed in such a manner, the moving vehicle will travel on a guidance route that follows the corner shape of the guidance area. While avoiding the trouble that the operation becomes complicated, at the same time, based on the detection information of the guidance magnetic field subjected to the predetermined correction processing, the guidance travel is performed along the corner shape of the guidance area, and the inside of the guidance area is guided. Untraveled portions can be prevented from being generated near the corners.

According to the second aspect, in the first aspect, when the mobile vehicle is guiding on a guidance route along the corner shape of the guidance area, the correction is made by the magnetic field strength correction means. As the detection value of the magnetic field detection means changes from the equal magnetic field strength by a set value or more, it is detected that the moving vehicle has reached the corner in the guidance route. Therefore, since the arrival at the corner of the guidance route is detected by a change in the magnetic field detection value, for example, compared to detecting arrival at the corner position based on information from a travel distance sensor or the like. ,
The arrival at the corner position can be accurately detected by minimizing the detection error, so that the preferred means of claim 1 can be obtained.

According to a third aspect, in the second aspect, the guiding area is formed in a rectangular shape having four corners, and the guiding lines are arranged along four sides of the rectangular guiding area. The control target value for guidance is set as information on the strength of a uniform magnetic field with respect to a guidance route set in the same or substantially the same rectangular shape as the outer peripheral shape of the rectangular guidance area,
The steering control is performed such that the corrected detection value obtained by correcting the detection value of the magnetic field detection means by the magnetic field strength correction means matches the equal magnetic field strength set for the guidance route. The vehicle travels straight on the rectangular guide route, and when reaching the end corners of each side of the rectangular guide route, steers to move to the start end of the adjacent side at each corner. When operated, circling control is performed in which the mobile vehicle circulates on the rectangular guidance route. Therefore, since the vehicle can be guided and guided on a rectangular guidance route along the outer peripheral shape of the rectangular guidance area, even in the corners of the corners of the guidance area, the untraveled range is not generated.
Guidance traveling can be appropriately performed over the entire area of the guidance area, and the preferable means of claim 2 can be obtained.

According to a fourth aspect of the present invention, in the third aspect, the magnetic field detecting means detects the strength of the guiding magnetic field when traveling on the rectangular guiding path. A detection unit, and a guidance magnetic field for a next traveling route that is detected by the magnetic field detection unit for the current traveling route when the mobile vehicle travels along a next guidance route adjacent in the vehicle width direction. And a magnetic field detecting unit for the next traveling route for detecting the strength of the next traveling route. Then, based on the control target value for guidance set as the information on the uniform magnetic field strength and the detection information of the magnetic field detection unit for the current travel route, the mobile vehicle is guided along the guidance route for the rectangle. While traveling, when the mobile vehicle travels along the rectangular guidance route, the detection information of the magnetic field detection unit for the next travel route is detected by travel distance detection means for detecting the travel distance of the vehicle body. A first storage means for sequentially storing the information in the storage means in association with the control target value for guidance;
Circulating control, and after the first circulating control,
Based on the control target value for guidance stored in the storage unit and the detection information of the magnetic field detection unit for the current traveling route sequentially detected in correspondence with the detection information of the traveling distance detection unit, the vehicle width The second rounding control for guiding the mobile vehicle along the next guide route adjacent in the direction is executed.

Therefore, when a mobile vehicle is guided along a guidance route adjacent to the rectangular guidance route, information on the guidance control target value (magnetic field strength) stored during traveling on the rectangular guidance route is provided. Target value) and the detection information of the magnetic field detection unit for the current traveling route, the steering can be controlled in an appropriate state as much as possible on the guidance route, so that the outer peripheral shape of the rectangular guidance area can be controlled. It is possible to appropriately guide the vehicle on a plurality of rectangular guide routes juxtaposed so as to be adjacent to the rectangular guide route in which the information on the equal magnetic field strength is set along, Three suitable measures are obtained.

According to the fifth aspect, in any one of the first to fourth aspects, the guide lines arranged along two sides adjacent to the corners of the guide area have different frequencies and different sizes. Is supplied. Then, the magnetic field strength correction means performs the calculation of the setting condition by changing the detected value of the magnetic field from each of the lead wires identified from each other so that a current of the same magnitude is supplied at the same frequency. Find a normalized detection value normalized based on the frequency and the current value of
The obtained normalized detection values are corrected by multiplying them by a set coefficient, and the corrected values are added. Therefore, since the magnetic field strength detection means obtains a detection value corresponding to the guidance control target value set by the control target value setting means while normalizing based on the frequency and the current value, Even if the frequency and the current are greatly different from each other, the desired induction control can be executed. In other words, when setting the frequency and the current value of each induction wire, if the frequency is not largely changed and the supplied current is the same, the normalization process can be eliminated, in other words. For example, although the accuracy decreases by the frequency change, the normalization process is omitted for the detected value of the magnetic field from each induction wire, and the detected value is corrected by multiplying by a set coefficient, and the corrected value is obtained. Although it is possible to obtain the detection value by performing addition processing, the frequency is greatly changed so that the strength of the magnetic field from each lead wire can be easily identified, or each lead wire is changed according to the size of the guide area. Even if the magnitude of the supplied current is arbitrarily greatly changed, the guidance accuracy can be maintained with high accuracy, and the preferable means according to any one of claims 1 to 4 can be obtained.

According to a sixth aspect, in any one of the third to fifth aspects, any one of the four sides of the rectangular guiding area is located inside the area with respect to the rectangular guiding path. A plurality of guidance routes are juxtaposed in a state along the direction, and a detection value of a magnetic field detecting means for detecting a magnetic field from the guidance line installed along a side along the juxtaposition direction of the plurality of guidance routes is a separation distance from the side. After the reciprocation control for causing the moving vehicle to reciprocate on the plurality of guidance routes is performed in a state where the magnetic field strengths are the same at the same time, the circling control is performed. Therefore, in the central part of the guidance area, the area 1
In each of a plurality of guidance routes set along the side, the mobile vehicle is moved to each guidance route by a simple control configuration that performs steering control so that the detection value of the guidance magnetic field has the same magnetic field strength. It is possible to reciprocate in a state along the good condition, and in the reciprocating travel, the outer peripheral portion of the untraveled area is finally made to revolve, so that it is possible to appropriately guide the entire area of the guidance area, The preferred means according to any one of claims 3 to 5 is obtained.

According to a seventh aspect, in the sixth aspect, the rectangular guide area is formed in a long shape, and each of the guide lines arranged along the long sides opposed in the short direction is connected to each other. While currents of different frequencies are supplied, both of the induction lines arranged along the short sides facing each other in the longitudinal direction of the induction area, the current supplied to each of the induction lines arranged along the long side Different from the frequency, a current of the same frequency is supplied between the short sides, and a plurality of guidance paths are juxtaposed along the long side of the rectangular guidance area, and installed along the long side. A moving vehicle reciprocates in the plurality of guidance paths in a state where the detection value of the magnetic field detection means for identifying and detecting the magnetic field from each of the guide lines has the same magnetic field strength when the distance from the long side is the same. Reciprocating travel control for running And detecting that the moving vehicle has reached the end position of each guide path based on a detection value of the magnetic field detection means for detecting a magnetic field from each of the guide lines installed along the short side. I do. Therefore, since the magnetic field detection value from the guide line installed along each long side of the long rectangular guide area is identified, for example, the relative strength from the guide line closer to the position of the moving vehicle is relatively low. While moving the vehicle back and forth with respect to multiple guidance routes along the long side while increasing the detection accuracy as much as possible based on strong magnetic field detection information, compared to setting multiple guidance routes along the short side, for example, As a result, it is possible to efficiently guide the center side of the guidance area and guide the vehicle to reach the end position of each guidance path, and to detect the detection of the end magnetic field from the guidance wire installed along the short side. Can be accurately detected based on
Thus, the preferable measure according to claim 6 is obtained.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a guidance control device for a mobile vehicle according to the present invention will be described. As shown in FIG. 1, as an example of a guidance area in which a mobile vehicle is guided and guided, a work vehicle as an example of a mobile vehicle is formed in a rectangular and long field 1 having four corners. V is configured to be guided in an unmanned state on each of the plurality of traveling paths k arranged in parallel with each other along the longitudinal direction of the field 1.

Induction lines 2 are installed along four sides (ridges) of the field 1, and an alternating current of a predetermined frequency is supplied to each of the induction lines 2 separately. That is, the guide wire 2 to which a current is supplied to form a magnetic field is installed on the ground side. Specifically, each of the guide lines 2a and 2c as the first guide line is installed along the longitudinal direction of the field 1, and a short direction of the field 1, that is, a direction intersecting the first guide lines 2a and 2c. Are provided along the guide lines 2b and 2d as second guide lines. An alternating current having a current value α1 at the frequency fa (Hz) and a current value α2 at the frequency fc (Hz) is supplied from the current supply sources 3 (fa) and 3 (fc) to the first induction wires 2a and 2c. The currents supplied from the current supply sources 3 (fa) and 3 (fd) have the same frequency f.
An alternating current having the same current value α3 is supplied at b (Hz). That is, guide lines 2 arranged along two sides adjacent to each corner of the field 1 have different frequencies such as fa and fb, fc and fb, and α1 and α3, α2 and α
As shown in FIG. 3, currents of different magnitudes are supplied. Further, currents having different frequencies such as fa and fc are supplied to the respective guide lines 2a and 2c arranged along the long sides of the field 1 facing in the short direction, and the currents are opposed in the longitudinal direction of the field 1. Each of the induction lines 2b and 2d arranged along the short side has a different frequency from the frequency fa and fc of the current supplied to each of the induction lines 2a and 2c arranged along the long side, and the same frequency between the short sides. The current of fb is supplied. The above frequencies are set to several hundred Hz to several tens KHz.

Each of the guide wires 2a, 2b, 2c, 2d is
As shown in FIG. 2, the forward path portion 2 _OL and the return path portion 2 _FL for forming a closed loop through which the current supplied from each current supply source 3 flows are appropriately spaced in plan view. In the state, it is installed on the ground side. Specifically, in the state where the outward section 2 _OL is located along one widthwise side of the ridge AZ in the field and the return section 2 _FL is located along the other side in the widthwise direction of the ridge AZ, It is placed on the surface, and the return path portion _2FL is installed so as to be parallel or almost parallel to the forward path portion _2OL . That is, it is installed in a loop shape by effectively utilizing the boundary between the ridge AZ and the field scene.

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 of the different frequency flows through the induction wire.

When a current flows through each of the induction wires 2 installed as described above, a magnetic field is formed by the current.
The theoretical value of the magnetic field strength with respect to the separation distance from the guide wire 2 can be obtained by calculation, and the magnetic field strength is determined by
It is inversely proportional to the square of the separation distance from. 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 Since the antennas are spaced apart from each other, the change characteristic of the magnetic field strength with respect to the distance from each guide wire 2 is determined. FIG. 3 shows actual measurement data by the present applicant.
Since the length of each guide wire 2 is finite, FIG.
As shown in (1), the intensity of the magnetic field from each of the guide wires 2 decreases at both ends of the guide wire 2.

As shown in FIG. 4, the work vehicle V is provided with a rotary tillage device 6 as a ground work device at a rear portion of a four-wheeled traveling vehicle body 5, so that the work vehicle V can be grounded (cultivated) in the field 1 while traveling. Work) can be performed as an agricultural work vehicle. An engine (not shown) is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel via a transmission 7 having a forward / reverse switching mechanism capable of turning on and off the power transmission. Is configured to be changeable. The power of the engine is also transmitted to the rotary tiller 6. The left and right front wheels are provided so as to be steerable by a steering electric motor 9, and the steering electric motor 9 corresponds to a steering operation means capable of changing the body direction.

As shown in FIG. 5, the work vehicle V is provided with a control device 12 constructed by using a microcomputer, and is constituted by a rotary encoder or the like for detecting the number of rotations of a power transmission shaft to wheels. And a traveling distance sensor 10 as traveling distance detecting means for detecting the traveling distance of the vehicle body.
And information detected by a direction sensor 11 configured by using a gyro to detect the direction of the vehicle body, is input to a control device 12, and the control device 12 drives the transmission 7 and the steering electric motor 9. Signal is output. Further, the control device 12 is connected to a memory M as storage means.

As shown in FIG. 4, four magnetic field sensors for detecting the strength of the magnetic field formed by the alternating current supplied to each of the guide wires 2 are provided at the front of the traveling vehicle body 5. Two magnetic field sensors are provided on each of the left and right sides with a set interval in the vehicle body width direction, and one of the two magnetic field sensors on the left and right sides is provided with one side magnetic field sensor 13R, 13L along the longitudinal direction of the field 1. Of the magnetic field formed by the alternating current of the frequency fa and the frequency fc from each of the induction wires 2a and 2c installed in the vertical direction, and detects the magnetic field sensor 1 for the other end on the left and right sides.
4R and 14L are configured to detect the strength of the magnetic field formed by the alternating current of the frequency fb from each of the induction wires 2b and 2d installed along the short side of the field 1. Then, as shown in FIG.
After the outputs of R, 13L and the end magnetic field sensors 14R, 14L are processed by the signal processing unit 15,
Has been entered. That is, the side magnetic field sensors 13R and 13L on the left and right sides and the end magnetic field sensors 14R and 14L on the left and right sides are formed by the strengths of the induction magnetic fields formed by the currents supplied to the respective guide wires 2. Of the magnetic field detecting means MK for detecting the

As shown in FIG. 6, the side magnetic field sensors 13R and 13L are provided for detecting the magnetic field components of the alternating magnetic field formed by the alternating current flowing through the induction wires 2a and 2c along the vehicle body vertical direction. Direction detecting coil 17, lateral direction detecting coil 1 for detecting a magnetic field component along the vehicle lateral direction
8, amplifiers 19 and 20 for amplifying the output of each detection coil to a predetermined level, and each frequency f of the current flowing through each induction wire 2a and 2c among the outputs of each detection coil 17 and 18
bandpass filters BPF (a) and BPF (c) that pass only the outputs corresponding to a and fc, a DC conversion circuit DC that converts the outputs of the bandpass filters BPF (a) and BPF (c) into DC signals, and , Each frequency f
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 a and fc.
And the like.

Here, each of the operation units 21 and 22 corresponds to FIG.
As shown in (b), the strength of the combined magnetic field r is obtained by calculating based on the triangle theorem based on the vehicle vertical component p and the lateral component q. With such a configuration, for example, as shown in FIG. 10 (a), one side wheel enters the recess during the traveling of the work vehicle V, and the vehicle body is inclined at an angle θ from the horizontal posture to an oblique posture. Even in this case, the magnetic field formed by the current supplied to the induction wire is detected in two orthogonal components, and the calculated magnetic field is calculated to obtain the correct magnetic field strength. It can be detected with high accuracy.

As shown in FIG. 6, the end magnetic field sensors 14R and 14L are respectively provided with the side magnetic field sensors 1R and 14L.
3R, 13L, a vertical direction detecting coil 28 for detecting a magnetic field component along the vehicle body vertical direction of an alternating magnetic field formed by an alternating current flowing through the induction wires 2b, 2d, and detecting a magnetic field component along the vehicle body width direction. Width direction detecting coil 29, amplifiers 30 and 31 for amplifying the output of each of these detecting coils to a predetermined level, and detecting coils 28 and 29
, A band-pass filter BPF (b) that allows only an output corresponding to the frequency fb of the current flowing through each of the induction lines 2b and 2d to pass therethrough, and the band-pass filter BPF
A DC conversion circuit DC for converting the output of (b) into a DC signal,
And a calculation unit 16 for calculating the strength of each magnetic field based on the vertical component and the horizontal component corresponding to the frequency fb.

As described above, the magnetic field sensors 13R for each side portion,
13L outputs detection information corresponding to each of the frequency fa and the frequency fc, and outputs the end magnetic field sensors 14R,
14L outputs detection information corresponding to the frequency fb. That is, the magnetic field detecting means MK detects the strength of the magnetic field from each of the induction wires 2 in a state where the magnetic fields from each of the induction wires 2 formed by the currents having different frequencies fa, fb, and fc are distinguished from each other. It is configured. Then, the signal processing unit 15 selectively outputs the detection information of the higher detection level of the magnetic field from each of the guide lines 2, that is, the detection information of the work vehicle V closer to the corresponding guide line. Has become. That is, as shown in FIG. 7, the signal processing unit 15 outputs the outputs (a1), (c1), (a2), and (c2) of the magnetic field sensors 13R and 13L for the side units to the control device 1.
2 and the control device 12 controls each side magnetic field sensor 13
Among the outputs of different frequencies in R and 13L, an output on a higher detection level is determined, and a selection signal is supplied to analog switches AS1 and AS2 so as to select the output. Magnetic field sensor 14R, 1
The outputs (b1) and (b2) of 4L are input to the control device 12, and the control device 12 outputs the end magnetic field sensors 14R and 14L.
Of the outputs of the above, the output with the higher detection level is determined,
The analog switch AS5 is configured to supply a selection signal so as to select the output.

The signal processing section 15 includes magnetic field sensors 13R and 13L for the side portions and magnetic field sensors 14R and 1R for the end portions.
A gain adjusting means TU is provided for adjusting the output gain of the magnetic field detection so that the output signal of the magnetic field strength detected by the 4L and input to the control device 12 is at an appropriate level for the control operation of the control device 12. Have been. The gain adjusting means TU for this adjustment will be specifically described.
The amplification gain for amplifying the output of each of the analog switches AS1 and AS2 corresponding to the detection information of the side magnetic field sensors 13R and 13L is changed and adjusted in four steps based on the switching information from the control device 12. . That is, four amplifiers 24, 25, 26, and 2 having different amplification gains respectively.
The control device 12 is configured to instruct the analog switches AS3 and AS4 for inputting any of the outputs 7 to the control device 12 with the selected content.
Further, the amplification gain for amplifying the output of the analog switch AS5 corresponding to the detection information of each end magnetic field sensor 14R, 14L is changed and adjusted in two stages based on the switching information from the control device 12. In other words, the control device 12 is configured to instruct the analog switch AS6 for inputting any of the outputs of the two amplifiers 32 and 33 having different amplification gains to the control device 12 to make a selection. ing.

The reason why the amplification gain is switched as described above is that the strength of the magnetic field formed by the current supplied to the induction wire 2 depends on the change in the distance from the induction wire 2 as described above. In contrast, if the amplification gain is largely changed and the amplification gain is kept constant, it is difficult to detect with an appropriate resolution over the entire range, and the detection accuracy may be reduced. For example, as shown in FIG. 9, when the distance from the guide line changes by a unit distance, an appropriate change in the magnetic field strength can be identified, in other words, an appropriate output range having an appropriate resolution is obtained. Thus, the amplification gain is automatically adjusted.

The magnetic field detecting means MK is controlled by the control device 12 so that the work vehicle V is guided in the field 1 (the side magnetic field sensors 13R and 13L and the end magnetic field sensor 14R). , 14L), a travel control means 100 for executing guidance control for controlling the operation of the steering electric motor 9 based on the detection information.

Further, the control device 12 is used to
A guidance route along the two sides adjacent to the corner and having the same or substantially the same shape as the corner at the same distance from each side is set in the field 1, Control target value setting means 101 is provided for setting a control target value for guidance with respect to the guidance route as information on isomagnetic field strength. Specifically, as shown in FIG. 13, the guidance route is set as a rectangular guidance route u1 that is the same as the outer peripheral shape of the rectangular field 1, and the guidance control target for the rectangular guidance route u1 is set. The value is set as the information on the isomagnetic field strength.

Further, using the control device 12, when the work vehicle V is located on the guide path u1, the magnetic field detection means MK detects the work vehicle V corresponding to each of the guide lines 2a, 2b, 2c, 2d. The magnetic field detecting means M is controlled so that the detected value obtained by performing arithmetic processing on the detected value under the set conditions matches the equal magnetic field strength set by the control target value setting means 101.
A magnetic field strength correcting means 102 for calculating a detected value corresponding to each of the guide lines 2a, 2b, 2c, 2d at K under the above-mentioned set conditions is provided. Specifically, as the arithmetic processing under the set conditions, the detection values k1, k2 of the magnetic fields from the mutually identified lead wires 2a, 2b, 2c, 2d
k3, k2, and k3 are set to the respective frequencies fa and f so that currents of the same magnitude are supplied at the same frequency.
The normalized detection values sk1, sk3, and sk2 normalized based on b and fc and the current values α1, α3, and α2 are obtained (see the following formula), and the obtained normalized detection values are multiplied by a set coefficient. And the added value is added. As can be seen from the following equation, the current value α3 at the frequency fb
The detected value k3 of the guide line 2b (2d) is used as a standard for normalization. In addition, each of the guide wires 2a, 2b, 2c, and 2d is controlled on the ground side so that each of the current values α1, α3, α2, and α3 is supplied, and information of the supplied current value is stored in the control device 12 in advance. It is remembered.

[0032]

Sk1 = (fa / fb) · (α1 / α3) · k1 sk2 = (fc / fb) · (α2 / α3) · k2 sk3 = k3

Next, the multiplication and addition processing of the set coefficient is performed when the vehicle is guided along the longitudinal guide line 2a (or 2c) and the normalization of the magnetic field from the guide line 2a (or 2c) is detected. A value obtained by multiplying the value sk1 (sk2) by a coefficient 1 and a value obtained by multiplying a normalized detection value sk3 of the magnetic field from the end-side guide wires 2c and 2d by a coefficient smaller than 1 (for example, 0.18). Execute to add. When the vehicle travels along the guide line 2b (or 2d) in the short direction, the normalized detection value sk3 (sk2) of the magnetic field from the guide line 2b (or 2d) is multiplied by a coefficient 1. Normalized detection value sk1 of the magnetic field from guide wires 2a and 2c on both sides
The normalized detection value sk1 with the larger value of (sk2)
(Sk2) multiplied by a coefficient smaller than 1 (for example, 0.18) is added. In other words, in the latter case, the values of the magnetic field normalized detection values sk1 (sk2) from the guide wires 2a and 2c on both sides are compared, and the value is switched to the larger value. The above setting coefficients (for example,
By simply multiplying the normalized detection values by the multiplication of (0.18), the line of the isomagnetic field becomes an arc at the corner (FIG. 21).
13), it is possible to detect the strength of the magnetic field assuming that there is a uniform magnetic field having a corner at the corner as shown in FIG.

Then, as shown in FIGS. 13 and 14, the traveling control means 100 includes the control target value setting means 10.
1 and the information of the magnetic field strength correcting means 102,
The work vehicle V is moved along the guidance route so that the detection value of the magnetic field detecting means MK obtained by the magnetic field strength correcting means 102 matches the equal magnetic field strength set by the control target value setting means 101. The vehicle is guided so as to travel straight on u1. The traveling control means 100
Means that the detection value of the magnetic field detecting means MK obtained by the magnetic field strength correcting means 102 changes by a set value or more from the uniform magnetic field strength when the work vehicle V is guiding and running on the guide route u1. As a result, it is detected that the work vehicle V has reached a corner of the guidance route u1 (the corner on the end side of each side of the rectangular guidance route u1). It is configured to move to the start end side of the adjacent side at each corner and execute circling control for circling around on a rectangular guidance route u1.

When the vehicle travels on the guide path u1, the left and right side magnetic field sensors 1 in the magnetic field detecting means MK are used.
One of the magnetic field sensors 3R, 13L and the end magnetic field sensors 14R, 14L functions as a magnetic field detection unit MK1 for the current traveling path that detects the strength of the guidance magnetic field, and the other magnetic field sensor is When the work vehicle V travels along the next guidance route (u2, u3 shown in FIG. 14) adjacent in the vehicle body width direction, the next detection is performed by the magnetic field detection unit MK1 for the current traveling route. It functions as a magnetic field detection unit MK2 for the next traveling route that detects the strength of the guidance magnetic field for the traveling route. That is, the magnetic field detecting means MK includes a magnetic field detecting unit MK1 for the current traveling route and a magnetic field detecting unit MK2 for the next traveling route.
It is comprised including.

Then, the travel control means 100 controls the guidance control target value set by the control target value setting means 101 as the information on the uniform magnetic field strength and the current target route magnetic field detection unit MK1. Based on the detection information, the work vehicle V is guided along the rectangular guide route u1, and when the work vehicle V runs along the rectangular guide route u1, the work vehicle V Magnetic field detector MK2
Is performed in the memory M as the control target value for guidance in association with the detection information of the traveling distance sensor 10, and after the first rotation control,
On the basis of the control target value for guidance stored in the memory M and the detection information of the magnetic field detection unit MK1 for the current traveling route, which is sequentially detected corresponding to the detection information of the traveling distance sensor 10, The second rounding control for guiding the work vehicle V along the next guide route (u2, u3 shown in FIG. 14) adjacent in the width direction is executed. In other words, the traveling control means 100 determines the information of the guidance control target value stored in the memory M and the information of each side of each of the guidance routes u2 and u3 detected by the traveling distance sensor 10 in each of the guidance routes u2 and u3. Based on the traveling distance information from the start end, a target value of the strength of the guidance magnetic field at each point on the guidance paths u2 and u3 is determined, and the target value of the magnetic field strength and the target value of the current traveling path are determined. Magnetic field sensors 13R and 13L functioning as magnetic field detection unit MK1 and magnetic field sensor for end 14
The drive control of the steering electric motor 9 is performed based on the deviation from the detected value of the one magnetic field sensor of the R and 14L after the calculation processing.

At the same time, the traveling control means 100 moves the rectangular field 1 inside the field relative to the rectangular guide route u1.
A plurality of guide paths k are juxtaposed along any one of the four sides, that is, the long side, and the magnetic field from each of the guide lines 2a and 2c installed along the long side is identified. The magnetic field detecting means MK (side magnetic field sensor 13R, 1R) for detecting
3L) in a state where the detected value of 3L) is the same magnetic field strength when the distance from the long side is the same, the reciprocating travel control for causing the work vehicle V to reciprocate on the plurality of guidance routes k is executed, and the short side is controlled. Each said guide wire 2 installed along
b, the work vehicle V has reached the end position of each guidance path k based on the detection value of the magnetic field detection means MK (the end magnetic field sensors 14R and 14L) for identifying and detecting the magnetic fields from the b and 2d. Is configured to be detected. That is, when it is detected that the end position of each of the guide paths k has been reached, the turning path is turned 180 degrees toward the start position of the next guide path k.

When the work vehicle V travels along one of the plurality of guide paths k, one of the left and right side magnetic field sensors 13R and 13L is connected to the guide wire. The other magnetic field sensor functions as a magnetic field detecting unit GK1 for the current route that identifies and detects the magnetic fields from the 2a and 2c. It functions as a next-path magnetic field detection unit GK2 that detects the intensity of the next-path magnetic field to be detected by the path magnetic field detection unit. Similarly, when one of the end magnetic field sensors 14R and 14L is used, the work vehicle V travels along one of a plurality of guidance paths k when the work vehicle V travels along one of the plurality of guide paths k. The other end magnetic field sensor functions as an end magnetic field detection unit TK1 for the current path that detects the strength of the end magnetic field, and causes the work vehicle V to travel along the next adjacent guide path k. In this case, it functions as a next path end magnetic field detection section TK2 for detecting the intensity of the next path end magnetic field that is detected by the current path end magnetic field detection section.

When the work vehicle V travels along one of the plurality of guide paths k in the reciprocating travel, the travel control means 100 controls the magnetic field detector GK2 for the next route. The detection information is transmitted to the traveling distance sensor 10.
Is stored in the memory M as a control target value for guidance in association with the detection information of the guidance control stored in the memory M when the work vehicle V travels along the next adjacent guidance route k. Based on the target value and the detection information of the magnetic field detection unit GK1 for the current traveling route sequentially detected in correspondence with the detection information of the traveling distance sensor 10, the work vehicle V is moved along the next guidance route k. The steering electric motor 9 is controlled so as to guide the vehicle. That is, the traveling control unit 100 determines that
Information on the guidance control target value stored in the memory M;
Based on travel distance information from the start end of the guide route k detected by the travel distance sensor 10, a target value of the strength of the guide magnetic field at each point on the guide route k is determined, and the strength of the magnetic field is determined. And the magnetic field detector GK1 for the current route
The steering electric motor 9 is drive-controlled on the basis of the deviation from the detection values of the side magnetic field sensors 13R and 13L functioning as.

Further, when the traveling control means 100 detects that the work vehicle V has reached the end of each guide path k based on the detection information of the end magnetic field, the traveling control means 100 causes the work vehicle V to perform the next guidance. It is configured to move toward the start end of the path k. That is, when the vehicle travels along one of the plurality of guidance routes k, the detection information of the end magnetic field detection unit TK2 for the next route is associated with the detection information of the traveling distance sensor 10 so as to correspond to the end information. The memory M is stored in the memory M as part position detection control information, and the end magnetic field detection part TK for the current path is used.
The work vehicle V is configured to move to the next guide route k in accordance with detecting that the work vehicle V has reached the end position of each guide route k based on the first detection information. That is, the detected value of the end magnetic field detector TK1 for the current route and the end position detection control information stored in the memory M, that is, the end of the next route measured in advance during the previous route. The remaining distance to the end of the route is detected by associating with the detection value of the magnetic field detection unit TK2, and it is determined whether or not the end position of the guidance route k has been reached.

The control device 12 performs the reciprocating control based on the control information for detecting the end position stored in the memory M and the detection information of the end magnetic field detecting unit TK1 for the current path. It is configured to correct information on the control target value for guidance. Specifically, when it is determined that the remaining distance to the end of the route has reached each position of 13 m and 11 m based on the detection value of the traveling distance sensor 10 during traveling on each guidance route k, At this time, the detected value of the end magnetic field detecting unit TK1 for the current route and the control information for end position detection stored in the memory M, that is, the end of the next route measured in advance in the previous route. The detection value of the magnetic field detection unit TK2 is made to correspond to the stored information corresponding to the detection value of the magnetic field detection unit TK1 for the current route, and the corresponding guidance control target value is adjusted. That is, as shown in FIG. 11, since the information of the control target value for guidance and the magnetic field information for end position detection corresponding to the same traveling distance detection information are sequentially stored in the memory M, as shown in FIG. The control target value for guidance can be determined using the magnetic field information for position detection as a guide. In this way, accurate guidance control is performed on the trailing end side of the travel route where the detection error of the travel distance sensor 10 is likely to be large using the end position detection magnetic field information.

Then, when moving to the next traveling route, based on the information stored in the memory M, as shown in FIG. The strength y of the magnetic field and the strength t of the end magnetic field are obtained, and based on the detection information of the magnetic field detection unit GK1 for the current path and the detection information of the end magnetic field detection unit TK1 for the current path, The work vehicle V is guided toward the start end point sp. In other words, the work vehicle V
Is moved toward the start end point sp of the next guidance route k, as shown in FIG. 12, after the work vehicle V is turned so that the azimuth is inverted by 180 ° from the end position,
A constant for controlling the steering electric motor 9 so that the value detected by the magnetic field detection unit GK1 for the current route is the same as the strength y of the guidance magnetic field at the start end point sp. The magnetic field control is executed, and then, as the detection value of the current path end magnetic field detection unit TK1 becomes the end magnetic field strength t at the start end place sp, the moving vehicle moves to the start end place. When it is determined that the value has reached sp, thereafter, the reciprocating control is executed based on the guidance control target value of the next guidance route k stored in the memory M. Here, the control device 12 is configured to change and set the vehicle speed of the work vehicle V to a lower speed when performing the constant magnetic field control than when performing the reciprocating control.

As described above, each of the guide paths k is sequentially guided while turning around the end of each of the guide paths k such that the directions are reversed by 180 degrees. After the reciprocation along each of the guide paths k is completed, as described above, the vehicle travels around the inner portion of the field 1 adjacent to the ridge, and turns around at the end side of each of the guide paths k. A rounding control for tilling the damaged area is performed.

Further, the control device 12 controls the magnetic field detector GK1 for the current route when traveling on the next guidance route k based on the guidance control target value stored in the memory M.
Is set, and the output gain is automatically adjusted to the target value prior to guided traveling on the next route k. 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 below the lower limit for gain adjustment, the gain is
A selection signal is issued to the analog switches AS3 and AS4 so that an amplifier having a higher gain is selected. Each analog switch AS3, AS4
Are always adjusted to the same value.
The set upper limit value and the set lower limit value for the gain adjustment are set as upper and lower limit ranges in which linearity of output change as an analog value is guaranteed.

Further, the control device 12 determines the detection value of the side magnetic field sensor functioning as the magnetic field detection unit GK1 for the current route,
The steering operation amount, that is, the target operation amount of the steering electric motor 9 is obtained by multiplying a deviation from the guidance control target value by a control constant. Here, when the control constant is increased, the control gain (sterling gain) for controlling the steering electric motor 9 increases, and conversely, when the control constant is decreased, the control gain decreases.
Then, the control device 12 changes and sets the control gain when controlling the steering electric motor 9 so that when performing the constant magnetic field control, the control gain is larger than when performing the guidance control. Is configured.

When the work vehicle V approaches one of the first guide lines 2a and 2c as the work vehicle V moves from the current guide route k to the next guide route k, the control device 12 determines whether the work vehicle V travels along one guide route k. The control gain when controlling the steering electric motor 9 is calculated as a difference value between the detection value of the current path magnetic field detection unit GK1 and the detection value of the next path magnetic field detection unit GK2 in the guidance path k. Based on the first guidance route as the work vehicle V moves from the current guidance route k to the next guidance route.
When moving away from the guidance lines 2a and 2c, the control gain for controlling the steering electric motor 9 when traveling on one guidance route k is set to the current gain in the guidance route one prior to the guidance route. The correction is performed based on the difference value between the detection value of the magnetic field detection unit GK1 for the route and the detection value of the magnetic field detection unit GK2 for the next route. Specifically, the first
When approaching the guide lines 2a and 2c, the left and right magnetic field detection units GK1 and GK when the work vehicle V is located at the start end of each path.
The control gain is corrected based on the difference between the detected values of K2,
In the case of moving away from the first guide lines 2a and 2c, the work vehicle V
Is stored at the start end of the previous route, the difference between the detection values of the left and right magnetic field detection units GK1 and GK2 is stored, and the control gain for traveling on the next guidance route k is stored. The correction is performed based on the obtained difference value.

Next, the control operation of the control device 12 will be described. In the case where the work vehicle V is guided and driven in the field 1, the work vehicle V is manually driven on the first guide route k in a state where the work vehicle V is guided along an appropriate route prior to the automatic guidance control by the control device 12. . At that time, along with starting traveling from the starting end position of the guidance route k,
The detection information of the side magnetic field sensor for the next route (the right sensor 13R in FIG. 1) and the detection information of the end magnetic field sensor for the next route (the right sensor 14R in FIG. 1). Each of them is sequentially written and stored in the memory M in a state corresponding to the detection information of the traveling distance sensor 10. In the traveling by manual operation, traveling starts with the rear end of the rotary tilling device 6 located at one end of the field, and stops traveling when the front end of the aircraft reaches the other end of the field. In this way, the first run is performed without any hassle. Also, of the plurality of data sampled at every set time as the vehicle travels on the first route, the left and right side magnetic field sensors 13R and 13L near the center of the travel route.
(N) sampling data α of the respective detected values of
₁ ... _{α n,} the average value of the difference value of β ₁ ...... β _n Z ₁
The calculated, and this average value Z _1, previously obtained control constants for steering control in the guidance route based on the constants γ and set in advance based on experiments or the like as a reference control constants G _1.
Specifically, the calculation is performed based on the following [Equation 1].

[0048]

(Equation 2)

Then, after moving the work vehicle V to the starting end of the next guidance route k, guidance traveling control is started. Hereinafter, description will be made based on the flowcharts of FIGS. First, the side magnetic field sensor functioning as the current path magnetic field detecting section GK1 and the end magnetic field detecting section TK1 for the current path.
Initially, an end magnetic field sensor (the left side in FIG. 1) that functions as () is set (step 1). The control constant applied to the route when it is located at the start end of the route is also set. To explain the setting of the control constant, a difference value Zn between the detected values of the left and right magnetic field sensors 13R and 13L at the start end of the current path is obtained, and the difference value Zn and the difference in the first path are calculated. Based on the value Z _{1 and the} reference control constant G ₁ ,
Based on the following [Equation 2], the control constant Gn in this route
Is calculated. Note that the difference value Zn is calculated as an average value of a plurality of detection values sampled at a set sampling time at the beginning of each path.

[0050]

Gn = (Z ₁ / Zn) · G ₁

Further, when the guidance traveling control is started, the turning position of the vehicle body and the rotary position are considered in consideration of the front-rear length of the work vehicle V and the required distance from the turning traveling to entering the next route in a predetermined posture. The elevating operation position of the tillage device 6 is set in advance as distance information from the control start position.

Then, as shown in FIG. 12, while traveling the work vehicle V at the work traveling speed, the information of the guidance control target value stored in the memory M and the traveling distance sensor 10 are used.
The target value of the magnetic field strength at the present time on the guidance route k is obtained based on the detection information of the guidance route k, and the detection value of the side magnetic field sensor 13L functioning as the magnetic field detection unit GK1 for the current route and the target value of the guidance The guidance traveling control is executed based on the control target value (step 2). That is, the steering operation amount is obtained by multiplying the deviation between the detected value and the target value by the control constant Gn, and the driving of the steering electric motor 9 is controlled so as to be the steering operation amount. When the guidance traveling control is executed, detection information (detection information for guidance) of the side magnetic field sensor on the next route side functioning as the magnetic field detection unit GK2 for the next route, and detection of an end magnetic field for the next route. In the state where each of the detection information (detection information for the end) of the magnetic field sensor for the end on the next path functioning as the section TK2 is made to correspond to the detection information of the traveling distance sensor 10, the memory M
(Step 3).

Then, based on the detection value of the traveling distance sensor 10, the remaining distance of the work vehicle V to the route end position becomes 13
When it is determined that the vehicle has reached each of the positions m and 11m, the method of obtaining the control target value in the guided traveling control is changed. That is, for the guidance control target value stored in the memory M, the control target value is not simply obtained based on the value corresponding to the detection value of the traveling distance sensor 10, but the end magnetic field detection for the current route is performed. The detection value (actual measurement value) of the end magnetic field sensor is compared with the detection value (actual measurement value) of the end magnetic field sensor serving as the portion TK1 and the end position detection information stored in the memory M. Is corrected to the guidance control target value corresponding to the end position detection information having the same value as the above, and the guidance traveling control is continued based on the corrected control target value (steps 4 to 9).

Next, when it is determined that the distance to the end of the route has reached a position of 9 m, the control target value is changed to gyro data for the azimuth sensor, and thereafter, the azimuth sensor 11
The vehicle is caused to travel straight based on the detected value (steps 10 to 12). When the distance to the end of the route reaches a position of 5 m, the rotary tilling device 6 is raised, the gain of the end magnetic field detection sensor is reduced, and the distance to the end of the route is 1 m. Continue straight traveling based on the detected value (steps 13 to 1
6).

When it is determined that the distance to the end of the route has reached a position of 1 m (work vehicle V has reached the end of the travel route), the number n of travel routes is counted up (step 1).
7) If the count value of the number of traveling paths n has not reached the set number of paths ns in the field 1 (step 18), the maximum value X of the magnetic field strength written and stored in the memory M is obtained.
to determine the size of m, the maximum value Xm is the gain if beyond the adjustment set upper limit value S _GM, analog switches as amplifier 1 step lower gain than the current gain is selected AS3, A selection signal is commanded to AS4 to change the output gain to the lower side (steps 19 and 2).
0). The maximum value Xm is equal to the set lower limit value S _GL for gain adjustment.
, The analog switch AS is selected so that an amplifier having a gain one stage higher than the current gain is selected.
3 and AS4 to issue a selection signal to change the output gain to the higher side (steps 22 and 23). When the output gain is changed in this way, the control constant is also appropriately corrected according to the change amount (steps 21 and 24). In this way, the drive control of the electric motor is always performed with an appropriate control constant in accordance with the detected value of the magnetic field strength and the change situation of the output gain, so that hunting of the control and occurrence of a detection error are minimized. I try to suppress it.

Next, the side magnetic field sensor functioning as the magnetic field detector GK1 for the current route is switched to the opposite one (the right sensor 13R) (step 25). This is because their positional relationship is reversed by a change in the direction of the vehicle body. Next, turning control is performed to turn the vehicle so as to be positioned at the start end of the next guidance route k (step 2).
6). Then, Steps 2 to 26 are repeated, and the work vehicle V is sequentially guided along each guidance route k, and when the set number of routes ns is reached, the reciprocating traveling control along each route is completed. Shift to circulation control (steps 18 and 2)
7).

Next, the turning control will be described. As shown in FIG. 18, a state in which the azimuth sensor 11 is reset, the front wheels are steered at the maximum turning angle, and the one-side rear wheel is braked until it is detected that the azimuth of the vehicle body is reversed by 180 degrees. To turn (step 30), and change the control target value for guidance to the next guidance route (step 31). After turning, the position of the vehicle body is calculated and obtained based on the detection information of the end magnetic field sensors 14R and 14L. If the vehicle has not reached a position 5m from the edge of the field, go straight until it reaches the position 5m. The vehicle is driven (steps 32 to 34). Field k
At the point 5 m from the end of the
In step 35, a control target value of the constant magnetic field traveling control for guiding the vehicle is set so that the steering gain is increased. Is increased, the vehicle speed is changed to a low speed, and the constant magnetic field traveling control is executed (steps 36 to 39). When it is determined by the constant magnetic field running control that the vehicle body has reached the route start end point sp based on the detection value of the end magnetic field detection sensor, the control target value for guidance is corrected, and then the steering gain is calculated to the large side. Then, after the vehicle travels a certain distance in the width of the next guidance route k, the steering gain is calculated to the small side, the vehicle speed is changed to high speed, and the turning control is terminated (steps 36 to 36). 4
5) Lower the rotary tilling device 6 and start guided driving on the next route.

Next, the orbital traveling control will be described.
As shown in FIG. 14, this round running includes three rectangular paths u juxtaposed at intervals along the outer peripheral shape of the field.
The vehicle travels while moving sequentially from inside to outside on 1, u2, and u3. In this way, the tilling work is appropriately performed also on the outer peripheral side area of the field which is the unworked area in the reciprocating travel, good work is performed over the entire field, and no unworked area is generated. . Here, as shown in FIG. 13, the control target value for guidance when the vehicle travels along the rectangular guide route u1 of the innermost first turn is set as information on the uniform magnetic field strength, and Calculates the detected value of the magnetic field detecting means MK in the magnetic field strength correcting means 102, and calculates the current path of the magnetic field detecting means MK when the work vehicle V is positioned on the innermost rectangular path u1. The magnetic field detection value of the magnetic field detection unit MK1 after the above-described arithmetic processing is equal to the set value of the uniform magnetic field strength.

However, the control target values for the route u2 in the second lap and the route u3 in the third lap are as follows when the route u2 in the second lap travels on the first lap traveling on the route u1 in the first lap.
In addition, for the route u3 of the third lap, the value detected by the magnetic field detection unit MK2 for the next route is used as the detection information of the traveling distance sensor 10 during the second lap traveling on the route u2 of the second lap. The data sequentially stored in the memory M in association with is read and used. For example, the route u2 in the second lap
When traveling, the control target value (the target value of the magnetic field strength) stored in the memory M is read out in accordance with the detection information of the traveling distance sensor 10, and the detection of the magnetic field detecting unit MK1 for the current route is performed. The value is compared with the value, and the guidance control is performed by performing the steering operation so as to reduce the deviation.

Hereinafter, the flow of control will be described with reference to the flowcharts of FIGS. First, when it is determined that the vehicle is located at the first corner (upper left in FIG. 14) at the terminal side of the last guidance route kx on the field center side, the vehicle speed is reduced,
The user selects the inner circumference or the outer circumference (in this embodiment, the inner circumference), resets the number of turns (not shown) to 0, and then moves to the first route u1 (steps 50 to 53). next,
It is determined whether or not three laps have been made based on the number of laps (No. of laps)
If it has not completed three revolutions, the angle value is reset (steps 54 and 55). Note that, after moving on the route u1 in the first round, the rotary tilling device 6 is raised until the next corner (lower left in FIG. 14) is reached. Next, if the angle value is less than 4 (step 56), guidance control based on the control target value is performed along the route to the next corner, and storage processing of the target value (magnetic field detection value) for the next route is performed. Are sequentially executed (steps 57 and 58). Here, when the guided traveling is along the long side of the field, the data buffer of the azimuth sensor 11 is cleared when located at the center of the field (steps 59 to 61). When it is determined that the vehicle is located at the next corner (diagonal position of the field), a control target value from that corner to the next corner is set according to the number of revolutions (circulation NO), The process is performed to increase the angle value by one (steps 62 to 65). Next, the above step 5
The processing from step 7 to step 65 is repeated until the angular value becomes 4, and when the angular value is 4 (step 56), 1
Since the lap has been completed, the number of laps (circulation NO) is increased by one, the control target value is changed to data for the next route, and then the processing at the field corner is performed (steps 66 to 68). If the number of laps is three, the lap traveling ends (step 54).

In the processing of the field corner (FIG. 20), as shown in FIG. 15, when the vehicle is located at the corner, first, the vehicle travels a predetermined distance up to the shore, and then raises the rotary tillage device 6,
The vehicle travels backward on the same route by a predetermined distance (a and b in the figure, steps 70 to 72). Next, the driver operates the steering wheel 90 degrees to the left to move the vehicle forward and travels to the route along the next side (step 73 in FIG. 3C). After that, the rotary tilling device 6 is lowered, and the vehicle travels the same route forward by a predetermined distance (d and e in the figure, steps 74 to 76). In the lower left corner of FIG. 14, the vehicle travels to the next route as shown by the broken line, so that the distance between the forward traveling and the reverse traveling is set to be different from the traveling distance at the other corners. You.

[Other Embodiments] (1) In the above embodiment, each of the guide wires 2 is formed in a loop shape. However, both ends of one electric wire are grounded in the ground, and a current return path is formed in the ground. May be constituted.

(2) In the above embodiment, the guiding area 1 is formed as a rectangular area having four corners, but other than this, an area having a predetermined shape having at least one corner may be used. Good. Also, in the case of a rectangular shape, the shape may be a square shape instead of a longitudinal shape. Then, the control target value setting means 101 is not a rectangular guidance route u1 but is at least one according to the shape of the guidance area 1.
A guide route having a shape having the same or substantially the same corner as the shape of one or more corners is set.

(3) In the above-described embodiment, the magnetic field strength correction means 102 calculates the magnetic field detection values from the respective lead wires 2 identified at the same frequency and the same magnitude as the arithmetic processing under the set conditions. So that the current of
A normalized detection value normalized based on each frequency and current value is obtained, and correction is performed by multiplying the obtained normalization detection value by a setting coefficient (1 and 0.18 in the above embodiment). Then, the corrected value is subjected to the addition processing, but may be based on other arithmetic processing.
When the moving vehicle V is located on the guidance route (for example, u1), the detection value obtained by performing arithmetic processing on the detection value of the magnetic field detection unit MK matches the uniform magnetic field strength set as the guidance control target value. Other arithmetic processing may be performed. For example, under the conditions of the frequency and the current value of each of the induction wires 2, in the above embodiment, each of the induction wires 2a, 2b, 2c, 2
Although the current supplied to d is made different from α1, α2, α3, if the current supplied to each of the induction wires 2a, 2b, 2c, 2d is made to have the same current value, the above-mentioned normalized The processing only requires normalization processing for the frequencies fa, fb, and fc. The frequencies can be distinguished from each other, for example, 10.0 KHz and 10.1 KHz, and the difference between the frequencies can be obtained. Is small (in this example, a difference of about 1% at 0.1 KHz), the actual detection values k1, k2, and k3 can be directly used as the normalized detection values sk1, sk2, and sk3, The arithmetic processing will be simplified.

(4) In the above embodiment, the case where the reciprocating guide lines 2a and 2c are installed on the left and right sides of the guide area 1 is exemplified. However, the configuration may be such that the guide lines 2a and 2c are provided only on one side. In the reciprocating traveling control, the vehicle may be guided sequentially from a traveling route closer to the guide line to a farther route, or may be sequentially guided from a traveling route farther from the guide line to a closer route.

(5) 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. Further, in the above-described embodiment, the work vehicle V for farm work provided with the rotary tilling device is configured as a moving vehicle, but may be provided with a seedling transplanting device, a chemical spraying device, or the like. It may be a mobile vehicle for transportation or the like that does not have a working device.

(6) In the above-described embodiment, in the circling control, when the innermost guidance route u1 is guided to travel,
The control target value for guidance set in advance as the information on the uniform magnetic field strength and the magnetic field detection means MK (the magnetic field detection unit MK for the current traveling route)
When the vehicle is guided along the guidance route u1 based on the detection information of 1) and guided on the next guidance routes u2 and u3 adjacent to the guidance route u1, the vehicle travels along the previous guidance route. Based on the magnetic field detection information measured and stored in advance by the magnetic field detection unit MK2 for the next traveling route and the detection information of the magnetic field detection unit MK1 for the current traveling route, the vehicle is guided to travel on the next guidance route. But in addition to this,
A guidance control target value is set in advance as the information on the uniform magnetic field strength for all of the guidance paths u1, u2, and u3, and the orbital control is performed based on the information on the guidance control target value. Such control may be applied not only to the lap control but also to the reciprocation. That is,
Automatic guidance control may be performed by setting a control target value as information on the isomagnetic field strength in all regions of the field. Further, in the above-described embodiment, when the vehicle travels around the plurality of circuit paths (u1, u2, u3), the vehicle travels sequentially from the inside to the outside. However, the vehicle travels from the outside to the inside. Good.

(7) In the above embodiment, the first straight traveling route is manually operated in the reciprocating traveling on the center side of the guidance area 1. However, for example, the innermost circulating route u
Automatic running may be performed using the control target value (equivalent magnetic field strength) for 1 in the same manner as the lap control.

[Brief description of the drawings]

FIG. 1 is a plan view showing a guided state of a moving vehicle.

FIGS. 2A and 2B are a plan view and a cross-sectional view illustrating an installation state of a guide wire.

FIG. 3 is a diagram showing an example of a magnetic field intensity distribution.

FIG. 4 is a plan view of a moving vehicle.

FIG. 5 is a control block diagram.

FIG. 6 is a configuration diagram of a magnetic field detection unit.

FIG. 7 is a configuration diagram of a signal processing unit.

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 diagram showing a magnetic field detection state.

FIG. 11 is a diagram showing magnetic field detection information stored in a memory;

FIG. 12 is a plan view illustrating a movement operation at an end of the traveling route.

FIG. 13 is a plan view showing a control target value in the circuit running.

FIG. 14 is a plan view showing a guidance traveling route in a circuit traveling.

FIG. 15 is a plan view showing a traveling state of a corner of a field in a circular traveling.

FIG. 16 is a flowchart of a control operation.

FIG. 17 is a flowchart of a control operation.

FIG. 18 is a flowchart of a control operation.

FIG. 19 is a flowchart of a control operation.

FIG. 20 is a flowchart of a control operation.

FIG. 21 is a plan view showing an example of a control target value for orbiting in the related art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Guidance area 2 Guidance line 2a Guidance line 2b Guidance line 2c Guidance line 2d Guidance line 9 Steering operation means 10 Running distance detecting means 100 Running control means 101 Control target value setting means 102 Magnetic field strength correcting means MK Magnetic field detecting means MK1 Magnetic field detecting unit for traveling route MK Magnetic field detecting unit for secondary traveling route M Storage means V Moving vehicle

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

Claims (7)

[Claims] 1. A guide line on which a current is supplied to form a magnetic field is installed on the ground side, a steering operation means capable of changing the direction of a vehicle body is operable on a moving vehicle side, and a current supplied to the guide line Magnetic field detecting means for detecting the strength of the guiding magnetic field formed by the following; and the steering operation means based on the detection information of the magnetic field detecting means so as to guide the moving vehicle in a guidance area of a predetermined shape. A travel control means for performing guidance control for controlling the operation of the vehicle, wherein the guidance area includes a corner, and the guide area is adjacent to the corner as the guidance line. A dielectric wire is provided along each of the sides at an outer peripheral portion of the guide area and supplied with currents of different frequencies, and the magnetic field detecting means is formed by each of the guide wires formed by the currents of the different frequencies. Magnetic field from With each other identified,
It is configured to detect the strength of the magnetic field from each of the guide wires, along two sides adjacent to the corner, and at the same distance from each side, and having the same or substantially the same shape as the corner. Control target value setting means for setting a guidance route having a corner portion in the guidance area, and setting a guidance control target value for the guidance route as information on equi-magnetic field strength; and A detection value obtained by performing an arithmetic processing on a detection value detected in correspondence with each guide line by the magnetic field detection means when it is located on the path under a set condition is set by the control target value setting means. To match the isomagnetic field strength,
Magnetic field intensity correction means for performing arithmetic processing on a detection value detected corresponding to each guide line by the magnetic field detection means under the set conditions; and the travel control means includes the control target value setting means and the control target value setting means. Based on the information of the magnetic field strength correcting means, the detection value of the magnetic field detecting means obtained by the magnetic field strength correcting means is made to match the equal magnetic field strength set by the control target value setting means. And a guidance control device for a mobile vehicle configured to guide the mobile vehicle on the guidance route. 2. The method according to claim 1, wherein the traveling control unit is configured to, when the mobile vehicle is guiding along the guidance route, detect a value of the magnetic field detection unit obtained by the magnetic field strength correction unit and obtain the detected value of the uniform magnetic field strength. 2. The guidance control device for a mobile vehicle according to claim 1, wherein the guidance control device is configured to detect that the mobile vehicle has reached the corner of the guidance route as the value changes by a set value or more. 3. 3. The control target value setting, wherein the guide area is formed in a rectangular shape having four corners, and the guide lines are arranged along four sides of the rectangular guide area. Means for setting the guidance route as a rectangular guidance route that is the same or substantially the same as the outer peripheral shape of the rectangular guidance area, and setting the guidance control target value for the rectangular guidance route to the isomagnetic field strength The traveling control means is configured so that the traveling vehicle travels straight on the rectangular guidance route and reaches a corner on the end side of each side of the rectangular guidance route. 3. The guidance control device for a mobile vehicle according to claim 2, wherein the vehicle moves to a start end side of an adjacent side at each corner and executes circling control for traveling around the rectangular guidance path. . 4. A traveling distance detecting means for detecting a traveling distance of the vehicle body, wherein the magnetic field detecting means detects a strength of the guiding magnetic field when traveling on the guidance route. A magnetic field detection unit for the next traveling route to be detected by the magnetic field detection unit for the current traveling route when the mobile vehicle travels along the next guidance route adjacent in the vehicle width direction. And a magnetic field detection unit for a next traveling route for detecting the strength of the guidance magnetic field, wherein the travel control unit sets the guidance set as the information on the isomagnetic field strength by the control target value setting unit. Based on the control target value for use and the detection information of the magnetic field detection unit for the current travel route, the mobile vehicle is guided along the guidance route for the rectangle, and along the guidance route for the rectangle. When the traveling vehicle travels, the next traveling A first lap control is performed in which the detection information of the road magnetic field detection unit is sequentially stored in the storage unit as a control target value for guidance in association with the detection information of the traveling distance detection unit, and after the first lap control, A vehicle body based on a control target value for guidance stored in the storage unit and detection information of a magnetic field detection unit for the current traveling route sequentially detected in correspondence with detection information of the traveling distance detection unit; The guidance control device for a mobile vehicle according to claim 3, wherein the guidance control device for the mobile vehicle is configured to execute a second circling control for guiding the mobile vehicle along a next guidance route adjacent in the width direction. 5. An area adjacent to the corner of the guidance area.
Currents having different frequencies and different magnitudes are supplied to the guide wires arranged along the side, and the magnetic field strength correction unit performs the calculation process under the setting condition, and the respective guide wires identified from each other are processed. From the magnetic field detection values obtained by normalizing based on the respective frequencies and current values so that the same magnitude of current is supplied at the same frequency. Wherein the correction value is corrected by multiplying the normalized detection value by a set coefficient, and the corrected value is added.
4. The guidance control device for a mobile vehicle according to claim 4. 6. The traveling control means includes a plurality of guidance routes juxtaposed in an area inside the rectangular guidance route along any one of four sides of the rectangular guidance area. The moving vehicle is moved in a state where the detected value of the magnetic field detecting means for detecting the magnetic field from the guide wire installed along the side has the same magnetic field strength when the distance from the side is the same. The guidance control device for a mobile vehicle according to any one of claims 3 to 5, wherein the reciprocation control is performed after the reciprocation traveling control for reciprocating traveling on the guidance route is performed. 7. The rectangular induction area is formed in a long shape, and currents having different frequencies are supplied to respective induction lines arranged along long sides opposed in the short direction thereof, The frequency of the current supplied to each of the induction lines arranged along the long side is different from the frequency of the current supplied to each of the induction lines arranged along the short sides facing each other in the longitudinal direction of the induction area. A current having the same frequency is supplied, and the traveling control unit arranges a plurality of guidance paths in a state of being along a long side of the rectangular guidance area, and each of the guidance lines installed along the long side. Reciprocating the mobile vehicle back and forth on the plurality of guidance routes in a state where the detection value of the magnetic field detecting means for identifying and detecting the magnetic field from the vehicle has the same magnetic field strength when the distance from the long side is the same. While running control, Based on a detection value of the magnetic field detection unit that detects a magnetic field from each of the guide lines installed along the short side, it is detected that the moving vehicle has reached an end position of each of the guide paths. 7. The guidance control device for a mobile vehicle according to claim 6, which is configured.