JPS58141705A - Automatic running reaming work vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to an automatically traveling reaping vehicle, and more particularly to an autonomous reaping vehicle.

Contouring sensors consisting of a plurality of sensors arranged in parallel in the left and right direction for detecting uncut material to be cut are provided on both sides of the machine body, respectively, and which tracing sensor is used to detect the boundary Kf & The present invention relates to an automatic lawn mower that is equipped with means for steering steering wheels based on a combination of output signals from both of the tracing sensors in order to cause the lawn mower to travel.

It is possible for a lawn mower such as a lawnmower to automatically travel along the border between unmown and mowed land, but in this case, it does not move around the unmown area but towards the inside. Although it is possible to perform so-called circular mowing such as mowing the lawn, it is not possible to automatically perform so-called circular mowing, which involves running back and forth from one side of an uncut field parallel to that side and sequentially reaching the other side. It's impossible.

However, mowing the lawn is not just a matter of mowing, it is also a matter of gathering together after mowing.

That is, the appearance of mowing marks is an important issue, and from this point of view, there is a strong demand for reciprocating mowing in which the mowing marks are aligned in one direction.

In view of these circumstances, an object of the present invention is to provide a lawn mower that can automatically perform reciprocating mowing when neither of the front and rear mowing sensors detects uncut grass. , further comprising means for steering the steering wheel toward the uncut land side based on the order of the combination of the output signals of the two sensors, and for switching the scanning sensor to follow the boundary. Ai.

According to this characteristic configuration, the machine travels along the boundary between the mowed field and the mowed field on one side, and when it reaches the edge of the unmown field in the direction of travel, the machine detects the unmoved field. It is automatically turned towards the mowed field, but at this time the following sensor should detect the boundary.
By switching from one side to the other, - the new boundary between the unmown area and the mowed area created by the previous lawn mowing. The aircraft will be automatically turned around. This tracking sensor automatically steers the vehicle along the new boundary between the mowed area and the previously mowed area. Therefore,
K was used to enable autonomous lawn mowing with reciprocating mowing, which is extremely effective on lawns that have been artificially cut in advance, or on lawns where there is no grass in the surrounding area. .

Automatic driving has made it possible for the mower to move back and forth.

An embodiment of the present invention will be described below.

FIG. 1 is a drawing showing the procedure for mowing a lawn by an automatic mowing lawn mower, which is an example of the self-driving mowing vehicle of the present invention. Artificially pre-harvesting the above outer peripheral part it+
are all mown areas for turning the aircraft, and next, the left and right copying sensors (II), which will be described later, are the uncut grass area (3) of the outer circumferential turning area.

(6) While automatically determining the boundary between the mowed field and the unmown field, the Uemachi lawnmower (4) is continuously determined in advance and automatically steered in the direction nine times. .

Automatic reaping work is performed by reciprocating mowing.

Fig. 4 is a hydraulic circuit diagram for steering next to the steering wheel, which is the front wheel. The branch valve (lη is connected to the pump (l14). The branch valve (I) always branches a constant amount of oil to the solenoid valve (lfI), and the solenoid valve (lη is connected to the left and right solenoids, so that the valve body □ Movement changes the flow path of oil flowing into the hydraulic cylinder.

FIG. 2 shows the scanning sensor (il, <61 -V
I! This drawing shows a pair of left and right facing optical sensors (
7), 18) and +91, +11, by generating a signal at LOW level when uncut grass is not detected, and at HIGi level when uncut grass is detected, it is possible to return on a mown field or on an unmown field. A pair of facing optical sensors (71, +81 and +91, +1
11 are placed side by side on both sides of structure A, and each copying senna (Il
It consists of and (・).

When traveling along the boundary between uncut and mown fields, the center of the machine (III
This standard is based on the state in which the uncut grass is detected by the optical sensor (8) or (9) of 'fW' and the uncut grass is not detected by the other optical sensor (1) or by clear weather. The aircraft is steered to match the

Fig. 8 shows the automatic control of the turning direction and the scanning movement by inputting signals indicating whether the area is mown or uncut, which is detected by the pair of left and right scanning sensors (6). It is a circuit diagram showing an example of an automatic travel control device that performs the following:
, q N07 circuits (Nl) to (N also) that invert the logic of each signal from 111, and the N07 circuits (Nl) to (N
・) and the outputs of the optical sensors ()) to (2) are used as appropriate inputs, and a turning direction control circuit (0) that controls the turning direction is connected to A copying travel control circuit (a) that controls the copying of the cut grass to the boundary, the travel control circuit (+121), and the turning direction control circuit (which receives left and right steering control signals outputted from each one as input) Two OR circuits (Gl)-(G-) and the 01 circuit (
The left and right steering solenoid circuits IJI (14) are driven by the logical outputs of Gl) and <Gl).

Said turning direction control circuit (11) Vi, = said lawn (3)
A logical output indicating the state of the q light sensors - (
7) ~ (If all 1o1 are in the above-mentioned turning site (HI)
A first OAND circuit (G1) that outputs GH rehe 77 and an H
and an eighth AND circuit (Gu) that outputs the IGH level.

HI when the lawn mower (4) adjoins a mown field on the right side.
an eighth AND circuit (Gss) that outputs the GH level;
The output of the second AND circuit (Gts) is input to the reset terminal ``1'', the output of the eighth AND circuit rGts) is input to the set terminal tel, and a pair of logic outputs ((h)
.

A flip-flop (Fl) that generates (Ql) and the above outputs (Qi), (Q
l)' is one input for each of the above first AND circuits (two two-input circuits with the output of Gm as the other input).
It is composed of circuits (G14) and (Go).

Therefore, when turning to the left, the above AND circuit (G14
) from the OR circuit (Gl) to the left steering solenoid circuit 11! IKHIG11 Outputs a level signal and when turning to the right, the above ANDi! From the i-way (G-18), a signal at the HIGH level of right steering wheel 1 noid circuit 04 is outputted via the OR circuit (Gm).

The tracing control circuit is the turning direction control circuit (■)
Similarly, an AND circuit (Gst) that outputs a HIGHV signal when the optical sensor 171O is in a mowed field;
An AND circuit (Gss) that outputs the 111GM level when only the optical sensor -■ is in the mowed field, and an AND circuit (Gu) that outputs the HIGII repep when all the optical sensors are in the unmowed field; 11 When the right scanning sensor (5), that is, the optical sensor (7) and (8) is in the already mowed field.
AND WJ path (GsJ) that outputs the fGH level μ, and the left scanning sensor (6), that is, the optical sensor (9) and (
A that outputs a HIGH level when 1o1 is in a mowed field
input to the ND circuit terminal 1, and the turning direction control circuit (1
1 of 1 (D AND circuit (Gsl) □゛output trigger input terminal (1), a pair of logic outputs (Ch)
, rQs) and the above output (Qs) of the flip-flop (Fm) and the 7-rip-flop (h),
((b) is each one input, and the above AND circuit (G
Two AND circuits C whose other input is the output of wh)
Gl@) , (one G and the AND circuit (G16)
, (Gm ma) as the input for each one, and the above A
The ND circuit (Gma) is used as the other input and the OR circuit (Gm
a) and an OR circuit (Gm) whose other input is the AND circuit rGss).

However, when the lawn mower (4) runs adjacent to the mowed field on the right side, the light sensor ()) is at the LOW level /l'wo, and the light sensors 181 to 1 are at the LOW level. Since the HIGII level is output, the eighth A) ID1M circuit (Go)
only outputs HIGH level, and the other first and B
The ND circuits (Gn) and (Gl) all output Lot level.

On the other hand, when the lawn mower (4) runs adjacent to the mowed field on the left side, the light sensor (71 to +9) is at a LOW level and the sensors (71 to +9) are at a high level. Only the AND circuit (Glm) is HIGH
level and outputs the level to other first and third AND circuits (Go
), (Since all G- outputs LOW level, the flip-flop (Fl) is reset and the output (Ql) becomes LOW level, and the output (Ql) becomes HIGH.
level.

However, as mentioned above, the flip-flop (
Regardless of which foreshadowing the outputs (Ql) and (Ql) of Fl) are, the output of the first AND circuit rGn) is L
Since it is at the ot level, the two one-input AND circuits (Gu) e (Gl) are both closed and LOW.
Since it outputs the level, the solenoid circuit described above is used.

Neither of the two → operates, and the lawn mower (4) moves straight.

Next, when the lawn mower (4) enters the one-time site, all of the light + sensors (7) to (101Fi) output a LOW level, so that the first - AND circuit (Gu
) outputs a HIGH level, and the two AND circuits (
Gti) @ (Gli) is opened, and the output (Qx) of the 7 reset flash (Fl) set in advance when traveling straight as described above.
, (Qs) In other words, if the vehicle is driving with an already mown field adjacent to the right side, the left steering should be performed at the turning site (2) (the output (which is at HIGH level)
Ql) activates the left steering solenoid.

If you drive next to an already mowed field on the left side, there will be a turning charge of $ ＋
In order to steer to the right at 21, the output (Qs) K, which is at HIGH level, operates the solenoid for right steering and the id circuit I, and the lawn mower (4) is automatically corrected at the right-of-way (2). change direction.

Next, the lawn mower (4) changes its strike direction as described above and enters the unmowed lawn (3).

Any one of the optical sensors (7) to (In is 1110M
level, the output of the first printing circuit (Gll) becomes a LOW level, and the two co-inputs ANT
1 circuits (G14) and (Glb) are closed, both of the solenoid circuits 113) and (113) stop operating, and the lawn mower (4) is in a neutral state and moves straight.

By the way, after changing direction at the lawn mower +4) Fi turning site (2), it goes straight ahead, but in this case 11, it goes straight diagonally through unmowed land and enters already mowed land, so
When the optical sensor (7) to (a pair of copy sensor (6) or copy sensor (-) in the field detects a LOW level, the travel control circuit 01 activates the turning site ( Each of the left and right steering steering circuits is configured to steer the vehicle in a direction opposite to the direction in which the direction was changed.

04, and the light sensor (7) on the right side or the light sensor on the left side (only the seagull is in the mown area, i.e. LOWL/
He J/, other o7in v -ig+, +111, L
&lll1 &ti(yl, (s).

The AND circuit (G
axis) e (G- or A of the turning direction control circuit (II)
Depending on the output of the ND circuit (rGn), a flip-flop (F
By reversing the state of l) every time the lawn mower (4) enters the turning area (!), the steering is controlled,
The system automatically moves so that it always cuts the grass on the unmown area adjacent to the mowed area on either the left or right side.

The automatic travel control device illustrated in FIG. Since it is also possible to adopt a configuration in which the steering electromagnetic pulp O'6 is controlled in accordance with a pre-stored program, the present invention is not limited to the mode of the illustrated embodiment.

The average value over a predetermined period of time is output as a signal.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of the automatic traveling reaping vehicle according to the present invention, with FIG. 1 being a drawing showing a reaping procedure, and FIG. 2 being FIG. 1I showing an example of a copying sensor. FIG. 8 is a drawing showing an example of an automatic travel control device. Fig. 4 is a hydraulic circuit diagram for steering, and Fig. 5 is a signal processing circuit diagram of a part of the sensor. +61, (81-... copying sensor. Figure 1 II Figure 2 l

Claims (1)

[Scope of Claims] A tracing sensor (i) comprising a plurality of sensors for detecting uncut and cut material arranged in parallel in the left-right direction. (6) are provided on the left and right sides of the machine body, respectively, and the %-lateral scanning sensors 11) and (@) are installed on both the left and right sides of the machine so that the machine runs along the boundary between the cut field and the uncut field. (51, (@)) An automatic traveling reaping work vehicle equipped with a means for steering steering wheels based on a combination of output signals from (@), wherein both of the copying sensors (61, (61) each have an uncut When no grass is detected, the steering wheel is steered toward the unmowed area based on the order of the combination of the output signals of the two sensors (1) and (@), and the bevel tracing sensor along the boundary. (61, (@)) An automatic traveling reaping work rate characterized by being provided with a means for switching.