JPS58214917A - Traveling car provided with copying sensor - Google Patents

Abstract

PURPOSE:To detect a prescribed boundary with discrimination of the degree of the approach angle of a car so as to ensure the optimum steering control, by setting copying sensors with a prescribed space between them so that a virtual line connecting both sensors forms a folded line. CONSTITUTION:Copying sensors are set with a prescribed space between them so that a virtual line connecting both sensors forms a folded line, and therefore the degree of approach angle is discriminated for a car. That is, an optical sensor S1 is first turned on when the car approaches obliquely to a boundary of its traveling areas. Then an optical sensor S3 is turned on when the car approaches further with an angle less than 45 deg., and an optical sensor S2 is turned on with the approach angle larger than 45 deg.. Then the control is carried out with a quantitative steering degree regardless of the approach angle and with a small approach angle. If the approach angle is large, the approach angle theta is detected from the ON-time difference between sensors S1 and S2. Then a solenoid valve 14 is controlled via a buffer 15 to drive a hydraulic cylinder 6 so as to obtain a steering degree corresponding to the detected approach angle theta.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a traveling vehicle equipped with a tracing sensor, in particular, a traveling vehicle equipped with a tracing sensor, which is provided with a tracing height for detecting all of the boundaries in order to visually drive the vehicle along a predetermined boundary of a traveling area. - Relating to vehicles with attached vehicles.

In conventional vehicles with this type of tracking sensor, sensors are installed all over the vehicle body to detect the boundaries of the driving area, and the steering wheel is automatically steered by a certain amount in a predetermined direction based on the boundary detection results of this sensor. Then, in order to automatically move the stone along this boundary, a tracing control was performed for 1/1 time.

However, in the conventional example, it is possible to detect whether or not an electric object crosses the boundary in an ON/OFF manner, but it is not possible to detect the angle of approach.

Therefore, when approaching a boundary of the vehicle body, regardless of the approach angle, the vehicle steers in the opposite direction with a fixed amount of steering, and when the boundary is detected again, the vehicle steers in the opposite direction, and so on. It is logical to control the steering to make the vehicle run smoothly.

Therefore, when approaching the boundary of the vehicle body, depending on the angle, the steering wheels may be steered more aggressively than necessary and turn too much, making it impossible to properly align the vehicle body with the boundary, resulting in permanent steering operation in the opposite direction. It is easy to cause the so-called hanging phenomenon, where the trail repeats, and for this reason, when the Samurai is used as a lawn mowing vehicle with a copying sensor, the gate mark of the Ct-1 becomes undulating and spoils its aesthetic appearance (8). The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide constant and optimal steering control corresponding to the angle of approach of the electric body to the boundary of the driving area. The objective is to be able to distinguish and detect the angle of approach in its entirety, so that it can be detected.

In order to achieve the above object, the traveling vehicle with a copy sensor according to the present invention has the copy 1/-1 secers arranged at a predetermined distance from each other and such that a virtual line connecting them forms a polygonal line. Based on the boundary detection order of the three sensors, the magnitude of the approach angle to the boundary of the electric body is determined, and the vehicle body is automatically steered with the steering amount corresponding to the magnitude of the approach angle. Direct control a7&: It has the characteristics of providing the means to do so.

Due to the above-mentioned characteristic structure, excellent young fruit as shown below can be produced.

That is, although the configuration is extremely simple, it is possible to determine in advance the magnitude of the vehicle body approach angle at the boundary -\, and to perform visual steering control of the vehicle body with a steering amount corresponding to the magnitude of the vehicle body approach angle. Therefore, if the approach angle is small, there will be no unnecessary steering control, and if the approach angle is large, the steering can be controlled with the same amount as the VCid. The border is well lined up and the area is busy. Hereinafter, embodiments of the present invention will be explained based on the drawings.
A lawn mowing device (4) is suspended in the middle of the vehicle body (1) so as to be movable up and down, and a lawn mower (4) is installed in front of the vehicle body (1) to determine the boundary between the unmowed lawn area and the mowed area. The following scanning sensors 1A) and tA)k are placed in front of the vehicle body tll on the left and right sides respectively, and a lawn mowing vehicle as a traveling vehicle with a scanning sensor is installed.

And the front wheel +! + ' +21 ij Steering wheel and copying 1. q (! Based on the boundary detection result of sensor [A), the hydraulic cylinder tel K should be steered by a predetermined amount in the left and right direction.
1fJ E i 1/-1 sensor (comprising ~a7f light-pincer (St door (S,), (S,), (St) is,
As shown in Figure 2, the fold-back shaped senna frame (
7)...The lawn mowers are arranged at a predetermined interval (dt)'((, and a predetermined interval (d,) in the front-rear direction so as to form a substantially rectangular shape when viewed from the C plane). Installed in the device (4) and attached 1r to the sensor mounting frame (8)
At the same time, a light emitting element (Pl) and a light receiving element (Py) k are respectively placed on the inner facing surfaces of the seven-length frame (7)e.
They are provided as a pair, and between the light-emitting element CPl) and the light-receiving element (P, ) of C, the presence or absence of grass introduced as the frame il+ runs is sensed. The sensors (A) and -Cn, and the optical hinter (81 houses (S, ), (S
In this example, the sensor (A) can be configured using any type of sensor, including contact type and non-contact type. The optical sensors (Sl), (S, ), (S3), and (St) are arranged in a roughly rectangular shape, but basically three sensors (S,
It is sufficient to arrange 1) and (Ssmanowa 54) at a predetermined distance from each other and so that the imaginary line connecting them forms a polygonal line.

FIG. 8 shows the determination of the magnitude of the approach angle (θ) to the boundary based on the detection result of the boundary between the uncut land and the cut land by the copying machine LA) configured as described above, and the determination of the approach angle (θ) to the boundary. Front wheel +211+21 with steering wheel corresponding to the size of angle (θ)
i shows a block diagram of the control device 19) which is configured as a steering wheel f, 3 the control device +91 V'i, I10 boat t101
, CPU Ill, memory (consisting of 1z1 and Kakunku+IgJK).

Then, the optical sensor constituting the copying sensor (A)
Boundary of sensor (St), (Sy door (S3), (S,)
The approach angle (θ) to the boundary is determined based on the detection order of the front wheels (unmoved/already mowed land). )・
(2) For full steering, the hydraulic cylinder (6) is driven via an electromagnetic pulp Q4)'z buffer circuit 1151 which is interposed in the hydraulic circuit.

Below, the procedure for determining the size of the vehicle body approach angle (θ) to the boundary between unmoved land and mowed land will be explained based on the conceptual diagram of detection of the approach angle (a) and (b) VC shown in Figure 4. However, without simplifying the explanation, the optical sensors (Sl), (Sl), (S3
) and (Sl) are arranged in a regular square with the mounting intervals (dl) and (d) being equal.

That is, when the vehicle ill enters the boundary from the mowed field toward the unmown field at an angle in the direction of the arrow shown in the figure, the sensor (Sl)
first detects all the unmoved ground, and then as the vehicle body (1) moves, its approach angle (if it is smaller than Vj degrees, Vi fourth
As shown in Figure (A), the sensor (S3) detects uncut metal. Conversely, if the approach angle (θ) is larger than f/j, the sensor (Sl
) then detects uncut bullion.

In this way, which of the sensor (Sl) is oNt, *t, the sensor (Sl) and the sensor (53) is ONt first
The magnitude of the approach angle (θ) is determined based on Nf.

Then, when the angle of approach (θ) is small, the absolute angle II
'Corresponds to the steering control? Quantitative steering regardless of the angle (θ) Vc Even if the steering wheels (2) and (2) are all steered with a single steering angle, the trail will not undulate that much. However, when the approach angle (θ) is large, it is necessary to control the vehicle body so that it follows the boundary as quickly as possible. As soon as it senses that the steering angle is greater than 'Ij degrees, it responds with the maximum amount of steering angle in the minimum amount of time.

By the way, if the simplified steering control of the vehicle body il+ is insufficient for this approach angle (θ),
11 Sensor (Sl)/(Sl) installation interval (dl)
and sensor (Sl)/(Sl), or sensor (S
3) Calculate the approach angle (θ) based on the time difference when each of (84) turns on or the moving distance of the vehicle body (1) during this time, and calculate the absolute angle (θ) vC vs f3f' Steering It may be configured such that the steering amount is 1 m HM +21 (2) the entire steering f.

In addition, (1) is a hydraulic pump, and Fig. 5 shows 9 control equipment.
197 is a flowchart illustrating the entire procedure when entering the aircraft. As shown in the figure, when this routine ends, the sensors (51), (Sl),! ! Next, (S,)・(S
l) Moving on to the normal copying in control by VC, it is still unclear which side of the prisoner to use the left and right image 1/"1 sensors (A) in the above entry routine (70). This is naturally determined depending on which side of the vehicle body the mowed field is located, but the selection and switching of both sensors IA+ and (-) may be done manually, and the ?This can be done automatically by installing a separate sensor for detection.

[Brief explanation of the drawing]

The drawings show an embodiment of a traveling vehicle with a copying grinder according to the present invention, in which Fig. 1 is an overall plan view, Fig. 2 is a front view of the main part of V'i, and Fig. Figure 4 is a conceptual diagram of the approach angle detection, and Figure 5 is a flowchart showing the operation of the control device. (1)...Claw body, (, A)...Copying center
Boo, (S,)・(St)I(S3)・(Sl)...
・・Light sensor 1 (dl)・(d,)・・・・Sensor installation interval.

Claims (1)

[Claims] A traveling vehicle equipped with a tracing sensor (-) for detecting the boundary in order to automatically run along a predetermined boundary of a running area, wherein the tracing sensor (A) k, the tracing sensor (A) k, and each other at a predetermined interval (dl). (d,) and are arranged so that the imaginary line connecting them forms a polygonal line, and is composed of 73 sensors (Sl) and (Sri' (Sl and S4)). Sensor (Sl)・(S,)
・Based on the boundary detection order of (Sl), the magnitude of the approach angle (θ) to the boundary of the vehicle body is determined, and the vehicle body's own steering control is performed using a steering amount that is 5f relative to the magnitude of the approach angle (θ). A traveling vehicle equipped with a copying sensor, characterized in that a means is provided.