JPS59146311A - Automatic running working car - Google Patents

Abstract

PURPOSE:To direct a running car to a prescribed direction with a high precision after turning, by correcting automatically the operation steering angle of a steering wheel at the automatic turning time on a basis of the detection result of a car body inclination angle detected by an inclination sensor provided on the car body. CONSTITUTION:A car body inclination angle thetaK detected by an inclination sensor 2 is added to a steering angle thetaT on a flat ground, which is inputted from an initial value setting device 1 of the steering angle for turning, by a corrected steering angle calculating device 3 to calculate a corrected steering angle thetaTX. A steering wheel 5 is subjected to the steering operation by a steering wheel driving device 4 in accordance with a manipulated variable corresponding to this target steering angle thetaTX. A steering angle at which the wheel 5 is actually operated is detected by a steering angle detector 6 and is fed back to the device 4 to control the device so that angles thetaTX and theta coincide with each other.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a self-help mobile vehicle, and more particularly, to a reciprocating vehicle such as an automatic lawn mowing vehicle. The present invention relates to an automatic traveling work vehicle having a VC configuration so as to repeatedly perform ground work within a work site while automatically changing direction and repeatedly moving from one end of the work site to the other end.

Traditionally, self-help mobile work vehicles of this type have been used for at least part of the ground work. Steering wheels to do automatically? Automatically operates the steering wheel to automatically travel in a predetermined direction,
Automatically change direction according to a preset pattern at the end of each stroke? As I repeat, please make sure that the steering operation is automatically controlled.

However, in the above-mentioned conventional steering control means, the steering control is performed assuming that the flatness of the working ground is good to some extent, so the shoulder of the vehicle may slip if the working ground is not flat, such as on a slope. In particular, there was an inconvenience in that the running direction after the direction change was completed was significantly deviated from the planned running course for the next stroke.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to reliably and appropriately change the running direction after the direction change is completed to the scheduled running time of the next trip, regardless of the degree of inclination of the work site.
An object of the present invention is to provide an automatic traveling work vehicle equipped with means capable of automatically orienting the vehicle in a certain direction.

In order to achieve the object 1, the automatic traveling work vehicle according to the present invention operates the steering wheel during the automatic direction change based on the detection result of the vehicle body tilt angle detected by the tilt sensor installed on the vehicle body. It is characterized in that it is configured to automatically correct the steering angle.

In other words, to explain the structure of ``Failure based on VC'' in Figure 1,
Initial steering angle fl for direction change! The steering angle (θT) on flat ground input from the means for setting k (1) is input to the tilt sensor +21, and the detected f1Li tilt angle (θl)? The corrected steering angle calculating means 3) calculates the corrected target steering angle (θTX) ft by adding (subtracting) degrees Celsius.

Then, the steering wheels (6) are steered by the steering wheel 1IIl and the driving means (4) with the operation amount corresponding to the target steering angle (θTx) VC. Next (and the steering angle W operated by Minori of this steering heavy wheel (5)
) K steering angle detecting means (6) is used to raise the steering angle, and feed back to the first pivot manual retraction (4) so that the target steering angle (θTX) and the detected steering angle ψ) coincide with each other. It controls interest rates.

According to the above configuration, the following excellent effects are exhibited.

That is, even in a work area where the ground is sloped, the amount of steering operation is automatically corrected in accordance with the degree of slope (for example, in the case of an uphill slope in the direction of travel, the amount of steering operation is increased, In the opposite case, the reproducibility of the change is improved, and when the direction change is completed, the direction of the traveling course for the next stroke is determined by one step more accurately. I've reached the point where I can direct them towards this.

Hereinafter, the present invention will be explained based on embodiments and drawings.

As shown in Figure 2, the single (7) sfJ rear wheel +81
, (9) [The lawn mowing equipment H + o + e is suspended vertically in part g5, eζ, one car (7) θr7 part is used to separate the unmown area and the mowed area of the lawn that is the boundary of the work area. Imitation of the postscript structure for determining the boundary warehouse (A')
are installed on the front left and right sides of the front of the vehicle body, and the lawn mowing work vehicle is configured as an automatic driving work vehicle that can automatically travel on a predetermined travel course by controlling the steering based on the boundary detection results of (A'). It is.

As mentioned above, this lawn mowing vehicle VC has a body (7).
slope? In addition to being equipped with an inclination sensor (2) to detect the vehicle body (7), a distance sensor (11) that generates a total of 7 pulses per arbitrary unit traveling distance is installed in order to continuously detect the distance traveled by the vehicle body (7) <1. This is the 59th (IIA) provision.

The tilt sensor 102 (2) is connected to the tip (1) of the heavy weight 112j suspended from the fulcrum (P) area as shown in Figure 8.
2a) contacts the resistor (I3), and this contact point touches the vehicle body (
7) It is configured to change left and right in response to the inclination,
It functions as a potentiometer whose output voltage changes in response to the inclination of the vehicle body (7).

The copying sensor sensors (A') each have the same configuration VC.
A pair of null light sets/sa (S + , s2 ) + (S
'l, S'2) K.

rJtI record light/sa (S 1.S 2) e (S
'(r S'!), as shown in FIG. 4, are U-shaped sensor frames f14) and t14) (!"
7V-A with sensor a installed in the lawn mower (10)
l15), 05) VC is fixed, and light emitting elements (Pt), (Pt) and light receiving elements (P, ), (P,
), all pairs have a 几 configuration. and,
By fully sensing the presence or absence of grass that is introduced as the vehicle body (7) travels between the light emitting element (Pυ) and the light receiving element (P8), it is possible to detect the boundary between unmowed land and mowed land. It is configured separately.

In addition, the copying sensor (A') is the optical sensor (S+
, Sz) , (s', , s'2) It is not limited to the one used in i, and may be constructed from any type of sensor, regardless of whether it is a contact type or J('contact cost?).

The front wheels +81, +8] are steering wheels (5).
Generally, the steering wheel is configured to be steered by a predetermined amount in the left-right direction by a hydraulic cylinder (16) as a steering wheel drive means (4) based on the boundary detection result of the scanning sensor (A'). .

Then, as shown in FIG. 5, the optical sensor length -(S,,S
2) a copying sensor consisting of a photo sensor) or an optical sensor
+S'2)-1: When one of the following scanning sensors (A') is on the uncut ground (17B), the light sensor (sl) outside the other scanning centimeter [1 p.s. Alternatively, the vehicle is steered so that only the light sensor (S', ) is on the mowed field ('17C), and the mowing field (17A) is
7'1'! 1. Control eζ so as to turn toward the direction of the scanning sensor located on the unmowed land (17B) side C.1. Ru. In addition, Ekochi (17
D) is artificially mowed land t/? : There is a problem, and what led to this Eko Jun (17D) is the imitation sensor (5),
Optical sensor (S+), (S2) that constitutes (A')
, (s'l), (s'2) Are all the areas already mown? This is what we detect [Therefore, it can be determined.

And now we have reached the destination (17D)? When it is detected, it moves straight for a predetermined distance Ni1 (1,) and then returns to the uncut land (17
B) While turning 90 degrees in the direction (indicated by the middle mountain in Figure 5), the predetermined distance III (12) Aff turning M (17D
) Move forward on the top and retreat a predetermined distance (4J) ((1) in Figure 5)
After moving forward again (14), turn 90 degrees toward the uncut land (17B) (see (iii) in Figure 5).
), then changed direction and then resumed mowing the lawn. : Already mowed land (17c)

The control system for fully automatically changing the direction of the vehicle described above will be explained below.

As shown in FIG. 6, the control system includes a microcomputer as the main input device (81≦) and a gIt imitation sensor (4) through an input interface (t19)k.
, (A'), tilt sensor (2), distance sensor II)
The signal is input, and based on the information from these valley sensors, the electromagnetic valve is operated, and the hydraulic cylinder (181'k ffi ship) which is the actuator is activated.
In order to drive the front wheels [8], +81 and the motor that operates the speed control device 1), a control signal that is the calculation result is sent to the output interface 7 ace system. It is configured for output.

As shown in FIG.
7c) In order to follow along the boundary with the area, the following sensors (A+, (A')) send unmoved/already area detection signals.
Based on the number, the rlft1 lottery 181, +8) is controlled by steering.

Next, +) f1 imitation sensor prisoner, (A') both are 6
+r Recording distance (17Ll) When k is detected, the following driving control is activated, and while driving straight, the 4fJ distance recording sensor (I
I) Measure the signals from 7) and detect that the vehicle has traveled a predetermined distance (i!l), then change direction as shown in Figure 5 of [)IJ? Then, move the vehicle (7) towards the unmoved area (17B).
Fully automatic rotation, and then this uncut area (17B)? While tracing in the opposite direction and moving 'rL' over the specified range of work area (
17A), the vehicle body (7
) Based on the detection result of the inclination angle (θK), (I
The total correction of the steering operation amount in the second 17) 90 degree turn shown in n) is 1-.

That is, the initial steering angle (0) for a 90 degree turn on flat ground and the inclination angle (θK) of the vehicle body (7) detected by the 15iJ inclination sensor (2)? Calculated and corrected based on the formula below, the next target steering angle (θ
rx) k Calculate.

θTX = θT 10φ = θT + α claw VX - vT) (However, α is a predetermined coefficient, VX is the output voltage of sensor (2), and VrIi is the reference voltage when horizontal) Then, this target steering angle (θTX) and front@＋a
The electromagnetic hull 7'12!O)k is driven to operate the hydraulic cylinder (1ψ?) so that the actual steering angle (θ) of 1 and tg+ coincides with each other.

In addition, in the copying run 111ilI, [111.
It is naturally determined by the direction of travel after fJ, and the hand! I
fjJ, automatic means, or VC.

In addition, in Fig. 6, (R1) is a button / rotation meter that detects the steering angle of the 1q wheel (8) with Rυ. It's the end of the day.

FIG. 7 is a flowchart showing the entire operation of the arithmetic unit fF'tQ8).

By the way, although the control system shown in Figure 6 of +1fJ only shows the essential requirements for automatically performing direction transfer, it is natural that the arithmetic operation unit line IIJ can also be used for various other control purposes. It is something that

For example, in the FT VC that performs teaching and layback control, it is necessary to detect the absolute running direction of the frame (7). ? WJ-body t7)
Based on the information from this sensor example, it detects the entire direction of travel and converts it into data, or converts this data into a precise direction! Automatic driving control of the vehicle body (7)? What is done is being done.

Is this an example after that? Explain briefly.

That is, as shown in FIG. 2 and FIG.
As in iJ, N ζ entering counter 7 Ace υ9)? It is input to the arithmetic unit (1~) through.

By the way, can this geomagnetic sensor detect the absolute direction regardless of the orientation of the vehicle body (7)?
This is convenient when using it as a parameter for various controls based on the detected orientation, but due to its characteristics, if a ferromagnetic material is placed near the sensor), the accuracy of the detected orientation will deteriorate. Because there are cases where false detection occurs, when sampling the direction detected by the geomagnetic sensor (the circle), the potentiometer (R3) as a sensor that detects all changes in the rotation angle of the fifth wheel (IIA)
A change in the rotation angle of the wheels (IIA), that is, an instantaneous change in the running direction of the vehicle body (7)? Detection and said geomagnetic sensor? -t24)
K, l: It complements the detected direction.

Hereinafter, the means for sampling the 1m direction data will be explained.

That is, the geomagnetic sensor and the fifth wheel □(
Since the change in the output signal of each of the installed potentiometers (R3) has the characteristics shown in Fig. 8, the earth's magnetic field is Detection direction (Dn) of sensor (24)
)i sampling, and if there is a change in the picture <K) between this orientation (Dn) and the previous sampling orientation (vn -, ), the output signal (Vθ) of the potentiometer (R3) ) and sampled for a predetermined time (△t
) After the elapsed time, check the output signal (VC2) of the potentiometer (R8) again and check the change. Check and compare the difference (S) between the predetermined value of the direction to which the amount of change (S) corresponds to JS (11 old o'n) and the sampling direction (4),
If they almost match, or if the origin of this sampling direction (
K) is less than or equal to a predetermined value of 11α (4), the 6TI sampled ring direction (Dn > is stored as direction data in a memory (20) provided in the arithmetic unit (18), and in cases other than the above, i.e. , the difference in the sampling orientation (K)
and potentiometer (R3) output signal m (S
) If there is a difference from the predetermined value (end) that corresponds to K, or if the sampling direction (K) is larger than the predetermined value, the geomagnetic sensor example is considered to be false and the previous Based on the sampling direction (Dn-L) and the predetermined value (D'n) corresponding to the amount of change (S) K, the current sampling direction (Dn) is complemented and stored in the memory [25]K. be.

Therefore, since an incorrect orientation is not stored, the accurate orientation (azimuth) of the vehicle body (7) can be detected.

Incidentally, FIG. 9 is a flowchart showing the operation of the arithmetic unit (18) regarding the azimuth sampling described above.

In addition, the potentiometer (R3) is connected to the 6fJ transducer (
81, (Potentiometer (R,) installed as a sensor to detect the steering angle (θ) of 1 prefecture of 81 I
/l: Therefore, it may be used instead.

[Brief explanation of the drawing]

FIG. 1 is a drawing for explaining the present invention in detail, and FIG.
The figure is an overall plan view of the lawn mowing vehicle, and Figure 3 is the configuration of the inclination sensor? 4 is a front view of essential parts showing the entire configuration of the scanning sensor, FIG. 5 is an explanatory diagram of direction change, FIG. 6 is a block diagram of the control system, and FIG. 7 is a flowchart showing the operation of the arithmetic unit. FIG. 8 is a characteristic diagram of the geomagnetic sensor and the potentiometer for detecting the rotation angle of the fifth wheel, and FIG. 9 is a flowchart showing the operation of the arithmetic unit regarding direction detection. (7)...Vehicle body, (2)...Inclination sensor, lsl, +81...Steering wheel, (θφ
)... JP1 body oblique angle, (θF)...
・Operation steering angle.

Claims (1)

[Claims] Round trip trip? This is an automatic driving work vehicle configured with a VC so that it can perform ground work within the work area repeatedly while automatically changing direction and moving from one end of the work site to the other end. Detection result of the vehicle body inclination angle (θK) detected by the sensor (2) (%, steering wheel t81, +8 at the time of the vehicle 1J direction change)
A means of automatically correcting the VC of the operating steering angle (θT)? A self-help traveling work vehicle is provided.