JPS60184307A - Automatic running work machine - 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 provides a self-sufficient working vehicle, more specifically, a self-sufficient working vehicle, which can move around a predetermined range of work areas. Based on the boundary detection result of the scanning sensor that detects the boundary between the processed work area and the unprocessed work area, a travel order sequence for a plurality of predetermined travel strokes while detecting the boundary and a single travel stroke are determined. Based on the direction change sequence to move to the next step after completing the process,
The present invention relates to a self-driving work vehicle configured to travel automatically.

Conventionally, this type of self-driving work vehicle 1, for example, a ground work vehicle such as a lawnmowing work vehicle, has been equipped with a method for automatically performing ground work within a predetermined range of the work area where the surrounding area has been treated in advance. The ground is divided in advance into a plurality of traveling strokes corresponding to the working width, and control is performed to automatically travel while sequentially moving between the plurality of traveling strokes.

The order sequence for traveling each of the travel strokes is set in parallel.

A reciprocating mode in which the direction is changed by 110 degrees in the next step, and a certain h is a reciprocating mode in which the direction is changed by 110 degrees in the next step. There is a round-trip type that moves with a 0-degree direction change, but in any type of travel type, at the end of each travel stroke, in order to automatically change direction to the next stroke direction, there is a It was necessary to determine whether or not it was reached.

However, the means for detecting the end of each stroke are to compare the preset expected travel distance of each stroke with the actual travel distance, or to detect all processed work areas by the profiling A sensor. If the working area is in poor condition, the treated working area and the untreated working area are discontinuous, or the boundary condition is poor, etc. There were cases where the user misjudged the starting position of the direction change and lost the umbrella when changing direction normally.

Furthermore, if the direction cannot be changed normally, the number of planned travel distances and the position information will be incorrect, and there is a risk of creating a new incomplete work area.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide an automatically traveling work bundle equipped with means capable of changing the starting conditions of a direction change sequence in accordance with the state of a work site or the state of a boundary. In order to achieve the above object, the automatic traveling work vehicle according to the present invention performs the direction change sequence based on a combination of the detection results of the deviation with respect to the border color) by the copying h sensor +51 and f5+. and a turn condition setting means for setting a combination condition of the boundary L) detection result by the copying h sensor +51, +fil, and the condition set by the turn condition setting means and the above The present invention is characterized in that a control means is provided to automatically start the direction change sequence only when the combination of boundary (t,) detection results by the copy h sensors (5), 15) match. Stone.

Because of the above characteristics, the following excellent effects have been achieved.

In other words, it is possible to change the turn conditions or set them in advance according to the conditions of a work area, and it is possible to avoid automatically starting a direction change under conditions other than those set. , the accuracy of the starting position of the direction change sequence in the working area under the same conditions has become very good, and therefore the working accuracy has been greatly improved.

An embodiment of the present invention will be described below with reference to the drawings.

@ As shown in Figure 1, the front and rear wheels of the vehicle body fl) +31,
+31 A lawn mowing device (4) is suspended in the middle part so as to be able to move up and down, and the makai r1. ) are installed on the left and right sides of the front of the vehicle body f1), and the following sensors 15), (
A lawn mowing work vehicle is configured as an automatic driving operation (2) that can automatically travel a predetermined travel course by being steering controlled based on the boundary L) detection result according to 5).

Further, the vehicle body (1) is provided with a distance sensor (6) that generates a predetermined number of pulse signals per distance traveled by the vehicle body (1) (unit traveling distance C1° in order to continuously detect lag).
In addition to providing a sixth wheel (6A) as a.

A geomagnetic sensor is provided as an azimuth sensor (7) to detect the direction (azimuth) of the vehicle body +1).

In addition, the front wheel +21, (21 and the rear wheel +31,
131 has seven wheels, each of which can be operated by steering, and by steering the front and rear wheels f21 and fsl'ft in the same direction, the vehicle body f1) moves parallel S without changing its orientation. Front/rear wheels (2).

By steering (3) in a relatively opposite direction, it is possible to turn with a very small turning radius.

The imitation h sensor (5'rlti, two optical sensors)
(S, ) and (S,), and these optical sensors (S+) and (S,) are, as shown in Fig. 2,
U-shaped sensor frames +91 and +91 are arranged adjacent to each other in the left and right direction of the vehicle body at the distal end of the support frame (8) whose base end is fixed to the lawn mowing device (4), and the sensors A light emitting element (P,) and a light receiving element (P) are provided as a pair on the inner facing surfaces of the frame (9), respectively.
, ) is configured to determine whether there is uncut land (@) or mowed land (O) by sensing the presence or absence of grass passing between them.

Note that the copying h sensor (fl) is an optical sensor (S
, ), (St).

It may be composed of any type of sensor, contact type or non-contact type.

And uncut land (6) obtained from each light receiving element (pm), (pm) of the optical sensor (S,), (swine)
The identification signal for the mown area (C) is because the grass passes intermittently.

The result is a discontinuous pulse-like signal. Therefore, in order to convert the signal into a continuous discrimination signal, the signal is configured to be inputted to a control device (IO) described later after performing an integral process.

To integrate the output signal (C4) of the light receiving element (P,), the number of output pulses of the distance sensor (6) is counted and a carry signal (C4) is generated for each preset count value.
A programmable kakunta (111) that outputs J and a flip-flop (121) that is reset by the carry signal (C8) of this kakunta un are provided.
11 and set the flip 70 knob Ua (configured.

A digital filter (131) is constructed by this kakunta 111) and 7 lip-flops 1I21, and the uncut land CB
) and continuous boundaries (
The determination signal (C0) of L) is obtained.

The operation of this digital filter (131) will be briefly explained below.

The kakunta (b) is reset by the output pulse signal (CI) i7i of the light receiving element (P3) regardless of its count value, and the flip-flop 112) is set. Then, when the grass disappears, this pulse signal (C,) becomes lIL'' level, and
Only when the kakunta 11 counts the output signal (C1) of the distance sensor (6) up to the count value corresponding to the predetermined distance (l!.) after traveling a predetermined distance (I!.), the Kakunta (11) is a carry signal (CJ
is output, and the flip-flop +121 is reset. Therefore, the output of this flip-flop (121 is the @H
A boundary determination signal (C0) is obtained that continuously repeats the w L IT level corresponding to the detection of the "level" or the no-grass state, that is, the mown field (C).

Then, the time constant when integrating the detection signal of the copy h sensor +51, fil, that is, the kakunta 1
11) outputs a carry signal (C1), the count value of the control device +101 corresponds to the value of the density dial (VR) that indicates the density and density of the grass as a turn condition setting means.
It is configured so that it is automatically set.

Hereinafter, copying b sensors having the above configuration +51, +51
, a distance sensor (6), and a direction sensor (7) based on each detected parameter, a control system that controls the running of a lawn mowing vehicle will be described.

As shown in Fig. 8, the main part of the control system is a control device (IO) composed of a microcomputer.
Each of the sensors ff1l, +51, 161,
+7) Signals from 73 are input, and by calculating the detection parameters of these sensors (5), +fil, [6), +7), the running direction and speed of the vehicle body +1+ are controlled n1-wise. In order to operate the front and rear wheels +21 and +31, hydraulic cylinders +4J for steering operation, electromagnetic pulp flfn, itη that operate the front and rear wheels +21 and +31, and a motor 091 that operates the shift position of the hydraulic continuously variable transmission tea+. It is configured to generate a control signal for driving each actuator such as.

In addition, in Fig. 8, (R,) and (R1) are the front and rear wheels f21.
, la) is a potentiometer for detecting the actual steering angle and feeding it back to the control device (lO), and a potentiometer for detecting the shift position of the transmission (1 model) in the same way as (R,)/I′i. It is.

The following will focus on the control for automatically changing direction.

The direction change in the tree example is basically from the outer periphery S to the inner periphery, as shown in Figure 4 (A), in order to mow the entire work area (to). If the number of remaining strokes on the short side (/b) of the working area becomes less than the predetermined distance, the following steps should be taken: ), by changing direction by 110 degrees at the end of each stroke, the traveling style is changed so that the next stroke is sequentially reciprocated.

Even in the case of the above-mentioned deviated travel formation, in order to determine whether or not the end of each travel stroke has been reached and control to automatically start the direction change sequence, both the above-mentioned tracing h sensors (5 ).

It is configured to repeatedly check the combination of detection signals (6) and the travel distance for each stroke.

That is, in accordance with the density of the grass set by the density dial (VR), a combination condition of the detection signals of the scanning h sensors tfil and 1fil is selected as a turn condition according to the table shown in Figure @5, and the scanning sensor i51 is set as a turning condition. ,
This is a case where the actual detection signal of +51 and the turn condition are compared and both match.

Then, only when the detected travel distance (1) is equal to or greater than the planned travel distance α for each stroke, it is determined that the turn condition has been met, and a direction change sequence that has been patterned and memorized in advance is initiated. That's what I do.

The turn conditions are set in a plurality of stages depending on the position of the sparse/distance dial (VR) to prevent malfunctions when the grass is sparse.

The turn condition is satisfied only when all four detection signals of both scanning sensors [51, 151 are detected at "L" level, that is, completely mowed ground C). Copying h sensor (5) on the uncut field (B) side
), both optical sensors (S, ), (S, ) are at "L" level to detect the mowed land C) and the state is A, and the mowed land C)
) side of the copying h sensor (5) both optical sensors (S,
), (S, ) is at @L'' level, the turn condition is satisfied, and furthermore, in a state where the grass is dense, both the above-mentioned scanning sensors (5).

(5) The four optical sensors (s+), (S,) will now determine that the turn condition is met if eight or more sensors are detecting the mown area C) at the @L'' level. .

Although the table is prepared in advance into 8 stages, it is possible to further subdivide it or create a table with other combination conditions.
This is a flowchart showing the operation of step O), in which (a) is a control routine for automatically switching the driving style, and (b) is a control routine for changing direction.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic traveling work vehicle according to the present invention, in which Fig. 1 is an overall plan view of the lawn mowing work vehicle, Fig. 2 is a front view of main parts of the copying sensor, and Fig. 8 is a block diagram of the control system. FIG. 4 is an explanatory diagram of lawn mowing work, FIG. 5 is a diagram of turn conditions, and FIGS. 6 (b) and (b) are flow charts showing the operation of the control device. +51, +51...Copying sensor, [F]
)...Untreated working area, (C)... Treated working area, L)...... Boundary. Agent Patent Attorney Osamu Kitamura

Claims (1)

[Claims] a tracing sensor (5) for detecting a boundary color between a predetermined range of work areas and a treated work area (C) and an upper rice processing work area (13);
Based on the boundary detection result in (5), a traveling order sequence for a plurality of predetermined traveling strokes is determined while detecting the boundary, and a direction change sequence for moving to the next traveling stroke after completing one traveling stroke. Based on the combination of the detection results of the deviation with respect to the boundary ([,) according to the copying sensors +51 and 151, the direction A is determined based on the combination of the detection results of the deviation from the boundary ([,)] A turn condition determining means for automatically starting the conversion sequence, and a turn condition setting means for setting a combination condition of the boundary L) detection result by the copying h sensor +51, 1fil are provided, and the conditions set by the turn condition setting means are provided. and the boundary (L
) An automatic driving work vehicle characterized in that it is provided with a means for controlling blood so as to automatically start the direction change sequence only when the combination of detection results matches.