JPS6030721A - Automatic travelling equipment for working vehicle - Google Patents

Abstract

PURPOSE:To automatically operate a working vehicle such as vibro-rollers, etc., by controlling the steering function of the vehicle in such a way as to enable the vehicle to run along the line as drawn in advance on the basis of information from a detector to detect the presence or absence of the line. CONSTITUTION:A detector 18 to detect the presence or absence of line and a line drawer 16 are provided to a compactor 10. A white line 24 is drawn on a road by the line drawer 16 while advancing the compactor 10 toward the direction of A, and the compactor 10 performs a compaction work while going back and while detecting the white line 20 already drawn by the detector 18. When white line 22' drawn by specific mark like Morse code is detected by the detector 18, the compactor 10 is stopped and again moves forward to the direction of A or to the adjacent position, and compaction work is continued likewise along the white line 24.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic traveling device for a work vehicle such as a rolling machine.

Roads and dams are built by piling up earth and sand and compacting it, and the compaction involves the repeated reciprocating motion of various types of compaction machines to achieve a predetermined degree of compaction.

However, this operation is monotonous and repetitive, and the operator must endure it, and when using a vibrating roller with an exciter, the operator is constantly exposed to vibrations. Therefore, there has been a desire for automatic travel devices for work vehicles, such as vibrating rollers.

The object of the present invention is to provide such an automatic running installation for a work vehicle.

Hereinafter, the present invention will be described based on embodiments with reference to the drawings.

FIG. 1 is a schematic top view of a compaction machine, which will be exemplified as a working vehicle to which the present invention is applied, and is shown with reference numeral 10.
1 is a rolling machine, 12 is its rolling wheel, 4 is a driving wheel, 16 is a line writing device, and 18 is a device for detecting the presence or absence of a line. In addition, (a) of FIG. 2 is a cross-sectional view of the road, and (b) is a top view of the road, where the reference numeral 20 is a white line drawn in advance on one side of the road by an appropriate line drawing device. , compaction machine 1
0 detects the white line 20 with the line detection device 18 and moves forward along it in the direction of arrow A to compact the road. Symbols 22 and 22' are symbols written in advance to stop the rolling machine 10 or change the direction of travel, and when the rolling machine 10 detects this with its line detection device 18, the rolling machine 10 recognizes the symbol. Stop or change direction and continue moving. This symbol may be any figure that can be detected by the line detection device 18, such as a combination of dots and lines such as Morse code, a hexagram, or an alphabet.

Reference numeral 24 indicates a white line drawn by the line writing device 3116 as the rolling machine 10 moves in the direction of arrow A;
At this point, the rolling machine IO starts to move backward, and returns along the white line 20 along the white line 20 with its line detection device 18 as shown by the dotted line in the direction of the arrow B. When the line detection device 18 detects the symbol 22', the rolling machine 10 either moves in the direction of the arrow A as before, or moves to the position shown by the dashed-dotted line and moves in the direction of the arrow C while detecting the white line 24. Proceed in the direction of. The symbol 26.26' is a symbol that functions similarly to 22.22'. The compaction machine io performs a similar operation up to the other side 28 of the road and repeats the operation again from the beginning if necessary. The above operation has been described with respect to an example in which the rolling machine 10 is provided with the line writing device 16 on the negative side and the line detecting device 18 on the other side, but the line writing device W1 is provided on each side.
If both 6 and line detection device 18 are provided, arrow A in Figure 1
It will be easily understood that the rolling device IO that has advanced in the direction shown in FIG.

When the working vehicle is a rolling machine, the line writing device 16 and the line detecting device 18 may be placed in the front part of the frame that supports the rolling wheel as shown in FIG.
In addition to 18, as shown by 16' and 18'' in FIG. back direction,
That is, it is convenient to use the set disposed at the leading edge when moving the set in the direction B in FIG. 2 to perform the work.

Furthermore, if the pair of line writing device and line detection device are spaced apart by the axial length of the rolling wheel, and the line detecting device is aligned with one end of the rolling wheel (the left end in Fig. 2). The front area can be compacted sequentially and completely without overlapping.

However, in some cases, it is better to perform rolling while overlapping each other - times than to perform rolling sequentially and without overlapping. For this purpose, the line writing device 16 (16') and the line detection bag 918 (18
It is advantageous if at least the line writing device 16 (16') of the set 16 (16') is movably arranged.

As is clear from the following description, in this specification, when referring to a line writing device, a device for detecting the presence or absence of a line, or a line detection device, the term “line” refers to not only the line 20 (24, etc.) but also the symbol 2.
2 (26 etc.), and therefore the line writing device 1
6 (16') is not limited to the line 20 (24 etc.) but also the symbol 22 (2
The device for detecting the presence or absence of a line or the line detection device 118 (18') can also write a line 20 (24, etc.).
It should be understood that it is possible to detect not only the presence of the symbol 22 (2B, etc.) but also the presence and contents thereof.

The line detection device 1B (18") and a device that controls the operation of the rolling compaction machine 10 in response to the output from the line detection device 1B (18") can be easily configured due to recent advances in automatic control technology, and an example thereof is shown in FIG. show.

In FIG. 3, 30.30' is the line detection device 18 of FIG.
(18"), each of which is equipped with a light emitter and a light receiver, and is spaced apart by the width of the white line 20 (24, etc.) in the width direction. More specifically, , the optical detectors 30 and 30' are arranged so that one end (the left end in the figure) and the other end of the white line 20 (24, etc.) are centered in the longitudinal direction (in the left-right direction in the figure). For example, in a normal state, both optical detectors 30 and 30' receive an input signal, and in an abnormal state, that is, when the working vehicle is driving in the wrong direction, either 30 or 30' receives an input signal.Alternatively, Optical detectors 30 and 30' are arranged as shown in Figure 4 so that neither optical detector receives an input signal during normal operation, and only one of the optical detectors receives an input signal during abnormal operation. The detection accuracy of the latter is higher than that of the former, but for this purpose, the latter requires the accuracy of the white line 20 (24, etc.).

In any case, if there is an input to either one of the optical detectors 30, 30', there is an error in the driving direction, and the steering is controlled so that the positional relationship shown in FIG. 3 or 4 is achieved.

Reference numeral 32 denotes the signal 34.3 from each detector 30.30'.
4' input, the signal 34.34'
The servo motor 36 controls the rotation of the steering wheel in a direction corresponding to the sign of the input difference signal and by an amount corresponding to the magnitude of the difference signal. .30' is always white line 2 for both
0 (24 etc.) so that the rolling machine 10 runs along the white line 20 (24 etc.). Reference numeral 40 denotes an optical detector that constitutes the line detection device 18 together with the detector 30.30', and like the detector 30.30', it is composed of a light projector and a light receiver. 26.2
6' etc.). The output signal 42 of the detector 40 is amplified by an amplifier 44 and then sent to a decoder 46.
is applied to The decoder 46 outputs the output signal 4 of the detector 40.
Signal 4 that decodes 2 and in response commands the vehicle to stop, move forward, or reverse, or commands the writing of white lines and various symbols.
8.1 Vehicle stop, advance, and reverse mechanisms not shown in the figure, white lines,
A voltage is applied to the drive device 50 which operates the line writing device 16 (16') (FIG. 1) for writing various symbols. Although the drive devices 50 are provided separately, they are collectively shown.

As shown in FIG. 5, the rolling machine 10 shown in FIG. 6 is an example, and 52 is an appropriate barrier, which is sensed by the sensor 54 installed on the rolling machine 10. The end of the embankment can be detected.

FIG. 7 shows another example, in which 56 is a suitable light source, and the light beam emitted by the light source can be detected by a light receiver 58 provided in the rolling machine 10 to detect the end of the embankment. Alternatively, as shown in FIG. 8, when the front or rear wheels of the rolling machine 10 reach the slope end, the end of the embankment can be detected by utilizing the fact that the magnitude of the force in a specific direction changes at part A. You can. Furthermore, although not shown, a range finder using ultrasonic waves or the like may be installed at the front and lower part of the vehicle in the direction of travel to detect the end of the vehicle by measuring the distance. If it is also provided at the rear edge, the end can be detected correctly even when the vehicle is moving in the backward direction, and can be used as a control signal for the vehicle.

As described above, according to the present invention, in a work vehicle such as a compaction machine, a line writing device is installed at least on the negative side of the vehicle body, and a device for detecting the presence or absence of a line is installed at least on the other side of the vehicle body. Based on information from a device that detects the presence or absence of a line, the system automatically controls functions such as steering, starting, and stopping the vehicle so that the vehicle runs along a pre-marked line.
The line drawing device is configured to automatically operate the line drawing device to mark a desired line or symbol on the ground based on information from a device that detects the presence or absence of a line, thereby achieving the purpose of controlling the operation of a work vehicle unmanned. be able to.

[Brief explanation of drawings]

FIG. 1 is a schematic top view of an automatic traveling system for a work vehicle according to one embodiment of Akira Kishi's work, and FIG. 3 shows one embodiment of a control device for realizing the present invention, FIG. 4 shows another example of the arrangement of optical detectors in FIG. 3, and FIG. A side view for explanation, FIG. 6 is a side view showing one example of end detection, FIG. 7 is a side view showing another example of end detection, and FIG. 8 is a side view showing another example of end detection. FIG. (Explanation of symbols) 10...Work vehicle (rolling machine), 16.16"...Line writing device, 18, 18'...Device for detecting the presence or absence of lines, 20.24.28...Writing on the road. line, 22.22
', 26.26' - symbol marked on the disputed road. Agent Patent Attorney Isao Fujiki

Claims (1)

[Scope of Claims] (1) A line drawing device is installed at least on the negative side of the vehicle body, and a device for detecting the presence or absence of a line is installed at least on the other side of the vehicle body,
An automatic work vehicle traveling system configured to automatically control the steering function of a vehicle so that the vehicle body travels along a predetermined line based on information from a device that detects the presence or absence of a line. (2. In claim 1, a line writing device is automatically operated based on information from a device that detects the presence or absence of a line or a command from an operator to mark a desired line or symbol on the ground. (3) In claim 1 or 2, at least one of the device for detecting the presence or absence of a line and the line writing device is movably mounted on both sides. A work vehicle automatic traveling system configured to be able to adjust the distance between the devices. (4) In any one of claims 1 to 3, a device for detecting the presence or absence of a line and a line. An automatic traveling system for a work vehicle in which a set of the line writing device is disposed on at least one of the front edge and the rear edge of the work vehicle. (5) The line writing device is provided at least on the - side of the vehicle body, and a device for detecting the presence or absence of a line is provided on at least the negative side of the vehicle body. At least on the other side of the vehicle body,
An automatic work vehicle traveling system configured to automatically control the start/stop function of a vehicle so that the vehicle body travels between two predetermined points based on information from a device that detects the presence or absence of a line. (6) In claim 5, a desired line or symbol is written on the ground by automatically operating a line writing device based on information from a device that detects the presence or absence of a line or a command from an operator. Automatic traveling system for work vehicles configured as follows. (7) In claim 5 or 6, at least one of the device for detecting the presence or absence of a line and the line writing device is movably mounted, and the distance between the two devices is configured to be adjustable. Vehicle automatic driving device. (8) In any one of claims 5 to 7, a combination of a device for detecting the presence or absence of a line and a line writing device is provided at least on the leading edge and the trailing edge of the work vehicle. Automatic traveling system for work vehicles installed on one side.