JPS6125405A - Automatic propelling working 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] [Field of Industrial Application] The present invention relates to an automatic driving work vehicle, and more specifically, to detecting a boundary between an untreated work area and a treated work area using a scanning sensor to detect a work area within a predetermined range. Based on both the detection result of the deviation from the reference direction by the direction sensor and the direction sensor, the travel order sequence for multiple travel strokes set in advance and the direction change sequence for moving to the next stroke after completing one travel stroke are repeated. However, the present invention relates to an automatic traveling work vehicle configured to automatically reciprocate each adjacent journey along the boundary.

[Prior art]

In order to carry out work while automatically traveling in a predetermined range of work areas, this type of autonomous work vehicle described above uses perimeter teaching, etc. to set the area around the scheduled work area as a treated work area, and to increase the size of the work area. The number of strokes, the distance, and the number of turns are set based on the size and width of the work area, and the running order sequence for each of the above-mentioned strokes and the sequence for changing direction to the next stroke are set in advance. A method was adopted for automatically reciprocating each adjacent stroke while sequentially reducing the working width. By the way, there are cases where there is a discrepancy between the planned distance traveled and the actual distance traveled for each stroke due to wheel slip or detection errors, or cases where the work area is in poor condition and the tracing sensor cannot properly detect the end of the stroke. In this case, there is an inconvenience that the direction of travel may be greatly deviated due to the wrong position to turn.

Therefore, a method has been devised to solve the above-mentioned inconvenience by forcing the vehicle to change direction when the actual travel distance exceeds a predetermined value relative to the scheduled travel distance for each stroke. (
For example, the applicant has already proposed patent application No. 69-402.
02 etc.).

[Problem that the invention seeks to solve]

However, even the above conventional means are not perfect;
There were some inconveniences as shown below, and there was room for improvement.

In other words, the change in direction must be started at a point that is too far past the point where the change in direction should be made, and therefore, if only a patterned change in direction sequence is used, the position of the vehicle after completing the change in direction may be too large compared to the next stroke. There is a high possibility that the line is misaligned, and there is a problem that the line meanderes significantly before reaching the boundary of the next stroke, making control unstable.

The present invention has been made in view of the above-mentioned circumstances, and its object is to provide a steering control method that prevents the approach position to the next stroke from being significantly shifted even when the direction is changed by overshooting the planned travel distance. The objective is to provide an autonomous work vehicle equipped with

[Means for solving problems]

In order to achieve the above object, the self-driving work vehicle according to the present invention has a vehicle that travels a predetermined distance or more with respect to a predetermined travel distance of one stroke when moving to the next stroke based on the direction change sequence. In this case, the direction change sequence is forcibly started regardless of the stroke end detection result by the scanning sensor, and the section in which the vehicle body is corrected for the next stroke by the direction sensor is automatically extended by a predetermined distance. It is characterized by the provision of means.

[Effect]

In other words, if the direction change sequence is activated when the vehicle has overrun the planned travel distance by more than a predetermined distance due to a malfunction of the tracing sensor, etc., the section in which the direction sensor corrects the direction of the vehicle for the next stroke is set to a predetermined distance, e.g. The overrun distance extends to substantially delay the start of the travel order sequence for the next leg.
Therefore, the approach position for the next stroke is prevented from shifting significantly.

〔Effect of the invention〕

With the above features, the following excellent effects have been achieved.

In other words, even if the scanning sensor malfunctions due to poor worksite conditions and a direction change is started at a position that overruns the normal direction change position, the vehicle direction correction section is automatically extended to prevent the vehicle from moving on to the next stroke. Since the start of the sequence is delayed, deviations in approach and position for the next stroke are reduced. Therefore, meandering near the end of the stroke is reduced,
The generation of new unprocessed areas has been reduced to a very low level.

〔Example〕

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

As shown in FIG. 4, the front and rear wheels (2) of the vehicle body (1).

A lawn mowing device (4) is suspended in the middle part of (3) so as to be movable up and down, and a rounding machine is used to distinguish between an unmown area (B) which is the boundary of the work area (2) and the first boundary (6) of an already mowed area. Copying sensors (5), (5) having the configuration described later are provided on the front left and right sides of the vehicle body (1), and the steering is controlled based on the detection results of the boundary CL) by the copying sensors (5), (5), and the steering is controlled to a predetermined position. The lawn mowing work vehicle is configured as an automatic traveling work vehicle that can automatically travel on a driving course.

Furthermore, the front vehicle body (1) is equipped with a distance sensor (6) that generates a predetermined number of pulse signals per unit travel distance in order to continuously detect the travel distance (0) of the vehicle body (1). In addition to installing 5 wheels (6 people), the orientation of the vehicle body (1) (
In order to detect the direction (orientation), a geomagnetic sensor (7) that detects the direction by detecting changes in the intensity of the earth's magnetism is provided.

Moreover, the front wheels (2), (2) and the rear wheels (3),
<3) Both of them can be operated by steering e1
4e, By steering the front and rear wheels (2) and (3) in the same direction, the vehicle body (1) moves in parallel without changing its orientation, and the front and rear wheels (2) .

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

! 1tliTc! The copying sensor (6) is '2)')
The light sensor (S L), (8g) is composed of the fifth light sensor (81) and (82).
As shown in the figure, the front end of the support frame (8) to which the base end of the lawn mower (4) K is fixed and the U-shaped sensor frames (9), (9) are connected to the vehicle body (1). A light emitting element (PK) and a light receiving element (Pg) are disposed adjacent to each other in the left and right direction, and a pair of light emitting elements (PK) and light receiving elements (Pg) are provided on the inner facing surfaces of the sensor frame (9), respectively.
) and the light-receiving element (Pg) to determine whether it is an unmowed area (J3) or a mown area Ω by sensing the presence or absence of grass passing between the area and the light receiving element (Pg). The scanning sensor (5) is not limited to those using optical sensors (81) and (82), and may be constructed from any type of sensor, including contact type and non-contact type.

The discrimination signals for the unmowed area Q3) and the mowed area Ω obtained from the light receiving elements (Pg) and (Pg) of the optical sensors (81) and (8g) are determined by the fact that the grass passes intermittently. , resulting in a discontinuous pulse-like signal. Therefore, in order to convert it into a continuous discrimination signal, after performing an integral process, the control device σ
It is configured to be input to Q.

To integrate the output signal (Ol) of the light receiving element (Pg), count the number of outputs of the distance sensor (6) and generate a carry signal (0) for each preset count value.
3), and a flip-flop (2) that is reset by the carry signal (C2) of the counter (b), which outputs the output signal (01) of the receiving and optical element (Pg). ) by the said counter (
The flip-flop (2) is set together with the reset (b) of the counter (b), and the digital flip-flop (to) is configured by this counter (b) and 7 lips (b). It is arranged to obtain discrimination signals (Oo) of continuous boundaries (L) corresponding to the states of B) and cutting of the mowed field.

The operation of this digital μF will be briefly explained below.

The counter α is the output cover of the light receiving element (Pg) regardless of its count value. It is repeatedly reset by the bus signal (0,), and the 7-res differential flag side is set. Then, when the pulse signal (cl) indicating that there is no grass is at the t L l level and the unit distance is traveled, the distance sensor (6) reaches the count value corresponding to this unit distance. ) output signal (
C3), the counter (11
) outputs a carry signal (02) to reset the flip-flop (6). Therefore, the output of this flip-flop (6) indicates the grass detection state, that is, the unmowed area (B).
A boundary discrimination signal f(Oo) is obtained that continuously repeats the ``HI level/l'' corresponding to the detection or the ``LI level'' corresponding to the detection of no grass state, that is, the mowed ground Ω.

Then, the lawn area whose surrounding area has been turned into an unmowed area is Q.
It performs lawn mowing work while automatically traveling along the boundary aJ) between 3) and the direction of the already mown field, and at the end of each process it automatically changes direction and repeatedly travels back and forth.

A control system for automatically changing direction at each stroke end will be described below.

As shown in Figure J1!1, the main part of the control system is composed of a microcomputer, and includes a ratio control device Ql, the copying sensor (5), the distance sensor (6), and the direction sensor (7). Each signal of these sensors (5), (5), (
6).

An actuator that steers the front wheels (2), (2) and the rear wheels (3), (3) based on the detection results of the boundary (B), travel distance (If), and direction according to (7); Solenoid valve 01 that operates hydraulic cylinder Q4.0G as .

It is configured to calculate and output a control signal for driving the motor Q and a control signal for driving the motor Q as an actuator for operating the shift position of the continuously variable transmission.

In Figure 1, (Rho) and (几2) are the front wheels (2), respectively.
, (2) and the rear wheels (3), a potentiometer that detects the actual steering angle of (3) and feeds it back to the control device QO, and (R8) is a potentiometer that similarly detects the shift position of the transmission (to). It is.

Then, as shown in FIG. 8, the copying sensor (6)
The two scanning sensors (5) automatically travel between one process based on the boundary (L) detection results.

The distance sensor (5) detects the direction of the mowed land and the distance sensor (6
) When the cumulative travel distance (a predetermined distance set in advance) is reached, the vehicle automatically moves in the direction of the next stroke by making two 90-degree turns with forward and backward movement based on a predetermined sequence. I am going to change direction.

To perform the aforementioned change of direction, the first 90 degree turn (Turn 1)
), the front wheels (2) move straight ahead a predetermined distance (4□) corresponding to the installation interval between the copying sensor (5) and the lawn mower (4).
, (2) and the rear wheels (3), (3) are both kept in a neutral state, then this front wheel (2), (2)
This is done by steering the rear wheels (a) and (3) in opposite directions at predetermined steering angles, respectively, and traveling a predetermined distance 11i C1t) while turning 90 degrees in the direction of uncut land Q3).

Next, the front wheels (z), (2) and the rear wheels (3), (3) are steered at a predetermined steering angle in the opposite direction from turn 1 after switching the transmission (to) to the reverse side. 9 for the second time while retreating a predetermined distance (1't).
Make a 0 degree turn (turn 2).

After switching the transmission (toward) to the forward side, the run-up section (12) up to the end of the next stroke is detected by the copying sensor (5).
), (5) completes the direction change by driving straight until it detects an unmowed field (J3) or boundary (6), but while traveling in this run-up section (12), the vehicle body (
1), and while traveling a predetermined distance (13) until the actual lawn mowing work starts, that is, the distance corresponding to the installation interval between the copying sensor (5) and the lawn mowing device (4). The lateral position of the vehicle body (1) with respect to the next stroke is corrected, and control is performed so that the lawn mowing work of the next stroke can be properly started with the vehicle body (1) aligned along the boundary Φ).

That is, while traveling in the run-up section (12), the direction detected by the direction sensor (7) and the preset reference direction (
The detected direction is the reference direction (II').
The front wheels (2), (2) and the rear wheels (3), (1) are respectively steered in opposite directions at the same predetermined steering angles so that the direction of the vehicle body (1) is in the direction of the next stroke. autocorrect to match.

Thereafter, when either of the copying sensors (5), (5) detects the uncut land CB), the front wheels (2), (2) and the rear wheels (3), while traveling the predetermined distance (13),
(3) in the same direction at the same predetermined steering angle to move the vehicle body (1) in parallel without changing its direction, correct the left-right position of the vehicle body (1) for the next stroke, and then proceed to the next stroke. border color).

By the way, the run-up section (12) is preset in the same way as in the past, when the copying sensor <5), <52 detects the direction of the mown ground at the end of the stroke and the direction change sequence is started normally. However, if the vehicle changes direction by overrunning the scheduled travel distance (ln) for one trip by a predetermined distance (16) or more due to malfunction, etc.
Further, a predetermined distance (
1,) to automatically extend the run-up section (12) in which the direction is corrected, so that the starting point of the position correction of the vehicle body (1) for the subsequent next stroke does not shift.
This is to prevent the start position of the travel order sequence for the next stroke from shifting.

Therefore, even if a change in direction is started after exceeding the planned travel distance (In), the deviation of the approach position for the next stroke after the change in direction can be minimized.

[Another example]

Another embodiment of the present invention will be described below with reference to FIGS. 6 to 8. Components in the drawings having the same configuration or function as those in the embodiment shown in FIGS. 1 to 5 are designated by the same reference numerals, and their explanations will be omitted.

As shown in FIG. 8, the following sensors (5) and (5) having the same configuration as described above are attached to the vehicle body (1) having the same configuration as the embodiment shown in FIGS. 1g1 to 5 above. Based on the detection result of the contour sensor (5) installed at the front of the vehicle body (1) when moving forward, the boundary Φ is determined by the contour sensor (5) installed at the rear of the vehicle body (1) when traveling backwards.
) Based on the detection results, a lawn mowing vehicle is constructed that can run forward and backward with no difference depending on the steering operation.

Then, using a control system (not shown) having a configuration similar to the control system shown in the first @IK, a predetermined range of work area is repeatedly moved forward and backward for each stroke by the means described below. This allows the vehicle body (1) to sequentially travel back and forth through each adjacent stroke without changing its orientation.

After completing one stroke, the direction change sequence for moving to the next stroke is such that the direction change sequence of the vehicle body (1) at the time of entering the next stroke is to switch between forward and reverse without changing the direction of the vehicle body (1). It is configured to perform the same steering operation as the steering pattern for position correction, that is, by moving in the next stroke direction by parallel movement.

That is, as shown in the flowchart of FIG. 6 and the explanatory diagram of FIG. 7, the scanning sensor (
5) If all of (5) detects 0 mowed land, or the actual traveling distance φ is calculated for the planned traveling distance (ln) of -
is equal to or greater than the predetermined distance (), ), the steering operation is returned to neutral (Niss-Tov, A/) in the same manner as described above, and after running idly for a predetermined distance (11), the front wheels (2),
(2) and the rear wheels (3), (3) are both steered in the direction of the next stroke and moved in parallel for a predetermined distance (Jt
#) Move.

After that, operate the transmission [phase] to reverse the traveling direction and use the copying sensors (5), (5).
After switching the vehicle body (1) to the front side with respect to the traveling direction, the direction of the vehicle body (1) for the next stroke is corrected by the orientation sensor (7) K while traveling in the run-up section (12) in the same manner as described above, and furthermore, the orientation of the vehicle body (1) for the next stroke is 13) Copying sensor (5) while driving,
The lateral position of the vehicle body (1) for the next stroke according to (5) is corrected, and the running order sequence for the next stroke is started.

By the way, based on this direction change sequence by parallel movement, when moving to the next stroke, the approach section (12)
Similarly to the above, if the copying sensor (5) detects the mowed ground movement at the end of the stroke and the direction change sequence is started normally, the predetermined distance ( 10) However, if the planned travel distance (Iln) for one trip is changed by a predetermined distance C1s") or more due to malfunction etc., the predetermined distance (la) is added as above. Run-up section (
By automatically extending 12), the starting point of the position correction of the vehicle body 1]) for the subsequent next stroke is kept unchanged.

Therefore, even when traveling back and forth without changing the direction of the vehicle body (1) by repeating forward and backward movements for each stroke, it was possible to similarly maintain the start position of the running order sequence for the next stroke. .

Note that although the copying sensors (6) and (5) are provided at the rear of the vehicle body (1), the copying sensor (6) on the non-boundary side is used only when detecting the end of the stroke, so the photo sensor (3)
1) or (S,) may be omitted.

Also, the extension distance lif of the run-up section (12)! (/a)
is the overrun distance (1
)K may be matched.

Hatake

[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 a block diagram of the control system, Fig. 2 is a flowchart of the direction change sequence, Fig. 3 is an explanatory diagram of the direction change, and Fig. 4 is a flowchart of the direction change sequence. FIG. 5 is an overall plan view of the lawn mowing vehicle, FIG. 5 is a front view of essential parts of the copying sensor, and FIG. The figure is an explanatory diagram of direction change, and FIG. 8 is an overall plan view of the lawn mowing vehicle. ftl...Vehicle body, +61...Tracking sensor, (7)...Direction sensor, (B1...
...Untreated working area, (C)... Treated working area,
(L)...Boundary, (zn)...Scheduled travel distance, (Z,), (/,)...Predetermined distance.

Claims (1)

[Claims] The boundary between the untreated work area (B) and the treated work area (C) (
L) Based on both the detection results and the deviation detection results from the reference orientation (Ψ_0) by the orientation sensor (7), the travel order sequence for multiple travel strokes set in advance and the next travel after completing one travel stroke. While repeating the direction change sequence for moving, the boundary result (L
), the vehicle body (1) is configured in advance to move to the next step based on the direction change sequence. If the vehicle travels more than a predetermined distance (l_x) with respect to the scheduled travel distance (l_n) for one stroke, a direction change sequence is forced regardless of the stroke end detection result by the copying sensor (5), (5). At the same time, the section (l_2) where the orientation sensor (7) corrects the direction of the vehicle body (1) for the next stroke is moved by a predetermined distance (l_α).
An automatic traveling work vehicle characterized by being provided with means for automatically extending the time by minutes.