JPS6196907A - Automatic propelling working 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] [Field of Industrial Application] The present invention is configured so that both the front and rear wheels can be steered so that the driver can drive forward and backward with no difference. Automated driving work that is equipped with a means to control automatic driving by repeatedly moving forward and backward within a predetermined range of work areas while sequentially reducing the working width based on information on a set reference direction and target travel distance. About cars.

[Conventional technology]

This type of autonomous driving/work vehicle described above is configured so that both the front and rear wheels can be operated by steering, so that it can run with no difference in forward and reverse directions, and can also be set in a preset reference direction. Based only on information about the target travel distance, the vehicle repeatedly traveled automatically forward and backward within a predetermined area within a predetermined area while performing a predetermined task.

[Problem that the invention seeks to solve]

However, in order to perform the above-mentioned automatic driving work, it was necessary to clearly define the boundary between the untreated work area and the treated work area. Therefore, it is not a hassle to have to manually operate the automatic traveling work vehicle to teach the outer circumference to set the work range N every time a work is performed, and there is a lot of time loss for the outer circumferential teaching work, which reduces work efficiency. There was an inconvenience that it was bad.

In addition, particularly when the work site is a slope, the outer circumference of the slope is often non-linear, making it difficult to perform teaching work.

The present invention has been made in view of the above circumstances, and includes-
The purpose of t- is to make it easier to work on slopes, and
Our goal is to provide an autonomous work vehicle that increases work efficiency.

[Means for solving problems]

In order to achieve the above object, the characteristic configuration of the automatic traveling work vehicle according to the present invention is that a sensor is provided to detect the degree of inclination in the longitudinal direction of the vehicle body in order to control switching between forward and backward movement, and a sensor detects changes in the degree of inclination. The steps, actions, and effects to be performed when the value is greater than a predetermined value are as follows.

[For production]

In other words, a slope detection sensor installed on the vehicle body is used to detect the slope, and if the change in the detected slope exceeds a predetermined value, the work vehicle is automatically switched to forward or reverse to carry out the specified work. The vehicle is controlled to perform the following actions.

〔Effect of the invention〕

Therefore, by simply installing a slope detection sensor on the vehicle body,
To obtain an automatically traveling work vehicle capable of performing automatic traveling work in forward and backward motion on a slope without performing perimeter teaching, thereby increasing work efficiency on a slope and performing work smoothly. reached.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, a disc-shaped cutting blade is installed in the middle of the vehicle body (1), which is configured to be able to steer both the front wheels (2), (23) and the rear wheels (3). Lawn mowing equipment (4) f, which is suspended so that it can move up and down, and an unmown lawn area (B) showing the running course of each stroke.
) and the mowed field (C) are provided with profiling sensors (A) and (A') configured as described later, respectively, at the front and rear of the vehicle body (1), thereby detecting the accumulation at the boundary (L). This is a lawn mowing work vehicle as an autonomous work vehicle that can run automatically.

Further, a geomagnetic sensor that detects the direction based on changes in the geomagnetic field is provided as a direction sensor (D) that detects the traveling direction.

Furthermore, a distance sensor control for detecting the traveling distance (3) of the automatic traveling work vehicle is provided on the engine output shaft side inside the vehicle body (1), and the traveling distance is calculated based on the rotation speed of the output shaft. 0 The above-mentioned copying sensor (A) and
Eight optical sensors (al), (Ss), and (8g) are configured as a pair.
), (Ss), as shown in Fig. 6, are fixed to the sensor frame (5), (5), (5) shaped like a ;
A light emitting element is provided on the inner facing surface of the sensor frame (5).
7' (Pi) and a light-receiving element (P2) are provided as a pair, and between the light-emitting element (Pl) and the light-receiving element (P2), there is grass that is introduced as the vehicle body (1) runs. By sensing the presence or absence, the boundary between uncut land and cut land can be determined. Note that the senna (A) is not limited to those using optical sensors (ax), (Sg), (ag),
It may be constructed from any type of sensor, including contact type and non-contact type.

Furthermore, reaching the end of each stroke on a slope is detected by a sensor (F') that detects the degree of inclination in the longitudinal direction of the vehicle body, and is determined based on the degree of change in the detected degree of inclination (θ). be.

Then, when moving forward, the boundary (I-1 detection result) is determined by the copying sensor (A) installed at the front of the vehicle body (1), and when traveling backward, the boundary (L) is determined by the copying sensor (4) installed at the rear of the vehicle body (1). Detection results and the orientation sensor (D)
The detection direction Qj') and the preset reference direction (
Based on the comparison results with F and o), the front and rear wheels (2) are configured so that the running direction matches the reference orientation (FO) and automatically travels straight along the boundary (L).

(3) The direction of travel is corrected by operating the steering wheel.

Hereinafter, the direction sensor (Dl) and distance sensor (Dl) having the above configuration will be described.
E), slope detection sensor (F), and copying sensor (A+
, based on the detection results of (A'), the front wheel (2),
A control system for driving the work vehicle by steering the (2) and rear wheels (3) + (3) will be described.

As shown in FIG. 1, the control system includes a control device (7) whose main part is a microcomputer, and two sets of optical sensors (81) and (82) that constitute the copying sensor (A) and (Sada). , (Ss), a direction sensor (D), and a distance sensor (E). Combination of detection results of mowed land (C), detection direction (
F), and the front wheel (2) based on the detected inclination (θ).
, (2) and a hydraulic cylinder (8) as an actuator for steering the rear wheels (3) + (3),
(9) Solenoid valves that operate each 0. (b)′
It is configured to calculate and output a control signal for driving.

In addition, (R1), (R2) l (R3) in Fig. 1 represent the front wheel (2) + (2) and the rear wheel (3) + <3).
This is a potentiometer for detecting the actual steering angle of the transmission device α4 and feeding it back to the control device (7), and detecting the forward/reverse position of the transmission α4 and feeding it back to the control device (7) as well. RO) is a potentiometer for detecting the degree of inclination.

Then, as shown in the flowchart in Figure 2 (a),
When you input the working width (b), you select either forward or backward movement, select the front sensor for forward movement, and the rear sensor for reverse movement, start the first working process, and then The traveling direction is set as the reference direction (Ψo) and the reference direction (
The control is performed while correcting the heading based on a comparison between the detected heading (F) and the detected heading (F) while the vehicle is running.

Then, the slope detected by the slope detection sensor (F) (θ
) When the change exceeds a predetermined value (J), turn control is performed so that the vehicle body (1) is moved in the direction of the next stroke by the cutting width (CD) evenly and performs the next work stroke.

The turn control, as shown in FIG. 2(b) and FIG.
), if the difference between steering angle,
After setting the steering angle l to the predetermined steering angle for mowing in the direction of unmown land, that is, in the direction of the next stroke (D) and moving in a fair direction, if the previous stroke was reverse, change to forward, and if the previous stroke was forward, change to reverse, When the vehicle starts and decelerates and reaches a predetermined distance (12), the steering wheel is set to neutral to continue traveling, and when the travel distance reaches a predetermined distance (13), the traveling speed is increased.

Thereafter, control is performed to perform each of the above-mentioned steps until the number of work steps reaches the target number of times (W/D).

Note that an eighth optical sensor (Sa) is provided at the front of the center of each vehicle body (1) constituting the copying sensor (A), GA).
, (Sa) are provided to ensure the detection of each stroke end, and may be omitted.

Further, the predetermined distance (/1)+(/2)+(/3) is measured by a distance sensor (2).

Example c] In the above embodiment, the inclination detection sensor (F') detects the inclination (
Each time θ) was detected, the change in the degree of inclination (θ) was determined, but a trap was used to prevent the vehicle body (1) from unexpectedly turning due to steep irregularities in the work area, and detection by the sensor (F) was used. It is also possible to sample a fixed number of values and average them.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic traveling work vehicle according to the present invention, FIG. 1 is a block diagram of the control system, FIG. 2 (A), 1) is a flowchart showing the operation of the control device, and FIG. An explanatory diagram of the control, FIG. 4 is a plan view of the lawn mowing vehicle, and FIG. 5 is a front view of main parts of the copying senna. (2)...Front wheel, (3)...Rear wheel, (
Ψo)...Reference direction, (XO)...Target travel distance, CF)...Inclination detection sensor, (
θ)...Detected inclination, (Δθru...Predetermined value.

Claims (1)

[Claims] Both front and rear wheels (2) and (3) are configured to be able to be steered so that the vehicle can be driven forward and backward with no difference, and the reference orientation (Ψo) and target travel distance are set in advance. (Xo), the self-driving work vehicle is equipped with means for controlling the vehicle to automatically travel forward and backward repeatedly within a predetermined range of work area while sequentially reducing the working width, To control switching, a sensor (F) is provided to detect the degree of inclination (θ) in the longitudinal direction of the vehicle body, and the change in the degree of inclination (θ) detected by this sensor (F) is set to a predetermined value (Δθ
) A self-driving work vehicle that is characterized by the following: