JPH1185269A - Guidance control device for mobile vehicles - Google Patents

Abstract

(57) [Summary] [Problem] To provide a guidance control device for a mobile vehicle that can appropriately perform guidance traveling even at a position near the periphery of a guidance area. SOLUTION: On the ground side of the outer periphery of the field 1, the field 1
A guide wire 2b to which a current is supplied to form a magnetic field is installed in a state of circling along the outer peripheral edge of the magnetic field. On the basis of the above, in the field 1, the traveling traveling control for controlling the steering operation means is executed so that the moving vehicle V travels around the traveling traveling route along the outer peripheral edge.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering operation means in which a guide wire for supplying a current to form a magnetic field is installed on the ground side, and a vehicle body can change the direction of a vehicle body on a moving vehicle side. Control means for controlling the direction operation means; and magnetic field detecting means for detecting a distance from the guide line as the strength of a magnetic field, wherein the mobile vehicle is guided to travel within a predetermined guide area. The present invention relates to a guidance control device for a moving vehicle.

[0002]

2. Description of the Related Art Conventionally, in a mobile vehicle guidance control device, as shown in, for example, Japanese Patent Application Laid-Open No. 8-286748, a rectangular field as an example of the guidance area is surrounded by Along each, a guide line to which a current is supplied is separately installed, and while detecting the strength of a magnetic field formed by the current supplied to the guide line, for example, a plurality of running paths parallel to each other are detected. There is a configuration in which a mobile vehicle is guided to travel so as to perform reciprocating traveling along a ridge (a traveling along a direction orthogonal to each traveling route) in a turning area (a headland) after traveling back and forth. Was.

[0003]

According to the induction control device having the above structure, the strength of the magnetic field formed by the current supplied to the induction wire is determined by the general theory of electromagnetism from the value of the supplied current and the value of the induction wire. For example, by running the vehicle so that the detected value of the magnetic field strength maintains the same value, the distance from the induction line becomes constant (equivalent magnetic field strength line). (4) The traveling vehicle is guided along the traveling route, and after traveling on each traveling route is completed, subsequently, the traveling mode is shifted to the ridge side traveling and guided traveling.

However, in the guidance control device having the above configuration, it is difficult to make the length of the guidance line installed on the ground infinitely long, and in practice, it is limited to a finite length substantially equal to the width of the guidance area. Will be. If the guide wire is limited to such a finite length, in the end side region of the guide wire, the strength of the magnetic field is not necessarily simply obtained from the current value and the separation distance as described above, Even if the distance from the guide wire is the same, the strength of the magnetic field has a different value. As a result, the magnetic field strength distribution becomes distorted, such as the bending of the isomagnetic field strength line as described above, and there is a possibility that proper guidance control cannot be performed.

[0005] In the above-mentioned traveling mode, during the reciprocating traveling on the inward side of the field, the influence by the finite length as described above is small and guidance can be performed relatively well along the traveling route. In places close to the periphery of the guidance area, such as a place where the vehicle travels from the reciprocating state to the ridge-side travel or a ridge-side travel area, the influence of the finite length as described above is large. There is a disadvantage that guidance control cannot be performed properly, such as when the vehicle deviates and travels in a different place or subsequent guidance becomes impossible, and there is still room for improvement.

The present invention has been made in view of such a point, and an object of the present invention is to guide a mobile vehicle which can appropriately perform a guided run even at a location near the periphery of a guide area. The point is to provide a control device.

[0007]

According to the first aspect of the present invention, a guide wire to which a current is supplied to form a magnetic field is provided at an outer peripheral portion of the guide area and along an outer peripheral edge of the guide area. Installed in a circling state, the control means, based on the detection information of the magnetic field detecting means for detecting the separation distance from the guide line as the strength of the magnetic field, in the guidance area, along the circling travel path along the outer peripheral edge The vehicle is configured to execute a circling control for controlling the steering operation means so as to make the mobile vehicle circulate.

Since the guide wire is installed in a circling state and the flow of current is not interrupted in the middle, the distortion of the magnetic field intensity distribution due to the finite length as described above does not occur. In other words, there is no inconvenience that the strengths of the magnetic fields have different values even if the separation distance from the guide wire is the same. Therefore, in the above-mentioned traveling around the vehicle, the guidance traveling is performed properly at a position close to the periphery of the guidance area based on the detection result of the magnetic field detecting means with the distance from the guidance line being detected relatively accurately. Will be

In addition, since the guide wire is provided along the outer peripheral edge of the guide area, there is no inconvenience such that the guide wire is largely projected outward from the outer peripheral edge of the guide area to increase the size of the equipment.

As a result, for example, the guide wire is made to have a long distance so as to protrude largely toward the outside of the guide area, and the magnetic field intensity due to the above-mentioned finite length inside the guide area is set. It is possible to guide the mobile vehicle appropriately at a location near the periphery of the guidance area without increasing the size of the equipment, such as by preventing the distribution from being distorted.

According to a second aspect of the present invention, in the first aspect, the control means maintains the strength of the magnetic field detected by the magnetic field detection means at the control target value in the orbiting control. Thus, the steering operation means is controlled.

In other words, since the lap traveling control is performed so that the detected magnetic field strength is maintained at the control target value, the arithmetic processing is performed in comparison with, for example, a case where the control target value is sequentially changed. In addition to being simple, the control operation can be performed quickly.

According to a third aspect of the present invention, in the first or second aspect, the control means may be configured such that, in the circulating traveling control, the vehicle moves on each of a plurality of circulating traveling paths having different control target values. It is configured to be able to travel, and to move the moving vehicle from the currently traveling circuit traveling route to the adjacent circuit traveling route by changing the control target value, The amount of change in the control target value per unit time is set so that the amount of steering operation by the steering operation means is limited to a set amount or less.

When the vehicle travels from the currently traveling circuit traveling route to the adjacent circuit traveling route, the amount of change in the control target value per unit time is limited, so that the steering operation amount by the steering operation means is set. Since the steering operation is gently performed in accordance with the route change, for example, the traveling road surface may be roughened due to a sudden steering operation, or the steering operation may be delayed. Inconveniences such as the inability to perform guided traveling satisfactorily due to the above can be avoided as much as possible.

According to a fourth aspect of the present invention, in the third aspect, the magnetic field detecting means detects a magnetic field strength when traveling along one of the plurality of orbiting traveling paths. A magnetic field detecting unit for the current traveling route, and a magnetic field detecting unit for the current traveling route which is detected by the magnetic field detecting unit for the current traveling route when the mobile vehicle travels along the next adjacent circuit traveling route. And a magnetic field detection unit for the next traveling route for detecting the strength of the magnetic field. Then, the control means associates the detection value of the magnetic field detection means for the next travel route with the travel distance information detected by the travel distance detection means, sequentially stores the detected value in the storage means as a control target value, and When the mobile vehicle travels along the orbiting travel route, the mobile vehicle is guided to travel based on the storage information stored in the storage means and the detection information of the magnetic field detection unit for the current travel route. ing.

Therefore, when traveling along one of a plurality of circuit traveling routes, the strength of the magnetic field is measured in advance as a control target value when traveling along the next adjacent circuit traveling route. For example, as compared with a case where a control target value is set in advance based on a theoretical value or the like for each of a plurality of orbital traveling routes, an appropriate state always corresponds to the actual traveling state. Thus, it is possible to set a target value for the next round traveling route at an appropriate distance from the previous round traveling route, and to perform appropriate guided traveling.

According to the fifth aspect of the present invention, the moving vehicle performs the orbital traveling after sequentially reciprocating along a plurality of scheduled traveling routes set in parallel in a predetermined guidance area. It is configured as follows. In other words, on the ground side, in a state along the outer peripheral edge of the guidance area in the direction along the planned traveling route, a reciprocating traveling guidance line for supplying a current and forming a magnetic field is installed, and Based on the detection information of the strength of the magnetic field detected as the separation distance, the reciprocating traveling is executed by controlling the steering operation means so as to guide the moving vehicle along each of the scheduled traveling routes. Will be. Also, when it is determined that the end position of each scheduled traveling route has been reached based on the detection information of the magnetic field strength detected as the distance from the orbiting guidance line, the adjacent next scheduled traveling route is determined. The steering operation means is controlled so as to make the vehicle turn toward the start end position.

Therefore, in the guidance area, the mobile vehicle can be guided to travel in a state in which a reciprocating travel along a plurality of parallel traveling paths parallel to each other and a subsequent round travel are continuously connected. In addition to being able to efficiently guide the traveling vehicle with the, the configuration that can detect the end position at the time of reciprocating traveling using the orbital traveling guidance line, In comparison, the configuration can be simplified.

According to a sixth aspect of the present invention, the movable vehicle is a work vehicle having a ground work device connected to a traveling vehicle body, and performs a ground work in a field as the guidance area. Is configured. The work vehicle performing the ground work can be guided properly in the field, for example, when the guidance control is disabled and the work vehicle escapes outside the field, or the vehicle travels the already-worked area again. It is possible to perform appropriate guided traveling without any disadvantage.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a guidance control device for a mobile vehicle according to the present invention will be described. The guidance control device for mobile vehicles
As shown in FIG. 1, in a rectangular field 1 as an example of a guidance area, a work vehicle V as an example of a moving vehicle is moved along each of a plurality of traveling paths k parallel to each other along the longitudinal direction of the field 1. It is configured so that the vehicle can be guided and guided in an unmanned state.

A guide wire 2 is provided on each side (ridge) in the outer peripheral portion of the field 1, and an alternating current of a predetermined frequency is supplied to each of the guide wires 2 by a current supply source. In other words, alternating currents of the frequency fa (Hz) and the frequency fc (Hz) are supplied by the current supply sources 3 to the respective guide lines 2 a and 2 c installed along the ridges on both sides along the long direction of the field 1. The guide wire 2b which is supplied and installed in a circling state along the outer periphery of the field 1 has a frequency fb
(Hz) alternating current is supplied. The frequency is set to several hundred Hz to several tens KHz.

[0022] Each of the guiding line 2a, 2c includes a forward portion 2 _OL thereof, the current supplied from the current source 3 and a return portion 2 _FL for forming a closed loop flowing, suitably in a plan view It is installed on the ground side at a distance. Specifically, as shown in FIG. 3, the forward portion 2 _OL is positioned along the one widthwise side of ridge AZ in the field, the return portion 2 _FL along the widthwise direction other side of the ridge AZ There in a state of being placed on the ground the ground surface in a state that position and, the backward part 2 _FL, are installed to be parallel or substantially parallel to said forward portion 2 _OL. That is, ridge A
It is installed in a loop by effectively utilizing the boundary between Z and the field scene.

When a current flows through the guide wire installed as described above, a magnetic field is formed by the current. The theoretical value of the magnetic field strength with respect to the distance from the guide wire 2 can be calculated. The strength of the magnetic field is inversely proportional to the square of the distance from the guide wire 2. Then, the reversed direction to each other and the forward part 2 the current flowing through the current and the return portion 2 _FL flowing through the _OL, the magnetic field to be formed acts as cancel each other in the opposite direction, the appropriate distance from one another in a plan view Since it is set apart, the change characteristic of the magnetic field strength with respect to the separation distance from the guide wire 2 is determined, and the magnetic field strength at a certain point in the field 1 becomes almost constant. . FIG. 4 shows actual measurement data by the present applicant.

As shown in FIG. 12, the work vehicle V is provided with a rotary tillage device 6 as a ground work device at the rear of the four-wheeled traveling vehicle body 5, and the ground work (cultivation work) of the field 1 is performed while traveling. ) Is configured as an agricultural work vehicle. An engine is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel via a transmission equipped with a forward / reverse switching mechanism 7 capable of turning on and off the power transmission so that the vehicle travels. The power of the engine is transmitted to the rotary tilling device 6.
The left and right front wheels are provided so as to be steerable by an electric motor 9.

The working vehicle V has a traveling distance sensor 10 as a distance detecting means, which is composed of a rotary encoder or the like, which detects the traveling distance of the vehicle body by detecting the number of revolutions of a drive shaft in a transmission mechanism to wheels. A directional sensor 11 is provided as azimuth detecting means for detecting the azimuth of the vehicle body, and a control device 12 using a microcomputer is provided as control means for controlling operations of the forward / reverse switching mechanism 7 and the steering electric motor 9. .

Also, four magnetic fields for detecting the strength of the magnetic field formed by the alternating current supplied to each of the guide lines are provided at the front of the traveling vehicle body 5 as position information of the work vehicle with respect to each of the guide lines. The sensors are provided on both sides in the vehicle body width direction, and one of the left and right guidance magnetic field sensors 13R and 13L is installed along the ridge on both sides along the long direction of the field 1. For detecting the position information (separation distance information) from each of the induction wires 2a and 2c as the strength of the magnetic field formed by the alternating current having the frequency fa and the frequency fc. Magnetic field sensor 14
R and 14L are configured to detect the position information from the guide wire 2b installed in a circling state on the outer periphery of the field 1 as the strength of the magnetic field formed by the alternating current having the frequency fb.

Each of the magnetic field sensors is supported by a support portion 40 extending from the vehicle body. The support portion 40 is formed of a non-magnetic material, and a magnetic field detected by the magnetic field sensor is not detected. It is configured not to be distorted.

Then, the control device 12 sets the work vehicle V in each of the plurality of traveling paths k on the basis of information detected by the respective guiding magnetic field sensors 13R and 13L as the guiding magnetic field detecting means GK. Guidance control for guiding the vehicle along the road, and detecting the magnetic field for end detection T
Based on the detection information from the end magnetic field sensors 14R and 14L as K, when it is detected that the end or start end of each travel route k has been reached, and when it has been detected that the end has been reached,
The vehicle V is configured to perform a turning control for turning the traveling vehicle V to guide the vehicle to enter an adjacent next traveling route. Then, after the guided traveling on each traveling route k is completed, the vehicle travels around the inner portion close to the ridge of the field and travels around the end of each traveling route to plow the roughened area by the turning traveling. Control is executed.

That is, as shown in FIG. 5, each of the guiding magnetic field sensors 13R and 13L, and the end magnetic field sensors 14R and 14R.
The output of L is given to the control device 12 after being processed by the signal processing unit 15, respectively, and based on the magnetic field detection information, the steering electric motor is driven so as to be guided along each traveling path k. 9 at the end of the traveling route k, based on the magnetic field detection information and the detection information of the direction sensor 11 and the traveling distance sensor 10, the steering electric motor 9 and the forward / reverse switching mechanism 7 for turning and traveling. And so on.

The end magnetic field sensors 14R and 14L are
As shown in FIG. 6, each of them has the same configuration, and as shown in FIG. 6, a detection coil 16a in which an induced electromotive force is generated by an alternating magnetic field formed by an alternating current flowing through the induction wire 2b, and an output of the detection coil 16a is amplified to a predetermined level. Amplifier 16b
And each of the induction wires 2b,
A band-pass filter BPF as a frequency filter for passing only an output corresponding to the frequency fb of the current flowing through 2d, and a DC conversion circuit D for converting the output to a DC signal
C and the like.

The guiding magnetic field sensors 13R and 13L are
A vertical direction detecting coil 17 for detecting a magnetic field component of the alternating magnetic field formed by the alternating current flowing through the induction wires 2a and 2c along the vehicle body vertical direction, a lateral direction detecting coil 18 for detecting a magnetic field component along the vehicle body lateral direction, Amplifiers 19 and 2 that amplify the output of each of these detection coils to a predetermined level
0, a band-pass filter BPF as a frequency filter that passes only the output corresponding to the frequencies fa and fc of the currents flowing through the induction wires 2a and 2c among the outputs of the detection coils 17 and 18, and converts the output to a DC signal DC conversion circuit DC, and calculation units 21 and 22 for calculating the strengths of the respective magnetic fields based on the vertical component and the horizontal component corresponding to each of the frequencies fa and fc. I have. As shown in FIG. 14, the calculation units 21 and 22 calculate the strength of the combined magnetic field r by performing calculations based on the vehicle vertical component p and the width component q based on the triangle theorem. It is configured.

With this configuration, for example, FIG.
As shown in FIG. 4 (a), even when the work vehicle V is running and one of the wheels enters the recess and the vehicle body is inclined at an angle θ from the horizontal posture, the vehicle is supplied to the guide line. The magnetic field formed by the currents
As shown in FIG.
By calculating the resultant magnetic field by calculation, the strength of the accurate magnetic field, that is, the separation distance from the guide wire can be accurately detected.

As described above, each of the guidance magnetic field sensors 13R,
13L is configured to output detection information corresponding to each of the frequency fa and the frequency fc. In the signal processing unit 15, the one having a higher detection level, that is, the work vehicle V The detection information closer to the corresponding guide line is selectively output. As shown in FIG. 7, the signal processing unit 15 includes the magnetic field sensors 13R,
13L is input to the control device 12, and the control device 12
Of the magnetic field sensors 13R and 13L determine the output of the higher detection level from the outputs of different frequencies, and select the analog switches AS _{1 and} AS ₂ so as to select the output.
Is provided to the selection signal.

The controller 12 calculates the separation distance from the guide line 2b based on the detection information of the end magnetic field sensors 14R and 14L during the guidance traveling on each traveling route k, and calculates the separation distance. Is set to a set value, it is configured to determine that the work vehicle V has reached the end position of each of the traveling paths k.

As shown in FIG. 8, each guide wire 2 has
As a frequency filter which is an example of a current suppressing unit that suppresses a current flowing through another induction wire from flowing through the ground, a band-pass filter 23 that allows passage of only a frequency of a current supplied to the induction wire is provided. Have been. The band-pass filter 23 is configured by a resonance circuit in which a coil 23a and a capacitor 23b are connected in series, and is configured such that its resonance frequency corresponds to the frequency of the current. Therefore, even if a current of a different frequency flows through the ground from another induction wire, the inflow current is suppressed from flowing through the induction wire, and the possibility that each magnetic field sensor detects erroneous information is minimized. I have.

The signal processing unit 15 controls the output signal of the intensity of the magnetic field, which is detected by the magnetic field detecting means GK and is input to the control device 12, to an appropriate level for the control operation of the control device 12. A gain adjusting unit TU for adjusting the output gain of the magnetic field detecting unit GK is provided. More specifically, each of the guiding magnetic field sensors 13R, 1R
Each analog switch AS ₁ , A corresponding to 3L detection information
Amplification gain for amplifying the output of the S _2, the controller 1
It is configured to change and adjust in a plurality of steps (four steps) based on the switching information from step 2. That is, the control device 1 is connected to the analog switches AS ₃ and AS ₄ for inputting any one of the outputs of the four amplifiers 24, 25, 26 and 27 having different amplification gains to the control device 12.
2 is configured to instruct selection contents.

As described above, the strength of the magnetic field formed by the current supplied to the induction wire greatly changes with the change in the separation distance. Since it is difficult to perform detection with an appropriate resolution over the range and the detection accuracy may be reduced, the input level to the control device 12 is, for example, as shown in FIG.
As shown in the figure, when the separation distance from the guide wire changes by a unit distance, an appropriate change in magnetic field strength can be identified, in other words, an appropriate output range having an appropriate resolution. The amplification gain is automatically adjusted.

Each of the aforementioned induction magnetic field sensors 13R, 13L
Are installed at a set interval in the vehicle width direction,
One of the guiding magnetic field sensors is a work vehicle V,
When traveling along one of the plurality of traveling paths k, the magnetic field detection for the current traveling path for detecting the strength of the magnetic field to execute the guidance control along the traveling path k during traveling. parts function as GK _1, that other guidance magnetic field sensor, is detected by the magnetic field detector GK ₁ for the current travel route when caused to travel the work vehicle along the next adjacent travel path k detecting the intensity of the magnetic field to be configured to function as a magnetic field detector GK ₂ for the next travel route.
That is, the other guiding magnetic field sensor sequentially detects the magnetic field of the next traveling route k while traveling on the current traveling route k, and this detection information is the distance information detected by the traveling distance sensor 10. In such a state, the control information is sequentially stored as guidance control information in a memory M as a storage unit.

Similarly, the end magnetic field sensors 14R and 14L are also installed at a predetermined interval in the vehicle body width direction, and one of the end magnetic field sensors is set to the working vehicle V.
When the vehicle travels along one of the plurality of travel paths k, the end for the current path for detecting the strength of the magnetic field in order to execute the end position detection on the travel path k during the travel The other end magnetic field sensor that functions as the detection unit TK ₁
Configured to serve as end detector TK ₂ for the next path for detecting in advance the strength of the magnetic field to be detected in the next travel path k at end detector TK ₁ for the current path adjacent Have been.

In the next traveling path k in which the magnetic field detection information is stored, the control device 12 calculates the magnetic field detection information stored in the memory M and the end position of the traveling path k detected by the traveling distance sensor 10. travel distance based on the information, obtains a target value of the strength of the magnetic field at each point on the travel route k, and its target value, the guidance magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route Is configured to execute guided traveling control for driving and controlling the traveling electric motor 9 based on the deviation from the detected value.

The controller 12 is stored in the memory M.
On the next travel route k based on the guidance control information
Detection unit for the current traveling route when guided by
GK ₁Set the output gain target value for
Target output gain prior to guided driving on route k
It is configured to automatically adjust to a value. In particular,
The maximum value of the magnetic field strength stored in the memory M is
Over the current gain,
Also, an amplifier having a gain one stage lower is selected, and the maximum value is
If the value is below the lower limit for gain adjustment, the current gay
So that an amplifier with a gain one stage higher than
Analog switch AS_Three, AS_FourCommand selection signal to
It is supposed to. In addition, each analog switch AS_Three,
AS_FourGain is always adjusted to the same value
I have. Upper limit and lower limit for gain adjustment
Guarantees linearity of output change as analog value
It is set as the upper and lower limit range.

The control device 12 multiplies a deviation between the detection value of the guidance magnetic field sensor functioning as the magnetic field detection unit GK ₁ for the current traveling route and the target value by a control constant, ie, a steering operation amount, that is, , The target operation amount of the electric motor 9 is determined. Then, the magnetic field detector G for the current traveling route
K ₁ and based on the magnetic field strength of the detection information detected by the magnetic field detector GK ₂ for the next travel path, as in when traveling the next travel path, the operation amount is within a proper range, the control constant Is corrected.

[0043] Further, the control unit 12, in guided travel in each travel route, the detected value of the end magnetic field sensor which serves as an end detector TK ₁ for the current path becomes a preset value, is configured to determine that which is located at the end of the travel path, also with the guided travel, the detection value of the next path side of the end portion magnetic field sensor TK _2, the detection value of the travel distance sensor 10 And stored in the memory M as control information for detecting the end position.

The control device 12 is stored in the memory M.
End position detection control information and a magnetic field for the current traveling route.
Detector TK₁Based on the detection information of
So that the guidance control information to be applied to the
Has been established. Specifically, for guidance driving along a driving route,
And, based on the detection value of the traveling distance sensor 10,
That the remaining distance to has reached a position of about 10m
If it is determined, at that time, the magnetic field detector for the current traveling route
TK₁And the end position stored in the memory M
Control information for detection, that is, measured in advance during the previous route
Magnetic field sensor TK for end on next path side_TwoCorresponds to the detected value of
Then, the magnetic field detector TK for the current traveling route ₁To the detected value of
Corresponding stored information and corresponding guidance magnetic field detection information
Of the control target so that the
We do the fitting. That is, FIG.
3, corresponding to the same travel distance detection information,
Induction magnetic field detection information and end position detection magnetic field information are sequentially
Since it is stored, the end position detection magnetic field information is used as a guide.
To determine guidance control information for setting control targets
You can do it. In this way, the mileage
End of the traveling route where the detection error of the sensor 10 tends to be large
On the side, accurate guidance using the magnetic field information for end position detection
Travel control can be performed.

Next, the control operation of the control device 12 will be described. When the work vehicle V is guided and driven in the field 1, the work vehicle V is driven by manual operation in the first travel path k in a state where the work vehicle V is along the appropriate travel path prior to the automatic guidance control by the control device 12. . then,
As the traveling is started from the starting end position of the traveling route k, the detection information of the guiding magnetic field sensor (the right sensor 13R in the case of FIG. 1) of the next traveling route and the end of the next traveling route are used. Each of the detection information of the magnetic field sensor (the right sensor 14R in the case of FIG. 1) is sequentially written and stored in the memory M in a state corresponding to the detection information of the traveling distance sensor 10.

In the case of traveling by manual operation, traveling starts with the rear end of the rotary tilling device 6 positioned at one end of the field, and when the front end of the body reaches the other end of the field, traveling starts. Is stopped, and the first run is performed without any trouble. Also, among a plurality of data sampled at every set time as the vehicle travels on the first travel route, a plurality (n) of the detection values of the left and right guidance magnetic field sensors 13R and 13L near the center of the travel route.
Sampling data α ₁ ... α _n, the average value of the difference value of β ₁ ...... β _n determined, the steering of the travel route on the basis of the average value, and γ a constant that is set in advance based on experiments or the like previously obtained control constants for the control as a reference control constants G _1. Specifically, the calculation is performed based on the following [Equation 1].

[0047]

(Equation 1)

After moving the work vehicle to the start end of the next traveling route k, the guidance traveling control is started.
As shown in 0, prior to, first, the magnetic field sensor (Fig for an end portion which functions as a magnetic field detector TK ₁ for the guidance magnetic field sensor and the current travel route serves as the magnetic field detecting unit GK ₁ for the current travel route In the case of 1, the left side is initialized (step 1). At this time, the control constant applied to the travel route is also set. To explain the setting of the control constant, a difference value Zn between the detection values of the left and right guidance magnetic field sensors 13R and 13L at the starting end of the current traveling route is obtained. Based on the difference value Z _{1 and the} reference control constant G ₁ , a control constant Gn in this traveling route is calculated based on the following [Equation 2]. Incidentally, the respective difference values Zn, Z ₁ are each, are calculated as the average value of a plurality of detected values sampled in each set sampling time in each travel route.

[0049]

Gn = (Z ₁ / Zn) · G ₁

The setting of such a control constant is executed for each traveling route at the beginning of the route.

When starting the guided traveling control, the turning position of the vehicle body and the rotary tilling are considered in consideration of the longitudinal length of the work vehicle V and the required distance from the turning traveling to entering the traveling route in a predetermined posture. The elevating operation position of the device 6 is set in advance as distance information from the control start position.

Then, as shown in FIG. 15, while traveling the work vehicle V at the traveling speed for work, based on the magnetic field detection information stored in the memory M and the detection information of the traveling distance sensor 10, The target value of the magnetic field strength at the present time on the traveling route k is obtained, and the magnetic field detecting unit GK ₁ for the current traveling route is obtained.
The guided traveling control is executed based on the detection value of the guidance magnetic field sensor 13L functioning as the target value and the target value (step 2). In other words, the deviation between the detected value and the target value is multiplied by the control constant to determine the steering operation amount, and the steering operation amount is calculated as
The driving of the steering electric motor 9 is controlled. When the guided travel control is performed, the detection information of the guidance magnetic field sensor following the travel path side that functions as the magnetic field detecting unit GK ₂ for the next travel path (guiding detection information), the magnetic field for the next travel path Detector T
The respective detection information of the end magnetic field sensor following the travel path side functioning as K ₂ (detection information for an end portion), while being corresponding to the detection information of the travel distance sensor 10, is sequentially written and stored in the memory M (Step 3).

Then, based on the detection value of the traveling distance sensor 10,
Therefore, the remaining distance of the work vehicle V to the route end position is about 1
0m is determined (step
4) Change the method of obtaining the control target in the guided driving control.
Change. That is, the guidance detection stored in the memory M is performed.
The output information is simply compared with the detection value of the mileage sensor 10.
Instead of finding the control target based on the corresponding value,
Magnetic field detector TK for row path ₁End magnetic field sensor
And the end value stored in the memory M
Of the magnetic field sensor for the end by comparing and comparing with the
Lead corresponding to the edge detection information with the same value as the value (actually measured value)
To the required control target based on the
(Step 5).

Thereafter, the guided traveling control is continued based on the corrected control target (step 6), and when the stored value corresponding to the preset turning position matches, the work vehicle V is positioned at the end of the traveling route. It is determined that the operation is performed (step 7). When reaching the end of the traveling route k, the number n of traveling routes is counted up (step 8), and if the count value has not reached the set number ns of routes in the field 1 (step 9), it is written into the memory M. maximum value Xm of the stored magnetic field strength, if beyond the gain adjustment set upper limit value S _GM, analog switches aS ₃ as one stage lower gain of the amplifier is selected than the current gain, aS By instructing a selection signal to ₄ , the output gain is changed to the lower side (steps 10 and 11). If the maximum value Xm is less than the gain adjustment set lower limit value _SGL , a selection signal is sent to the analog switches AS ₃ and AS ₄ so that an amplifier having a gain one stage higher than the current gain is selected. And the output gain is changed to a higher side (step 13,
14). When the output gain is changed in this way, the control constant is also appropriately corrected according to the change amount (steps 12 and 15).

In this way, the electric motor is always driven and controlled with an appropriate control constant according to the detected value of the strength of the magnetic field and the changing situation of the output gain, so that hunting of the control and occurrence of a detection error occur. As much as possible.

Next, the guidance magnetic field sensor which serves as a magnetic field detector GK ₁ for the current travel route is switched to that of the opposite side (the right side of the sensor 13R) (step 16). This is because their positional relationship is reversed by a change in the direction of the vehicle body.

Next, turning control for turning the vehicle in a turning direction so as to be positioned at the start end of the next traveling route k is executed (step 17). In this turning control, the azimuth sensor 11 is reset and the vehicle is turned at the maximum turning angle until it is detected that the azimuth of the vehicle body has been reversed by 180 degrees, and thereafter, the detection information of the end magnetic field sensors 14R and 14L is used. When it is detected that the vehicle has reached the starting end of the next traveling route k, the turning control is stopped (step 18).

Then, steps 2 to 17 are repeated,
The work vehicle V is sequentially guided along each traveling route k, and when the set number of routes ns is reached, the guidance control for following the traveling route is terminated, and the process then shifts to lap control (steps 9 and 19). .

Next, the circuit control will be described. FIG.
As shown in, run the guidance control so that the detected value of the end portion magnetic field sensor which serves as an end detector TK ₁ for the current route is maintained at a preset circumferential travel target value for the circumferential travel Then (step 20), the vehicle travels round as shown in FIG. At that time, the detection information of the magnetic field sensor for the end on the next traveling route side is sequentially written and stored in the memory M (step 21). In this round traveling, the rotary tilling device 6 keeps the lowered state and continuously performs the tilling work.

Therefore, the magnetic field detecting means TK for the end portion is configured to also serve as the magnetic field detecting means for guidance during the round running.

When the direction change of about 90 degrees at the corner is detected five times on the basis of the detection information of the direction sensor 11, the vehicle shifts from the first round to the second round. At this time, the target value for the first lap (preset value) is changed to the target value for the second lap (actual measurement value detected by the end magnetic field sensor on the next traveling route side and stored in the memory). Value), the control target value is changed per unit time so that the steering operation amount by the electric motor 9 is limited to a set amount or less, and the control target value is changed gradually and gradually. Thus, the field is prevented from being roughened due to a sharp turn (steps 22 and 23). Thereafter, guidance control is performed using the stored actual measurement value as a control target (step 24), and when an azimuth change of about 90 degrees at the corner is detected five times based on the detection information of the azimuth sensor 11, Then, the round running ends (step 25). The orbital traveling work is not limited to two laps, but may be only one lap.
You may make it perform more than laps.

In this manner, the tilling work is appropriately performed also in the area that is the unworked area in the guided traveling on each of the travel paths k, the good work is performed over the entire field, and the unworked area does not occur. It has become. The installation intervals of the magnetic field sensors 13R and 13L for guidance and the installation intervals of the magnetic sensors 14R and 14L for end portions are configured to be changeable and adjustable.

[Other Embodiments] (1) In the above embodiment, the guidance traveling of the work vehicle along each traveling route in the reciprocating traveling mode is performed by the guidance magnetic field detecting means G.
Although it is configured to execute based on the detection information of the magnetic field by K, the invention is not limited to such a configuration. For example, a beam light such as a laser beam is irradiated in a direction along each traveling path, and the beam is applied to the working vehicle It may have a light detection unit for detecting light, and may have a control configuration such that the vehicle is guided along the light beam,
Alternatively, a guidance system using GPS may be applied, or another guidance system may be applied.

(2) In the above-described embodiment, the guide control is performed so that the detected value of the magnetic field detecting means is maintained at the control target value in the lap traveling control. However, the present invention is not limited to such a configuration. May be measured in advance, and the guidance control may be performed in a state where the control target value changes in order to guide the vehicle along an appropriate traveling route.

(3) In the above-described embodiment, the configuration is such that the magnetic field detecting means for end-of-round traveling is also used as the magnetic field detecting means for orbital traveling. Alternatively, a configuration may be used in which switching is used.

(4) In the above embodiment, the first guide wire is provided in the form of a loop. However, both ends are grounded underground using a single electric wire, and the ground is utilized underground. What constitutes a current return path may be used.

(5) In the above-described embodiment, the case where the guidance lines for guidance traveling are provided on both the left and right sides of the guidance target area is exemplified. However, the configuration may be such that the guidance lines are provided on only one side. In the control, the vehicle may be guided to a route that is farther away from the guide line, and may be sequentially guided to a route that is closer to the far side.

(6) In the above-described embodiment, the four-wheel type mobile vehicle is configured to have the left and right front wheels slidably swingable. However, all four wheels are slidably swingable, and the front and rear wheels are provided. It is possible to adopt a configuration that makes a turn with a small turning radius that swings in different directions from each other, and a running configuration in which the front and rear wheels swing in the same direction and the moving vehicle moves in parallel in an oblique direction. There may be. Further, a configuration in which a pair of left and right crawler traveling devices are provided and a steering operation configuration for applying braking to one side may be employed.

(7) In the above embodiment, the rotary tilling device is provided as the moving vehicle. However, the moving vehicle may be provided with a seedling transplanting device, a chemical spraying device, or the like. It may be a mobile vehicle such as a transport vehicle that does not include the vehicle.

[Brief description of the drawings]

FIG. 1 is a plan view showing a guidance state.

FIG. 2 is a plan view showing a guidance state;

FIG. 3 is a diagram showing an installation state of a guide wire;

FIG. 4 is a diagram showing a magnetic field intensity distribution.

FIG. 5 is a control block diagram.

FIG. 6 is a configuration diagram of a magnetic field detection unit.

FIG. 7 is a configuration diagram of a signal processing unit.

FIG. 8 is an electric circuit diagram of an induction wire.

FIG. 9 is a diagram showing output characteristics when the output gain is switched.

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a flowchart of a control operation.

FIG. 12 is a plan view of a moving vehicle.

FIG. 13 is a diagram showing detection data.

FIG. 14 is a diagram showing a magnetic field detection state.

FIG. 15 is a plan view showing a guidance control state.

[Explanation of symbols]

2b guiding line 2a, 2c reciprocating travel guide line 5 vehicle body 6 ground work apparatus 9 steering operating means 10 distance detecting means 12 control means TK magnetic field detector TK ₁ for the magnetic field detector TK ₂ following the travel path for the current travel route Magnetic field detection unit M storage means V moving vehicle

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Masadu Suzuki 1-40-2 Nisshincho, Omiya-shi, Saitama Pref. Address: Kubota Sakai Works, Ltd. (72) Inventor Yasuo Irie 64, Ishizukitamachi, Sakai City, Osaka Prefecture (72) Inventor: Yasuo Fujii 64, Ishizukitamachi, Sakai City, Osaka Kubota Sakai Co., Ltd. Inside the factory (72) Inventor Toshiyuki Matsumoto 64 Ishizukita-cho, Sakai City, Osaka Prefecture Inside Kubota Sakai Factory (72) Inventor Yukio Yokoyama 64, Ishizukita-machi Sakai City, Osaka Prefecture Inside Kubota Sakai Factory

Claims (6)

[Claims] 1. A guide wire for supplying a current to form a magnetic field is provided on the ground side, and a steering operation means capable of changing the direction of a vehicle body is provided on a moving vehicle side;
Control means for controlling the steering operation means; and magnetic field detecting means for detecting a distance from the guide line as the strength of a magnetic field, so that the mobile vehicle is guided in a predetermined guide area. The guidance control device for a mobile vehicle, wherein the guidance line is installed in an outer peripheral portion of the guidance area in a state of circling along an outer peripheral edge of the guidance area. In accordance with the detection information of the magnetic field detection means, in the guidance area, to perform the orbital travel control for controlling the steering operation means so as to cause the mobile vehicle to orbit along the orbital travel path along the outer peripheral edge. A guidance control device for a mobile vehicle configured as described above. 2. The control means controls the steering operation means such that the strength of the magnetic field detected by the magnetic field detection means is maintained at a control target value in the orbiting control. The guidance control device for a mobile vehicle according to claim 1, wherein the guidance control device is configured. 3. The control device according to claim 2, wherein the control means is capable of driving the moving vehicle on each of a plurality of circuit travel routes having different control target values, and changing the control target value. The mobile vehicle is configured to move the moving vehicle from a currently traveling circuit traveling route to an adjacent circuit traveling route, and a steering operation amount by the steering operation means accompanying a change in the control target value is limited to a set amount or less. 3. The guidance control device for a mobile vehicle according to claim 2, wherein the control target value is configured to set the amount of change per unit time. 4. A magnetic field detection unit for a current traveling path for detecting the strength of the magnetic field when traveling along one of the plurality of orbiting traveling paths, For the next traveling route for detecting the strength of the magnetic field for the next traveling route that is to be detected by the magnetic field detecting unit for the current traveling route when the mobile vehicle travels along the next orbiting traveling route. The magnetic field detector of the following, the control means, the detection value of the magnetic field detection means for the next travel route, in association with the travel distance information detected by the travel distance detection means,
When the mobile vehicle travels along the adjacent next round traveling route, the storage information stored in the storage unit and the control information for the current traveling route are stored. The guidance control device for a mobile vehicle according to claim 3, wherein the guidance control device is configured to guide the mobile vehicle based on the detection information of the magnetic field detection unit. 5. The mobile vehicle is configured to sequentially travel back and forth along a plurality of parallel scheduled travel routes set in the predetermined guidance area, and then perform the orbital travel. In the state along the outer peripheral edge of the guidance area in the direction along the planned traveling route, a reciprocating traveling guidance line for supplying a current and forming a magnetic field is installed, and the control unit performs the reciprocating traveling. Based on detection information of the strength of the magnetic field detected as a distance from the reciprocating travel guide line, the steering operation means to guide the mobile vehicle along each of the scheduled travel paths, Control, and, based on the detection information of the strength of the magnetic field detected as the distance from the orbiting guide line, when it is determined that the end position of each of the scheduled traveling routes has been reached, Scheduled run As is turning toward the starting end position of the path, the induction control system of the transport vehicle according to claim 1, which is configured to control the steering operating means. 6. The mobile vehicle according to claim 1, wherein the mobile vehicle is a work vehicle having a ground vehicle connected to a traveling vehicle body, and is configured to perform ground work in a field as the guidance area. The guidance control device for a mobile vehicle according to any one of claims 1 to 4.