JPH021B2 - - Google Patents
Info
- Publication number
- JPH021B2 JPH021B2 JP58130427A JP13042783A JPH021B2 JP H021 B2 JPH021 B2 JP H021B2 JP 58130427 A JP58130427 A JP 58130427A JP 13042783 A JP13042783 A JP 13042783A JP H021 B2 JPH021 B2 JP H021B2
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- boundary
- work
- vehicle
- work area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 description 16
- 238000009825 accumulation Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
本発明は、自動走行作業車、詳しくは、往復走
行工程を自動的に方向転換しながら繰り返し作業
地の一端側から他端側に至る間に作業地内の対地
作業を行うように、各行程での処理済作業地と未
処理作業地の境界に沿つて自動走行すべく、前記
境界を検出する倣いセンサーを備えた自動走行作
業車に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic traveling work vehicle, and more particularly, to a self-driving work vehicle, and more specifically, a vehicle that performs ground work within a work area while repeatedly traveling from one end of the work site to the other end while automatically changing direction in a reciprocating process. The present invention relates to an automatic traveling work vehicle equipped with a tracing sensor that detects the boundary in order to automatically travel along the boundary between a treated work site and an untreated work site in each stroke.
従来より、この種の自動走行作業車において
は、上記倣いセンサーによる各行程での処理済作
業地と未処理作業地の境界検出結果に基いてこの
境界に沿つて自動走行すべく、センサーが境界か
らずれたことを検出すると、そのずれ方向とは逆
方向にステアリング操作することによつて車体が
境界に沿うように走行方向を自動修正するステア
リング制御が行なわれている。 Conventionally, in this type of automatic driving work vehicle, the sensor detects the boundary in order to automatically travel along the boundary based on the boundary detection result between the treated work area and the untreated work area in each process by the above-mentioned scanning sensor. When a deviation from the boundary is detected, steering control is performed to automatically correct the traveling direction so that the vehicle body aligns with the boundary by performing a steering operation in the opposite direction to the direction of the deviation.
しかしながら、上記従来構成になるステアリン
グ制御は、一行程走行する毎に新たに作られた処
理済作業地と次行程である未処理作業地との境界
に順次倣い走行すべく制御していたので、以下に
示すような欠点が有つた。 However, the above-mentioned conventional steering control is controlled to sequentially follow the boundary between the newly created treated work area and the untreated work area, which is the next process, every time the vehicle travels one stroke. It had the following drawbacks.
即ち、往復走行工程を繰返す毎に前記境界の非
直線性が累積され、その結果、次第に直線性が悪
くなり、作業跡の美観が悪くなるという不都合が
あつた。 That is, each time the reciprocating process is repeated, the nonlinearity of the boundary is accumulated, and as a result, the linearity gradually deteriorates, resulting in a disadvantage that the aesthetic appearance of the work trace becomes poor.
本発明は、上記実情に鑑みてなされたものであ
つて、その目的は、倣い走行すべき境界の非直線
性が累積しない制御手段を備えた自動走行作業車
を提供することにある。 The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an automatically traveling work vehicle equipped with a control means that prevents accumulation of non-linearity of the boundary to be followed.
上記目的を達成すべく、本発明による自動走行
作業車は、基準方位に対する走行方向のずれを検
出する方位センサーを設け、前記往復走行工程の
所定回数の行程終了後の1行程分は、前記方位セ
ンサーによる検出方位と基準方位との比較結果に
基いて車体1の走行方向を修正する手段を設けて
ある点に特徴を有する。 In order to achieve the above object, an automatic traveling work vehicle according to the present invention is provided with an orientation sensor that detects a deviation in the traveling direction from a reference orientation, and for one stroke after the completion of a predetermined number of strokes of the reciprocating process, the automatic traveling work vehicle according to the present invention The present invention is characterized in that it is provided with means for correcting the traveling direction of the vehicle body 1 based on the comparison result between the direction detected by the sensor and the reference direction.
上記特微故に下記の如き優れた効果が発揮され
るに至つた。 Due to the above features, the following excellent effects have been achieved.
即ち、所定行程毎に、倣い制御では無く、基準
方位方向に走行方向を自動的に修正する方向制御
を行うことによつて、前記境界の非直線性および
方向性の誤差累積が解消されることとなり、作業
後の美観が非常に良くなるに至つた。以下、本発
明の実施例を図面に基いて説明する。 That is, by performing direction control that automatically corrects the running direction in the reference azimuth direction instead of copying control every predetermined stroke, the non-linearity of the boundary and the accumulation of errors in directionality can be eliminated. This resulted in a much better aesthetic appearance after the work was completed. Embodiments of the present invention will be described below with reference to the drawings.
第1図に示すように、車体1の前後輪2,3の
中間部に芝刈装置4を上下動自在に懸架するとと
もに、車体1前方に走行地の境界である未処理作
業地としての芝地の未刈地Bと処理済作業地とし
ての既刈地Cとの境界Lを判別するための後記構
成になる倣いセンサーA,Aを車体1前方左右
夫々に設けて、自動走行作業車としての芝刈作業
車を構成してある。 As shown in FIG. 1, a lawn mowing device 4 is suspended between the front and rear wheels 2, 3 of the vehicle body 1 so as to be movable up and down, and a lawn area serving as an untreated work area is placed in front of the vehicle body 1, which is the boundary between the running areas. Tracing sensors A, A having the configuration described later are installed on the front left and right sides of the vehicle body 1, respectively, to determine the boundary L between the unmoved land B and the mowed land C, which is the treated work area. It is configured as a lawn mowing vehicle.
更に、前記車体1には、車体1の向き(方位)
を検出すべく、地磁気強度を検出することによつ
て方位θ検出する方位センサー5を搭載してあ
る。 Furthermore, the vehicle body 1 has a direction (azimuth) of the vehicle body 1.
In order to detect this, an azimuth sensor 5 is mounted which detects the azimuth θ by detecting the geomagnetic strength.
そして、前記前輪2,2は操向車輪として、前
記倣いセンサーθによる境界L検出結果、およ
び、前記方位センサー5による方位θ検出結果に
基いて、制御装置6により自動的に左右方向に所
定量ステアリング操作されるべく構成してある。 The front wheels 2, 2 serve as steering wheels and are automatically moved by a predetermined amount in the left and right directions by the control device 6 based on the boundary L detection result by the copying sensor θ and the orientation θ detection result by the orientation sensor 5. It is configured to be operated by steering.
前記倣いセンサーAは、車体1左右方向に所定
間隔を隔てて配置された3つの光センサーS1,
S2,S3によつて構成してある。 The copying sensor A includes three optical sensors S1, which are arranged at predetermined intervals in the left-right direction of the vehicle body 1;
It is composed of S2 and S3.
前記光センサーS1,S2,S3は、第2図に
示すように、コの字形状のセンサーフレーム7,
7を前記芝刈装置4に設けたセンサー取付フレー
ム8に固着するとともに、前記センサーフレーム
7の内側対向面に夫々発光素子P1と受光素子P
2を一対として設けてあり、この発光素子P1と
受光素子P2との間に、車体1の走行に伴つて導
入される芝の有無を感知することによつて、未刈
地Bと既刈地Cとの境界Lを判別すべく構成して
ある。 As shown in FIG. 2, the optical sensors S1, S2, and S3 are provided with a U-shaped sensor frame 7,
7 is fixed to a sensor mounting frame 8 provided on the lawn mower 4, and a light emitting element P1 and a light receiving element P are respectively mounted on the inner facing surface of the sensor frame 7.
2 are provided as a pair, and by sensing the presence or absence of grass that is introduced as the vehicle body 1 travels between the light emitting element P1 and the light receiving element P2, it is possible to distinguish between the unmowed area B and the already mowed area. It is configured to determine the boundary L with C.
そして、通常は、前記隣接して配置してある2
つの光センサーS1,S2によつて境界Lを判別
するとともに、所定行程No毎に通常より車体1
内側に隔てて配置された光センサーS3と最外側
の光センサーS1とによつて境界Lを判別すべく
構成してある。 Usually, the two adjacently arranged
The boundary L is determined by two optical sensors S1 and S2, and the vehicle body 1 is
The boundary L is determined by the optical sensor S3 and the outermost optical sensor S1, which are arranged inwardly and separated from each other.
なお、センサーAとしては光センサーS1,S
2,S3を用いるものに限らず、接触式・非接触
式をとわず、どのような形式のセンサーから構成
してもよい。 In addition, as sensor A, optical sensors S1 and S
2. The sensor is not limited to one using S3, and may be constructed from any type of sensor, including contact type and non-contact type.
以下、前記倣いセンサーA,Aおよび方位セン
サー5による境界L検出結果および方位θ検出結
果に基いて自動的にステアリング操作する制御シ
ステムについて説明する。 A control system that automatically operates the steering wheel based on the boundary L detection result and the orientation θ detection result by the scanning sensors A, A and the orientation sensor 5 will be described below.
第3図に示すように、制御システムは、主要部
をマイクロコンピユータによつて構成された制御
装置6に、前記倣いセンサーAを構成する3つの
光センサーS1,S2,S3からの信号および方
位センサー5からの信号を入力してあり、これら
各信号に基いて前記前輪2,2を左右方向に所定
量ステアリング操作すべく、アクチユエータとし
ての油圧シリンダ9を作動させる電磁バルブ10
を駆動する制御信号を演算・出力すべく構成して
ある。 As shown in FIG. 3, the control system includes a control device 6 whose main part is composed of a microcomputer, and signals from three optical sensors S1, S2, S3 constituting the scanning sensor A and an orientation sensor. an electromagnetic valve 10 that operates a hydraulic cylinder 9 as an actuator in order to steer the front wheels 2, 2 by a predetermined amount in the left-right direction based on these signals;
It is configured to calculate and output a control signal for driving the .
そして、通常は前記隣接して配置された光セン
サーS1,S2の未刈地B、既刈地Cの検出結果
の組み合せに基いて車体1に対して外側の光セン
サーS1が既刈地Cを検出し、かつ、内側の光セ
ンサーS2が未刈地Bを検出している状態すなわ
ち境界Lに沿つた状態となるように、前記油圧シ
リンダ9を作動させて芝刈作業を行ないながら所
定速度で各行程端部で方向転換を繰り返して自動
走行するのである。 Normally, based on the combination of the detection results of the unmoved area B and the mowed area C of the adjacently arranged optical sensors S1 and S2, the optical sensor S1 located outside the vehicle body 1 detects the mowed area C. The hydraulic cylinder 9 is operated at a predetermined speed while mowing the lawn so that the inner optical sensor S2 detects the unmowed area B, that is, the area is along the boundary L. It travels automatically by repeatedly changing direction at the end of its travel.
一方、前記方向転換の回数Nをカウントするこ
とによつて行程数を計測して、この回数Nが所定
回数Noに達する毎にその次の行程では、前記隣
接した光センサーS1,S2に変えて最外側に配
置された光センサーS1におよび最内側に配置さ
れた第3の光センサーS3による未刈地B、既刈
地Cの検出結果の組み合せに基いて前輪2,2を
ステアリング操作すべく、境界L検出状態の不感
帯幅dを通常より広くするとともに、前記光セン
サーS1が既刈地Cを検出し、かつ、光センサー
S3が未刈地Bを検出している状態にある場合
に、前記方位センサー5による検出方位θと基準
方位θoとを比較して、検出方位θと基準方位θo
が誤容差(±Δ)内に一致するように、検出方位
θによるステアリング制御を併用することとによ
つて、車体1の走行方向の直進性および各行程の
平行性を所定行程No毎に自動修正するのである。 On the other hand, the number of strokes is measured by counting the number of times N of the direction changes, and each time the number N reaches a predetermined number No, in the next stroke, the adjacent optical sensors S1 and S2 are changed. In order to steer the front wheels 2, 2 based on the combination of the detection results of the unmoved area B and the mowed area C by the optical sensor S1 disposed on the outermost side and the third optical sensor S3 disposed on the innermost side. , when the dead zone width d of the boundary L detection state is made wider than normal, and the optical sensor S1 is in a state where the mowed land C is detected and the optical sensor S3 is in the state where the unmown land B is detected, The detected orientation θ by the orientation sensor 5 is compared with the reference orientation θo, and the detected orientation θ and the reference orientation θo are determined.
By using steering control based on the detected orientation θ, the straightness of the vehicle body 1 in the running direction and the parallelism of each stroke are determined for each predetermined stroke No. so that It will be automatically corrected.
尚、第3図中、Rは前輪2,2の実際のステア
リング操作量を検出して制御装置6にフイードバ
ツクするためのポテンシヨメータであり、第4図
は以上説明した制御装置6の動作を示すフローチ
ヤートである。 In FIG. 3, R is a potentiometer for detecting the actual steering operation amount of the front wheels 2, 2 and feeding it back to the control device 6, and FIG. 4 shows the operation of the control device 6 explained above. This is a flowchart.
又、前記基準方位θoの値としては、予め人為
的に設定した値、最初の1行程における方位θを
サンプリングして算出した平均方位、あるいは、
芝地の作業範囲を設定するとともに各種制御パラ
メータを検出すべく往復行程の外周を走行する外
周テイーチングによつて算出した方位等のうち、
いずれの方位を用いてもよい。 Further, the value of the reference orientation θo may be a value artificially set in advance, an average orientation calculated by sampling the orientations θ in the first stroke, or
Among the directions, etc. calculated by outer circumferential teaching, which runs around the outer circumference of the round trip in order to set the working range of the lawn and detect various control parameters,
Any orientation may be used.
更に又、前記光センサーS3としては左右夫々
の倣いセンサーAに設けるのではなく、例えば車
体1中央に1つ設けて左右の倣いセンサーA,A
で共用すべく構成してもよい。 Furthermore, the optical sensor S3 is not provided for each of the left and right scanning sensors A, but for example, one is provided at the center of the vehicle body 1 and the left and right scanning sensors A, A are provided.
It may be configured to be shared by multiple users.
図面は本発明に係る自動走行作業車の実施例を
示し、第1図は芝刈作業車の全体平面図、第2図
は倣いセンサーの要部正面図、第3図は制御シス
テムのブロツク図、そして、第4図は制御装置の
動作を示すフローチヤートである。
1……車体、5……方位センサー、A……倣い
センサー、B……未処理作業地、C……処理済作
業地、L……境界、θo……基準方位、θ……検
出方位、No……所定回数の行程、d……不感帯
幅。
The drawings show an embodiment of the automatic driving vehicle according to the present invention, in which FIG. 1 is an overall plan view of the lawn mowing vehicle, FIG. 2 is a front view of the main parts of the scanning sensor, and FIG. 3 is a block diagram of the control system. FIG. 4 is a flowchart showing the operation of the control device. 1... Vehicle body, 5... Orientation sensor, A... Copying sensor, B... Untreated work area, C... Treated work area, L... Boundary, θo... Reference orientation, θ... Detection orientation, No...predetermined number of strokes, d...dead band width.
Claims (1)
り返し作業地の一端側から他端側に至る間に作業
地内の対地作業を行うように、各行程での処理済
作業地Cと未処理作業地Bの境界Lに沿つて自動
走行すべく、前記境界を検出する倣いセンサー
A,Aを備えた自動走行作業車であつて、基準方
位θoに対する走行方向のずれを検出する方位セ
ンサー5を設け、前記往復走行工程の所定回数の
行程No終了後の1行程分は、前記方位センサー
5による検出方位θと基準方位θoとの比較結果
に基いて車体1の走行方向を修正する手段を設け
てあることを特徴とする自動走行作業車。 2 前記所定回数の行程No終了後の1行程分を、
方位センサー5による方位θ検出結果に基いて走
行方向を修正するに、前記倣いセンサーAの境界
検出のための不感帯幅dを通常より広く設定する
とともに、この倣いセンサーAが境界検出状態に
ある場合のみ前記方位センサー5による走行方向
の修正を附なうべく構成してあることを特徴とす
る前記特許請求の範囲第1項に記載の自動走行作
業車。[Claims] 1. The reciprocating process is repeated while automatically changing direction, and the treated work area is moved in each process so that ground work within the work area is performed while going from one end of the work area to the other end. In order to automatically travel along the boundary L between C and the untreated work area B, the automatic traveling work vehicle is equipped with tracing sensors A and A that detect the boundary, and detects a deviation in the traveling direction from the reference direction θo. A direction sensor 5 is provided, and for one stroke after the completion of a predetermined number of strokes in the reciprocating process, the traveling direction of the vehicle body 1 is corrected based on the comparison result between the direction θ detected by the direction sensor 5 and the reference direction θo. An automatic driving work vehicle characterized by being provided with a means for doing so. 2 One stroke after the completion of the predetermined number of strokes No.
In order to correct the traveling direction based on the direction θ detection result by the direction sensor 5, the dead zone width d for boundary detection of the scanning sensor A is set wider than usual, and when the scanning sensor A is in the boundary detection state. The automatic traveling work vehicle according to claim 1, characterized in that the vehicle is configured so that the direction of travel can only be corrected by the orientation sensor 5.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58130427A JPS6024108A (en) | 1983-07-18 | 1983-07-18 | Self-propelling working vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58130427A JPS6024108A (en) | 1983-07-18 | 1983-07-18 | Self-propelling working vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6024108A JPS6024108A (en) | 1985-02-06 |
JPH021B2 true JPH021B2 (en) | 1990-01-05 |
Family
ID=15033981
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP58130427A Granted JPS6024108A (en) | 1983-07-18 | 1983-07-18 | Self-propelling working vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6024108A (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4311224A (en) * | 1978-08-24 | 1982-01-19 | Kabushiki Kaisha Sankyo Seisakujo | Torque limiter |
WO2015051762A1 (en) | 2013-10-12 | 2015-04-16 | 浙江海正药业股份有限公司 | Synthetic intermediate of maxacalcitol, preparation method therefor and use thereof |
US9261730B2 (en) | 2013-01-03 | 2016-02-16 | Empire Technology Development Llc | Display devices including inorganic components and methods of making and using the same |
EP3101076A1 (en) | 2015-06-05 | 2016-12-07 | Air Products And Chemicals, Inc. | Barrier chemical mechanical planarization slurries using ceria-coated silica abrasives |
-
1983
- 1983-07-18 JP JP58130427A patent/JPS6024108A/en active Granted
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4311224A (en) * | 1978-08-24 | 1982-01-19 | Kabushiki Kaisha Sankyo Seisakujo | Torque limiter |
US9261730B2 (en) | 2013-01-03 | 2016-02-16 | Empire Technology Development Llc | Display devices including inorganic components and methods of making and using the same |
WO2015051762A1 (en) | 2013-10-12 | 2015-04-16 | 浙江海正药业股份有限公司 | Synthetic intermediate of maxacalcitol, preparation method therefor and use thereof |
EP3101076A1 (en) | 2015-06-05 | 2016-12-07 | Air Products And Chemicals, Inc. | Barrier chemical mechanical planarization slurries using ceria-coated silica abrasives |
Also Published As
Publication number | Publication date |
---|---|
JPS6024108A (en) | 1985-02-06 |
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