JPH03148707A - Steering controller for automatic traveling working vehicle - Google Patents
Steering controller for automatic traveling working vehicleInfo
- Publication number
- JPH03148707A JPH03148707A JP1287203A JP28720389A JPH03148707A JP H03148707 A JPH03148707 A JP H03148707A JP 1287203 A JP1287203 A JP 1287203A JP 28720389 A JP28720389 A JP 28720389A JP H03148707 A JPH03148707 A JP H03148707A
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- traveling
- course information
- detected
- steering
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 239000003550 marker Substances 0.000 claims abstract description 14
- 230000005389 magnetism Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000010902 straw Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、自動走行作業車の操向制御装置に関するもの
である。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a steering control device for an autonomous working vehicle.
従来の技術
現在、自律走行車の制御技術を応用して、ゴルフ場のコ
ース内を作業者が操縦することなく無人で芝刈作業等を
行うことを目的とした不整地用の自動走行作業車の開発
、実用化が進められている。Conventional technologyCurrently, autonomous driving vehicles for uneven terrain are being developed that apply autonomous vehicle control technology to carry out tasks such as mowing lawns unmanned within golf course courses without the need for operators to operate them. Development and practical application are underway.
このような自動走行作業車の操向制御装置としては、連
続した発磁体や誘導ケーブル等の連続した標識体を作業
地域内の地下に埋設し、これらの −標識体を検出す
るセンサを設け、センサからの検出結果に基づいて自動
走行作業車を標識体にそって走行させるものが一般的で
ある。As a steering control device for such an automated driving work vehicle, a continuous marker body such as a continuous magnetizing body or an induction cable is buried underground in the work area, and a sensor is installed to detect these markers. Generally, an autonomous work vehicle is driven along a sign based on the detection results from a sensor.
また、特開昭５９−１１４０９号公報に記載されたよう
に、作業者が自動走行作業車を運転して作業地域の外周
部を走行するティーチング作業を行い、このとき得られ
たティーチング情報に基づいて作業地域内部の走行コー
スを自動的に生成し、自動的に生成した走行コースにそ
って自動走行作業車を走行させるものがある。Furthermore, as described in Japanese Patent Application Laid-Open No. 59-11409, a worker performs teaching work by driving an autonomous work vehicle around the outer periphery of the work area, and based on the teaching information obtained at this time, There is a system that automatically generates a driving course within a work area and causes an autonomous work vehicle to travel along the automatically generated driving course.
発明が解決しようとする課厘
ゴルフ場のような広大な場所で、自動走行作業車を走行
させる軌跡にそって連続した標識体を埋設するためには
、埋設する標識体の量が多くなるとともに大掛かりな埋
設作業となるため多頷の設備投資が必要となっている。In order to bury continuous markers along the trajectory of an automated driving vehicle in a vast place such as the Kakuri golf course that the invention seeks to solve, the amount of markers to be buried will increase. Since it is a large-scale burial work, a large amount of capital investment is required.
一方、特開昭５．９−１１４０９号公報に記載された操
向制御装置においては、ティーチング情報を得るための
ティーチング作業を行わなければならず、煩雑である。On the other hand, in the steering control device described in Japanese Patent Application Laid-Open No. 5.9-11409, it is necessary to perform a teaching operation to obtain teaching information, which is complicated.
課麗を解決するための手段
作業地域内の地下に標識体を間欠的に埋設し、前記標識
体を検出する標識体センサと進行方位を検出する方位セ
ンサとを自動走行作業車に設け。Means for solving the problem: Markers are intermittently buried underground in a work area, and an automatic driving work vehicle is equipped with a mark sensor that detects the marks and a direction sensor that detects the direction of travel.
前記標識体センサによる前記標識体のカウント数及びこ
のカウント数に対応する進行方位からなる走行コース情
報と前記センサからの検出結果に基づいて前記自動走行
作業車を操向割御する操向制御部を設け、前記標識体セ
ンサにより検出された前記標識体と前記自動走行作業車
の基準点との偏位量を検出する偏位量検出手段と、前記
偏位量を修正するための修正進行方位を演算する演算手
段と、演算された修正進行方位に基づいて前記走行コー
ス情報を修正する修正手段とを設けた。a steering control unit that controls the steering of the automatic traveling work vehicle based on driving course information including a count number of the marker body by the marker sensor and a traveling direction corresponding to the count number and a detection result from the sensor; a deviation amount detection means for detecting the amount of deviation between the marker detected by the marker sensor and a reference point of the automatic traveling work vehicle; and a corrected traveling direction for correcting the amount of deviation. and a correction means for correcting the travel course information based on the calculated corrected heading.
作用
自動走行作業車の走行に伴って標識体センサがａ！繊体
を検出し、標識体検出時における走行コース情報の進行
方位と方位センサが検出している検出方位とが一致する
ように操向制御部による操向制御が行われ、自動走行作
業車は設定された走行コース情報に従って走行する。ま
た。標識体センサによる！：４識体の検出時において、
検出した標識体と自動走行作業車の基準点との偏位量が
偏位量検出手段により検出され、この偏位量を修正する
ための修正進行方位が演算手段により演算され、演算さ
れた修正進行方位に基づいて修正手段により走行コース
情報が修正され、次回の作業時にはこの修正された走行
コース情報に従って走行する。As the autonomous driving work vehicle travels, the sign sensor detects a! The steering control unit performs steering control so that the traveling direction of the traveling course information at the time of detecting the marker and the direction detected by the direction sensor match, and the automatic traveling work vehicle Run according to the set driving course information. Also. Based on the marker sensor! :4 When detecting a sentient body,
The amount of deviation between the detected sign and the reference point of the automated driving vehicle is detected by the deviation amount detection means, and the corrected heading for correcting this amount of deviation is calculated by the calculation means, and the calculated correction is performed. The driving course information is corrected by the correcting means based on the traveling direction, and the vehicle travels in accordance with this corrected driving course information during the next work.
実施例 本発明の一実施例を図面に基づいて説明する。Example An embodiment of the present invention will be described based on the drawings.
自動走行作業車である自動走行芝刈機１の腹部には、前
輪２と後輪３との間に位置してモア４が昇降自在に取付
けられている。一方、前記自動走行芝刈機ｌを走行させ
る作業地域内の地下には、標識体である多数の発磁体５
が一定の間隔をもって縦横に埋設されている。A mower 4 is attached to the abdomen of an autonomous lawn mower 1, which is an autonomous working vehicle, and is located between a front wheel 2 and a rear wheel 3 so as to be movable up and down. On the other hand, underground in the work area where the self-driving lawnmower l is run, there are many magnets 5 that are markers.
are buried vertically and horizontally at regular intervals.
つぎに、前記自動走行芝刈機ｌの前方には前記発磁体５
が発する磁気を検出する標識体センサである磁気センサ
６が設けられ、前記自動走行芝刈機１の後部上方には地
磁気を検知することにより自動走行芝刈機ｌの進行方位
を検出する方位センサツが設けられ、さらに、前記自動
走行芝刈機ｌには自動走行芝刈機１の走行距離を検出す
る距離センサ８が設けられている。。Next, in front of the self-driving lawn mower l, the magnetic body 5 is provided.
A magnetic sensor 6, which is a marker sensor that detects the magnetism emitted by the lawnmower, is provided, and an azimuth sensor is provided above the rear of the automatic lawnmower 1 to detect the direction in which the automatic lawnmower l is traveling by detecting the earth's magnetism. Furthermore, the automatic traveling lawn mower 1 is provided with a distance sensor 8 for detecting the travel distance of the automatic traveling lawn mower 1. .
また、前記自動走行芝刈機Ｉには、前記磁気センサ６に
より検出される前記発磁休５のカウント数及びこのカウ
ント数に対応する進行方位からなる走行コース情報と、
前記芝刈装置４の昇降等の作業情報を記憶しておく記憶
部９が設けられ、さらに、走行コース情報と前記センサ
６．７からの検出結果とに基づいてステアリング装置１
０を操向制御するための操向制御部１１が設けられてい
る。Further, the self-driving lawn mower I includes traveling course information including a count number of the magnetic suspension 5 detected by the magnetic sensor 6 and a traveling direction corresponding to the count number;
A storage unit 9 is provided for storing work information such as lifting and lowering of the lawn mowing device 4, and further, the steering device 1 is stored based on driving course information and detection results from the sensor 6.7.
A steering control section 11 is provided to control the steering of the vehicle.
つぎに、前記磁気センサ６が前記発磁体５を検出した際
において、自動走行芝刈機ｌの基準点（例えば、中心位
置）と検出した発磁体５との偏位量を検出する偏位量検
出手段１２と、検出した偏位量を記憶する記憶手段１３
と、検出した偏位量が設定量ΔΩ”以上になった際にそ
の偏位量を修正するための修正進行方位を演算する演算
手段１４と、演算された修正進行方位に基づいて記憶さ
れている走行コース情報を修正する修正手段１５とが設
けられている。Next, when the magnetic sensor 6 detects the magnetic body 5, deviation amount detection is performed to detect the deviation between the reference point (for example, the center position) of the automatic mower l and the detected magnetic body 5. means 12, and storage means 13 for storing the detected deviation amount.
and a calculation means 14 for calculating a corrected heading for correcting the deviation when the detected deviation exceeds a set amount ΔΩ'', and a calculating means 14 for calculating a corrected heading for correcting the deviation when the detected deviation exceeds a set amount ΔΩ'', A correction means 15 for correcting the current driving course information is provided.
このような構成において、自動走行芝刈機ｌをスタート
させると、まず、記憶部９から走行コース情報が呼び出
される。つぎに、走行に伴って磁気センサ６が発磁体５
を検出してカウントすると、その検出時における方位セ
ンサツが検出している検出方位と、走行コース情報にお
ける対応するカウント数の進行方位とが一致するように
操向制御部１１によりステアリング装置ＩＯが操向制御
され、自動走行芝刈機ｌは設定した走行コース情報に従
って走行する。In such a configuration, when the self-driving lawn mower l is started, travel course information is first read from the storage unit 9. Next, as the vehicle travels, the magnetic sensor 6 detects the magnetic body 5.
When the azimuth is detected and counted, the steering control unit 11 operates the steering device IO so that the detected azimuth detected by the azimuth sensor at the time of detection matches the traveling azimuth of the corresponding count number in the driving course information. The self-driving lawn mower l travels according to set travel course information.
つぎに、作業地域内の起伏や傾斜によって自動走行芝刈
機ｌが横滑り等を生じる場合における走行コース情報の
修正について説明する。磁気センサ６が発磁体５を検出
した際に、検出した発磁体５ごとに、自動走行芝刈機ｌ
の基準点と検出した発磁体５との偏位量が偏位量検出手
段１２により検出され、この偏位量は記憶手段１３に順
次記憶される。偏位量が設定量八〇”以上となった場合
は、その偏位量を修正するための修正進行方位が演算手
段１４により演算され、演算された修正進行方位に基づ
いて記憶部９に記憶されている走行コース情報が修正手
段１５により修正され、修正された新たな走行コース情
報が記憶部９に記憶される。そして、次回の作業時には
、自動走行芝刈機ｌは修正された走行コース情報に従っ
て走行する６
なお、距離センサ８からの検出結果に基づき、所定距離
走行しても発磁体５を検出できない場合は、発磁体５の
カウント数をカウントアツプし、或いは、自動走行芝刈
機ｌの走行を停止させる。Next, a description will be given of how to correct the travel course information when the automatic lawn mower l skids or the like due to undulations or slopes in the work area. When the magnetic sensor 6 detects a magnetic body 5, the automatically running lawn mower l is activated for each detected magnetic body 5.
The amount of deviation between the reference point and the detected magnetizing body 5 is detected by the amount of deviation detection means 12, and this amount of deviation is sequentially stored in the storage means 13. When the amount of deviation exceeds a set amount of 80'', a corrected direction of movement for correcting the amount of deviation is calculated by the calculation means 14, and is stored in the storage unit 9 based on the calculated corrected direction of movement. The corrected driving course information is corrected by the correcting means 15, and the new corrected driving course information is stored in the storage unit 9.Then, at the next time of work, the automatic driving lawn mower l uses the corrected driving course information. Based on the detection results from the distance sensor 8, if the magnetizer 5 cannot be detected even after traveling a predetermined distance, the count number of the magnetizer 5 is incremented, or the self-driving lawn mower l is Stop running.
発明の効果
本発明は、上述のように作業地域内の地下に標識体を間
欠的に埋設し、これらの標識体を検出する標識体センサ
及び自動走行作業車の進行方位を検出する方位センサの
検出結果と走行コース情報とに基づいて自動走行作業車
を操向制御部により操向制御したことにより、連続した
標識体を走行経路にそって埋設する場合に比べて埋設す
る標識体の量を大幅に低減させるとともに埋設作業を簡
略化して設備投資額を大幅に低減させることができ、ま
た、ティーチング作業を行う煩雑さをなくして作業能率
を向上させることができる。さらに、標識体センサが検
出した標識体と自動走行作業車の基準点との偏位量を偏
位量検出手段により検出し、この偏位量を修正するため
の修正進行方位を演算手段により演算し、演算した修正
進行方位に基づいて修正手段により走行コース情報を修
正したことにより、作業地域内の起伏や傾斜等によって
前回作業時に走行コースを外れた場合でも、次回の作業
時には走行コースにそった精度の高い操向制御を行うこ
とができる等の効果を有する。Effects of the Invention As described above, the present invention provides a marker sensor that intermittently buries markers underground in a work area, detects these markers, and a direction sensor that detects the traveling direction of an automated driving work vehicle. By controlling the steering of the automated driving vehicle using the steering control unit based on the detection results and travel course information, the amount of markers to be buried can be reduced compared to the case where continuous markers are buried along the travel route. It is possible to significantly reduce the cost, simplify the burying work, significantly reduce the amount of equipment investment, and improve work efficiency by eliminating the complexity of teaching work. Furthermore, the amount of deviation between the sign detected by the sign sensor and the reference point of the automated driving vehicle is detected by the deviation amount detection means, and the corrected heading for correcting this amount of deviation is calculated by the calculation means. By correcting the driving course information using the correcting means based on the calculated corrected heading, even if you deviated from the driving course during the previous work due to undulations or inclinations in the work area, you will be able to follow the driving course the next time you work. This has the advantage of being able to perform highly accurate steering control.
図面は本発明の一実施例を示すもので、第１図は＄１ｇ
ｉシステムを示すブロック図、第２図は自動走行芝刈機
の全体を示す側面図、第３図は走行コース情報の修正状
態を示すフローチャートである。
■・・・自動走行作業車、５・・・標識体、ロー・・標
識体センサ、７・−方位センサ、１１−・−操向制御部
、１２−・・偏位量検出手段、１４・・・演算手段、１
５・・・修正手段
出 願 人 石川島芝浦機械株式会社ｉ〔＝：：；：
１１｝艷ｊ；声：″−
ｌｊ藁ｉコース調１等ｉ牝Ｌｌ
１１六ｔ；Ｓｉ”ＩｆThe drawings show an embodiment of the present invention, and FIG.
FIG. 2 is a block diagram showing the i-system, FIG. 2 is a side view showing the entire self-driving lawn mower, and FIG. 3 is a flowchart showing the state of correction of travel course information. ■... Automatic traveling work vehicle, 5... Marker, low... Marker sensor, 7 - Direction sensor, 11 - Steering control section, 12 - Deflection amount detection means, 14. ...Arithmetic means, 1
5...Applicant for correction measures Person Ishikawajima Shibaura Machinery Co., Ltd. i [=::;:
11｝艷j；Voice: ″-lj Straw i course tone 1st class i female Ll
116t;Si”If
Claims (1)
体を検出する標識体センサと進行方位を検出する方位セ
ンサとを自動走行作業車に設け、前記標識体センサによ
る前記標識体のカウント数及びこのカウント数に対応す
る進行方位からなる走行コース情報と前記センサからの
検出結果に基づいて前記自動走行作業車を操向制御する
操向制御部を設け、前記標識体センサにより検出された
前記標識体と前記自動走行作業車の基準点との偏位量を
検出する偏位量検出手段と、前記偏位量を修正するため
の修正進行方位を演算する演算手段と、演算された修正
進行方位に基づいて前記走行コース情報を修正する修正
手段とを設けたことを特徴とする自動走行作業車の操向
制御装置。Markers are intermittently buried underground in the work area, and an automated driving vehicle is equipped with a marker sensor that detects the markers and a direction sensor that detects the traveling direction. A steering control section is provided that controls the steering of the automatic traveling work vehicle based on driving course information consisting of a count number and a traveling direction corresponding to the count number and the detection result from the sensor, deviation amount detection means for detecting the deviation amount between the marker and the reference point of the automatic traveling work vehicle; calculation means for calculating a corrected heading for correcting the deviation amount; A steering control device for an automatic traveling work vehicle, comprising: a correction means for correcting the traveling course information based on the corrected heading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1287203A JPH03148707A (en) | 1989-11-02 | 1989-11-02 | Steering controller for automatic traveling working vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1287203A JPH03148707A (en) | 1989-11-02 | 1989-11-02 | Steering controller for automatic traveling working vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03148707A true JPH03148707A (en) | 1991-06-25 |
Family
ID=17714396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1287203A Pending JPH03148707A (en) | 1989-11-02 | 1989-11-02 | Steering controller for automatic traveling working vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03148707A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009294980A (en) * | 2008-06-06 | 2009-12-17 | Murata Mach Ltd | Running vehicle and running vehicle system |
| US10802500B2 (en) | 2016-09-21 | 2020-10-13 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Determining method and control method for straight running of robot on slope plane |
-
1989
- 1989-11-02 JP JP1287203A patent/JPH03148707A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009294980A (en) * | 2008-06-06 | 2009-12-17 | Murata Mach Ltd | Running vehicle and running vehicle system |
| JP4697262B2 (en) * | 2008-06-06 | 2011-06-08 | 村田機械株式会社 | Traveling vehicle and traveling vehicle system |
| TWI477934B (en) * | 2008-06-06 | 2015-03-21 | Murata Machinery Ltd | Walking cars and walking car system |
| US10802500B2 (en) | 2016-09-21 | 2020-10-13 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Determining method and control method for straight running of robot on slope plane |
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