JPS6196907A - Automatic propelling working machine - Google Patents
Automatic propelling working machineInfo
- Publication number
- JPS6196907A JPS6196907A JP59218014A JP21801484A JPS6196907A JP S6196907 A JPS6196907 A JP S6196907A JP 59218014 A JP59218014 A JP 59218014A JP 21801484 A JP21801484 A JP 21801484A JP S6196907 A JPS6196907 A JP S6196907A
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- vehicle
- work
- inclination
- vehicle body
- 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 description 14
- 230000033001 locomotion Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 235000006693 Cassia laevigata Nutrition 0.000 description 2
- 241000522641 Senna Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229940124513 senna glycoside Drugs 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Landscapes
- Harvester Elements (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、前進・後進いずれも差の無い状態で走行可能
なように前・後輪のいずれをもステアリング操作可能に
して構成され、予め設定された基準方位と目標走行距離
との情報に基づいて、所定範囲の作業地内を順次作業幅
を減じながら前・後進を繰)返して自動走行°すべく制
御する手段を備えた自動走行作業車に関する。[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.
上記この種の自動走行・作業車にあっては、前・後輪の
いずれをもステアリング操作可能に構成することで前進
・後進ともに差の無い状態で走行させるとともに、予め
設定された基準方位と目標走行距離との情報のみに基づ
いて所定範囲の所定地内を前・後進の自動走行を繰夛返
しながら所定作業を行なわせていた。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.
しかしながら、上記自動走行作業を行なわせるには、未
処理作業地と処理済作業地の境界を明確にしておく必要
があった。そのため、作業を行なう毎に自動走行作業車
を手動操作によシ作業範Nを設定する外周ティーチング
をさせなければならない煩しさがあるばかシでなく、そ
の外周ティーチング作業に対する時間ロスが多く作業効
率が悪いという不都合があった。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.
また、特に作業地が傾斜地であるような場合には、その
傾斜地の外周が非直線的であることが多く、ティーチン
グ作業を行ない難いという不都合もあった。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.
本発明は、上記実情に鑑みてなされたものであって、−
t−の目的は、傾斜地での作業を行ないやすく、且つ、
作業効率を高める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 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.
上記目的を達成すべく、本発明による自動走行作業車の
特徴構成は、前記前・後進を切換制御するに、車体前後
方向の傾斜度を検出するセンナを設け、とのセンサによ
る検出傾斜度変化が所定値以上あった場合に行なう点に
あシ、作用及び効果は次の通シである。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.
すなわち、車体に設けである傾斜度検出センサを利用し
て、傾斜度を検出しながらその検出傾斜度の変化が所定
値以上有る場合に、作業車を前進あるいは後進に自動的
に切換えて所定作業を行なうように走行制御するのであ
る。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.
したがって、車体に傾斜度検出センサを設けるだけで、
傾斜地での外周ティーチングを行なうことなしに前・後
進での自動走行作業を行なうことができ、もって、傾斜
地での作業効率を高め、且つ、作業をスムーズに行なう
ことができる自動走行作業車を得るに至った。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.
以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below based on the drawings.
第4図に示すように、前輪(2) 、 (23および後
輪(3) I (3)のいずれをもステアリング操作可
能に構成さ′れた車体(1)の中間部にディスク型刈刃
を内装した芝刈装置(4) f、上下動自在に懸架する
とともに、各行程の走行コースを示す芝地の未刈地(B
)と既刈地(C)との境界(L)を検出する後記構成に
なる倣いセンナ(A) 、 (A’)を車体(1)前後
に夫々設け、もって、前記境界(L)に溜って自動走行
可能な自動走行作業車としての芝刈作業車を構成しであ
る。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.
また、地磁気変化に基づいて方位を検出する地磁気セン
サを走行方向を検出する方位センサ(D)として設けで
ある。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.
さらに、前記自動走行作業車の走行距離(3)を検出す
るための距離センサ御)を前記車体(1)内部のエンジ
ン出力軸側に設け、その出力軸回転数により”走行距離
を算出している0
前記倣いセンサ(A) 、 (Aりは夫々同一構成に・
なる8つの光センサ(al)、(Ss)、(8g)を一
対として構成してあシ、この光センサ(Sl)、(a2
)、(Ss)は第6図に示すように、;の字形状のセン
サフレーム(5) 、 (5) 、 (5)をセンサ取
付フレーム(6)および車体前部に固着するとともに、
前記センサフレーム(5)の内側対向面に夫々発光素−
7’(Pi)と受光素子(P2)を一対として設けてあ
シ、この発光素子(Pl)と受光素子(P2)との間に
、車体(1)の走行に伴って導入される芝の有無を感知
することによって、未刈地と既刈地との境界を判別すべ
く構成しである。なお、センナ(A)としては光センサ
(ax)、(Sg)、(ag)を用いるものに限らず、
接触式・非接触式をとわす、どのような形式のセンサか
ら構成してもよい。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.
尚、傾斜地の各行程端部に達したことは、車体前後方向
の傾斜度を検出するセンサ(F′)により検出し、その
検出傾斜度(θ)の変化の度合によって判別すべく構成
しである。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.
そして、前進時には前記車体(1)前方に設けである倣
いセンサ(A)による境界(I−1検出結果、後進時に
は前記車体(1)後方に設けである倣いセンサ(4)に
よる境界(L)検出結果、及び、前記方位センサ(D)
による検出方位Qj’)と予め設定しである基準方位(
F、o)との比較結果、に基づいて、走行方向が前記基
準方位(FO)に一致し、かつ、境界(L)に沿って直
線的に自動走行すべく前記前後輪(2)。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)をステアリング操作することによシ走行方向を修
正している。(3) The direction of travel is corrected by operating the steering wheel.
以下、前記構成になる方位センサ(Dl、距離センサ(
E)、傾斜度検出センサ(F)、及び倣いセンサ(A+
、 (A’)の検出結果に基づいて前輪(2) 、
(2)及び後輪(3) + (3)をステアリング操作
して、作業車を走行させる制御システムについて説明す
る。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.
第1図に示すように、制御システムは主要部をマイクロ
コンピュータによって構成された制御装置(7)に前記
倣いセンサ(A) 、 (禎を構成する2組の光センサ
(81)、(82)、(Ss)、方位センサ(D)、及
び距離センサ(E)からの信号を入力してあり、これら
各光センサ(81)、(82)、(83)による未刈地
(B)、既刈地(C)検出結果の組み合せ、検出方位(
F)、及び検出傾斜度(θ)に基づいて前記前輪(2)
、(2)及び後輪(3) + (3)をステアリング操
作するアクチュエータとしての油圧シリンダ(8) 、
(9)夫々を作動させる電磁バルブ燵0.(ロ)を′
駆動する制御信号を演算・出力すべく構成しである。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.
尚、第1図中(R1) 、 (R2) l (R3)は
、前輪(2) + (2)及び後輪(3) + <3)
の実際のステアリング角を検出して制御装置(7)にフ
ィードバックするため、及び変速装置α4の前・後進位
置を検出して同様に制御装置(7)にフィードバックす
るためのポテンショメータであり、又(RO)は、傾斜
度検出のためのポテンショメータである。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.
そして、第2図(イ)のフローチャートに示すように、
作業幅(ロ)を入力すると、前進・後進のいずれかを選
択すると共に、前進の場合は前センサを後進の場合は後
センサを選択して第1回目の作業行程を開始し、そのと
きの走行方向を基準方位(Ψo)にしてその基準方位(
FO)と走行中の検出方位(F)との比較に基づいて方
位修正をしながら、制御するようにしている。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.
そして、傾斜度検出センサ(F)による検出傾斜度(θ
)変化が所定値(J)以上になると、車体(1)を次行
程方向へ刈幅CD)公平行移動させて次の作業行程を行
なうようにターン制御をするのである。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.
前記ターン制御は、第2図(ロ)及び第8図に示すよう
に、前記基準傾斜度(θO)と走行中の検出傾斜度(θ
)との差が所定値(Δθ)以上ある場合に車速を減速し
て所定距離(/1)を空走させて一旦車体(1)を停止
させ、前輪(2)及び後輪(3)のステアリング角を、
未刈地方向すなわち次行程方向へ刈@(D)公平行移動
するための所定ステアリング角lにして、前行程が後進
の場合は前進に、前行程が前進の場合は後進に切換えた
後、減速発進させて所定距離(12)に達すると、ステ
アリング’にニュートラルにして走行を続行し、その走
行距離が所定距離(13)に達すると、走行速度を増速
させて行なうのである。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.
以後、作業行程数が目標回数(W/D)に達するまで上
記各行程の作業を行なうように制御するのである。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).
尚、前記倣いセ゛ンサ(A) 、 GA)を構成する各
車体(1)中央部前方に設けた第8の光センサ(Sa)
、(Sa)は各行程端部の検出をよυ確実にするために
設けたものであって、省略してもよい。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.
また、前記所定距離(/1)+(/2)+(/3)は距
離センサ(2))によシ測定されるものである。Further, the predetermined distance (/1)+(/2)+(/3) is measured by a distance sensor (2).
c別実施例〕
前記実施例では、傾斜度検出センサ(F′)が傾斜度(
θ)を検出する毎に、その傾斜度(θ)の変化を求めた
が、作業地の急な凹凸に対して車体(1)が不測にター
ンをしないよう罠、前記センサ(F)による検出値を一
定個数サンプリングしてそれらを平均化するようにして
もよい。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.
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図は制御システムのブロック図、第2図(イ)、1口
)は制御装置の動作を示すフローチャート、第8図はタ
ーン制御の説明図、第4図は芝刈作業車の平面図、そし
て、第5図は倣いセンナの要部正面図である。
(2)・・・・・・前輪、(3)・・・・・・後輪、(
Ψo)・・・・・・基準方位、(XO)・・・・・・目
標走行距離、CF)・・・・・・傾斜度検出センサ、(
θ)・・・・・・検出傾斜度、(Δθル・・・・所定値
。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)
前・後輪(2),(3)のいずれをもステアリング操作
可能に構成され、予め設定された基準方位(Ψo)と目
標走行距離(Xo)との情報に基づいて、所定範囲の作
業地内を順次作業幅を減じながら前・後進を繰り返して
自動走行すべく制御する手段を備えた自動走行作業車で
あって、前記前・後進を切換制御するに、車体前後方向
の傾斜度(θ)を検出するセンサ(F)を設け、このセ
ンサ(F)による検出傾斜度(θ)変化が所定値(Δθ
)以上あった場合に行なうことを特徴とする自動走行作
業車。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:
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59218014A JPS6196907A (en) | 1984-10-16 | 1984-10-16 | Automatic propelling working machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59218014A JPS6196907A (en) | 1984-10-16 | 1984-10-16 | Automatic propelling working machine |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6196907A true JPS6196907A (en) | 1986-05-15 |
Family
ID=16713270
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59218014A Pending JPS6196907A (en) | 1984-10-16 | 1984-10-16 | Automatic propelling working machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6196907A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017158532A (en) * | 2016-03-03 | 2017-09-14 | 株式会社リコー | Farm working device, and control method of farm working device |
EP4178338A4 (en) * | 2020-07-08 | 2024-05-29 | Scythe Robotics, Inc. | Orientation-based mower control |
-
1984
- 1984-10-16 JP JP59218014A patent/JPS6196907A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017158532A (en) * | 2016-03-03 | 2017-09-14 | 株式会社リコー | Farm working device, and control method of farm working device |
EP4178338A4 (en) * | 2020-07-08 | 2024-05-29 | Scythe Robotics, Inc. | Orientation-based mower control |
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