JPH0814767B2 - Steering control device for automated vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention is designed so that the vehicle body travels toward a reference azimuth preset by a reference azimuth setting means provided on the vehicle body.
The present invention relates to a steering control device for an automatic work vehicle, which is provided with a vehicle body orientation detection unit that detects a direction deviation of the vehicle body with respect to the reference azimuth and a steering control unit that performs steering control based on the detection information.

[Conventional technology]

The steering control device for an automatic traveling work vehicle of this kind is preset in correspondence with the length direction of the work stroke so that the work vehicle goes straight in the preset length direction of the work stroke, for example. The steering control is performed on the basis of the detection information of the vehicle body orientation detecting means for detecting the orientation deviation of the vehicle body with respect to the reference orientation.

By the way, when the set reference azimuth does not match the length direction of the work stroke, the body position of the work stroke does not change even though the orientation of the vehicle body matches the length direction of the work stroke. There is a risk of traveling in a direction deviating from the direction.

Therefore, in the past, in addition to the steering control means for steering control based on the detection information of the vehicle body orientation detection means, a remote control means for remote control using a transmitter was installed in parallel so that the orientation of the work vehicle could be changed. When the vehicle deviates greatly from the travel direction, the automatic traveling is interrupted, the remote control means is switched to, and the subsequent traveling is performed by an artificial steering operation.

[Problems to be solved by the invention]

However, in the above-mentioned conventional configuration, since the steering of the vehicle body is artificially performed by remote control, it requires skill to perform the steering operation so that the work vehicle goes straight, and the steering operation is difficult. .

The present invention has been made in view of the above circumstances,
The purpose is to be able to correct the reference direction by remote control, without interrupting the automatic running of the work vehicle,
It is to be able to easily correct the traveling direction.

[Means for solving problems]

A characteristic configuration of a steering control device for an automated guided vehicle according to the present invention is provided with a transmitter for transmitting instruction information for changing the reference direction to the vehicle body side, and the vehicle body side is provided with the transmitter. There is provided a reference azimuth changing means for changing the reference azimuth while maintaining the automatic traveling state on the basis of the instruction information, and the work and effects thereof are as follows.

[Action]

That is, the reference azimuth preset by the reference azimuth setting means is changed by remote control using the transmitter without interrupting the automatic traveling. After the reference azimuth is changed, the steering control means automatically travels straight toward the changed reference azimuth.

〔The invention's effect〕

Therefore, even if there is a deviation in the traveling direction of the vehicle body with respect to the predetermined traveling path, the traveling direction of the vehicle body can be corrected by a simple operation of simply changing the reference azimuth by remote control. It is possible to easily correct the traveling direction even with a work vehicle that is not equipped, and it is not necessary to stop the vehicle to temporarily correct the vehicle body by using the reference azimuth setting means, thus improving work efficiency. It was

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 4 and 5, a pair of left and right front wheels (1F) and a pair of left and right rear wheels (1R) are provided for steering operation. On the lower abdomen of the vehicle body (V), a lawn mowing device (2) is suspended so as to be able to move up and down and stop driving, and a work vehicle mainly used for mowing work of weeds, lawn, etc. is configured.

In FIG. 4, (3) is a lifting hydraulic cylinder of the lawnmower (2).

Then, as shown in FIG. 6, the work vehicle basically has a rectangular uncut land (B) surrounded by already cut land (C) and a cut land (C). The section from the one side to the opposite side of the uncut land (B) portion along the boundary (L) is set as one work stroke, and the vehicle automatically travels in the length direction thereof toward the preset reference azimuth (ψ ₀ ). Then, as it reaches the end of one work stroke, it is turned so as to move to the start of the next work stroke in the direction intersecting the work stroke, and the square uncut land (B) is turned. The lawn mowing work is automatically performed within a predetermined range while reducing the work stroke of the uncut area located on the outer periphery toward the inner side.

However, the vehicle body (V) is configured to be able to be driven not only by automatic traveling but also by a boarding operation or a remote control (radio control) in which an operator is boarded and artificially driven.

A control configuration for automatically traveling the vehicle body (V) will be described. As shown in FIG.
Steering hydraulic cylinders (4F) and (4R) for changing the direction of F) and (1R) respectively, and their control valves (5
F), (5R), a control valve (6) for the lifting hydraulic cylinder (3) of the lawn mowing device (2), an electromagnetically operated clutch (7) for driving and disconnecting the lawn mowing device (2), front and rear Based on a hydraulic continuously variable transmission (8) capable of shifting forward and backward and forward, a shifting motor (9) for the hydraulic continuously variable transmission, and various traveling control information set in advance and detected by various sensors described later. The control valves (5
F), (5R), (6), the clutch (7), and a control device (10) using a microcomputer for controlling the shift motor (9) are provided.

However, using the control device (10), a steering control means (100) for controlling the steering so that the vehicle travels toward a preset reference azimuth (ψ ₀ ) and a transmitter (16) described later. The reference azimuth changing means (101) for changing the reference azimuth (ψ ₀ ) on the basis of the instruction information by

In the figure, (E) is an engine for driving the lawnmower (2) and the front and rear wheels (1F), (1R), and is linked to the transmission (8). Also (11)
Is a speed change pedal for operating the speed change device (8) at the time of boarding operation, and (12) is a speed change arm of the speed change device (8), the speed change motor (9) and the speed change pedal (11). The transmission (8) can be operated by any of the above, and is linked to the transmission motor (9) and the transmission pedal (11).

However, the speed change motor (9) is configured to be freely connectable and disconnectable with the speed change arm (12) by a manually operated clutch mechanism (13).

The clutch mechanism (13) is configured to be turned on and off by a manually operated clutch lever (14) (see FIG. 4). ) And the speed change arm (12) are disconnected, and during remote control or automatic traveling, the speed change motor (9) and the speed change arm (12) are made to operate by an on operation.

Further, a clutch switch (SW ₃ ) is provided which is interlocked with the on / off operation of the clutch lever (14), and based on the detection information of the clutch switch (SW ₃ ), the boarding operation and the automatic traveling are switched and operated. It is configured. Switching between automatic driving and remote control will be described later.

By the way, since the front and rear wheels (1F), (1R) are individually configured to be steerable, the front and rear wheels (1F),
You can select and use the parallel steering type that steers (1R) in the same direction, the four-wheel steering type that steers in the opposite direction, and the two-wheel steering type that steers only the front wheel (1F). It has become. Further, it is configured such that the parallel steering type and the four-wheel steering type can be switched and used by remote control during remote control, and any one of three types of steering types can be selectively used during boarding control. ing. However,
During automatic traveling, the parallel steering type and the four-wheel steering type are automatically switched and used.

The sensors mounted on the vehicle body (V) will be described. As shown in FIGS. 4 and 5, the uncut land (B) and the already cut land (C) as information indicating the position of the work stroke. A pair of left and right scanning sensors (S ₁ ) and (S ₂ ) for detecting a displacement in the vehicle lateral direction with respect to the boundary (L) with the vehicle extend from both ends of the working range of the lawnmower (2) in the vehicle longitudinal direction. The four sensor support arms (15) that are taken out are provided at the respective tip portions.

Explaining the copy sensors (S ₁ ) and (S ₂ ),
The light between the light projecting section and the light receiving section, which are provided so as to face each other in the lateral direction of the vehicle body, is configured to be blocked by the uncut grass, and the light traveling from this light projecting section to the light receiving section. It is configured to determine whether the uncut land (B) or the already cut land (C) is based on whether or not the land is cut off.

During automatic traveling, two sets of the four sets of copy sensors (S ₁ ) and (S ₂ ) provided at the front and rear ends of the vehicle body, which are located on the front side with respect to the traveling direction of the vehicle body, are used. A pair of scanning sensors (S ₁ ) located on the (L) side,
Based on the detection information of (S ₂ ), the deviation of the vehicle body in the lateral direction with respect to the boundary (L) is determined, and the two sets of the scanning sensors (S ₁ ) and (S ₂ ) on the front side with respect to the traveling direction are all detected. Based on the detection information, it is determined whether or not the vehicle body (V) has reached the end portion of the work stroke.

Discrimination of the displacement in the vehicle lateral direction with respect to the boundary (L) will be described. The pair of scanning sensors (S ₁ ),
The copy sensor (S ₁ ) located on the outer side of the vehicle body of (S ₂ ).
Is detecting the already-cut land (C), and the scanning sensor (S ₂ ) located on the inner side of the vehicle is detecting the uncut land (B), the vehicle body with respect to the boundary (L) It is determined that there is no deviation in the width direction.

As shown in FIGS. 1 and 4, an orientation sensor (S ₃ ) utilizing a geomagnetic sensor is attached to the rear end of the vehicle body as a vehicle body orientation detection means for detecting the orientation deviation with respect to the reference orientation (ψ ₀ ). Has been.

As shown in FIG. 1, in order to detect the traveling distance, the rotation speed sensor (S ₄ ) is driven to rotate by the output of the transmission (8) and outputs a set number of pulse signals per unit traveling distance. Is provided.

Steering position for detecting the target steering position detection potentiometer (R ₀ ) for detecting the target steering position by the steering handle (H) for boarding operation, front and rear wheels (1F), (1R) Potentiometer for detection (R ₁ ),
(R ₂ ) and a vehicle speed detecting potentiometer (R ₃ ) for indirectly detecting the vehicle speed by detecting the operating state of the transmission (8) are provided.

Incidentally, in FIG. 1, (SW ₁ ) indicates whether the vehicle body (V) is automatically driven (hereinafter referred to as “reproduction”) or manually operated (boarding operation or remote operation), or the reference direction or work. A work mode selection switch (SW ₂ ) for switching whether to perform teaching control for presetting a stroke length or the like is a vehicle body side start switch for instructing start of automatic traveling.

Further, a transmitter (16) and a receiver (17) for remote control are provided, and the receiver (17) is configured to input the received information to the control device (10).

Explaining the transmitter (16), as shown in FIG. 2, the steering lever (18) for instructing the target steering position by the left and right movements and the steering type used for the forward and backward movements, the forward and backward movements. Shift lever (1) to indicate the target vehicle speed for forward and reverse
9), switch (2) for raising and lowering the lawnmower (2)
0), a clutch switch (21) for instructing drive connection and disconnection of the lawnmower (2), and a remote start switch (22) for instructing the start of automatic traveling.

Incidentally, in FIG. 2, (23) is a first mode (“0”) in which the vehicle body (V) is artificially operated by the transmitter (16),
To instruct to start traveling of the vehicle body (V) during automatic traveling, or to switch to the second mode (“1”) for auxiliary operation of various instructions while continuing automatic traveling This is a radio control mode switching switch.

In other words, this radio control mode switch (2
In 3), the remote control and the automatic driving can be switched from the transmitter (16).

Then, as shown in FIG. 3, each lever (18),
Various sensors for detecting the operating states of (19) and switches (20), (21), (22), (23), and for transmission of modulating the detection information and transmitting it to the receiver (17) Various devices are provided.

That is, a steering type detection potentiometer (Rs) that outputs a voltage corresponding to the steering type instructed by the forward / backward movement of the steering lever (18) and a steering position indicated by the left / right movement of the steering lever (18). The steering position detection potentiometer (Rr) that outputs a voltage corresponding to the vehicle speed detection potentiometer (Rv) and the vehicle speed detection potentiometer (Rv) that outputs a voltage corresponding to the vehicle speed instructed by the forward / backward movement of the speed change lever (19) Each of these potentiometers (Rs), (Rr),
(Rv) and the switches (20), (21), (22),
A pulse width modulator (24) for converting a plurality of channels provided corresponding to each of (23) into a signal having a pulse width corresponding to the output voltage and ON / OFF state of these channels, and this pulse. The receiver (17) by modulating the output of the width modulator (24)
And a transmitting unit (25) for transmitting to.

Therefore, the receiver (17) demodulates the modulated pulse width for each corresponding channel to obtain the control device (10).
Will be entered.

However, as will be described later in detail, the steering lever (18) is also configured as a means for instructing information for changing the reference azimuth (ψ ₀ ) toward the vehicle body (V).

Next, an outline of travel control by the control device (10) for the work vehicle will be described with reference to the flowchart shown in FIG.

The control by the control device (10) is started when the power is turned on, and it is determined whether or not the vehicle body side start switch (SW ₂ ) for starting the automatic traveling is turned on.

When the vehicle body side start switch (SW ₂ ) is ON, it is in the boarding operation, that is, the manual mode, or various types of traveling for automatic traveling based on the instruction information of the work mode selection switch (SW ₁ ). It is determined whether it is the teaching mode for setting the control information or the reproduction mode for starting the automatic traveling.

If the selected work mode is playback mode,
After turning on the vehicle body side start switch (SW ₂ ), wait for the set time (3 seconds) required for the operator to evacuate to a safe place away from the vehicle body, and then perform the control for automatic running. Will start.

When the selected work mode is the teaching mode, the teaching control for storing and setting various traveling control information such as the reference azimuth (ψ ₀ ) in advance is started.

On the other hand, when in the manual mode and when the vehicle body side start switch (SW ₂ ) is OFF, the remote start switch (22) is turned ON based on the information received by the receiver (17). It is determined whether it has been done.

When the remote start switch (22) is OFF, it is determined that the mode is the manual mode for boarding, and the manual control process for maneuvering is performed.

When the remote start switch (22) is turned on, the mode selected by the radio control switch (23) is the first mode (“0”) based on the reception information of the receiver (17). Or the second mode (“1”).

When the vehicle is in the second mode, the control for the automatic running is immediately started without waiting until the set time elapses as in the case where the vehicle body side start switch (SW ₁ ) is turned on. Become.

However, in the case of the first mode, the teaching control is activated.

In each of the teaching control and the manual control, the shift motor (9) and the shift arm (12)
When the manual clutch lever (14) for connecting and disconnecting is engaged and operated, the remote control is activated, and when the disengaged operation is activated, the boarding control is activated. Based on the detection information of SW ₃ ), remote control and boarding control will be switched.

 Next, each control will be described.

Explaining the teaching process, as shown in FIG. 9 and FIG. 10, the vehicle body (V) is artificially run by remote control or boarding control and is surrounded by the cut land (C). While forming the quadrangular uncut land (B), the length (l ₀ ) of each of the four sides thereof is measured based on the detection information of the rotation speed sensor (S ₄ ), and the set distance traveled. Each time the processing is performed, the azimuth information obtained by sampling and averaging the detection information of the azimuth sensor (S ₃ ) is set and stored as the reference azimuth (ψ ₀ ) for each work process along each side.

Then, based on the length (l ₀ ) of each side of the rectangular uncut land (B) and the working width of the lawn mowing device (2), the number of planned working strokes is calculated, The distance of each side and the reference azimuth (ψ ₀ ) of each side are stored and set in advance as taught traveling control information.

In addition, as shown in FIG. 9, after the teaching control is started, the side number (n) indicating the current work stroke is set to “1” corresponding to the first stroke, The value of the distance count (l _C ) counted based on the detection information of the rotation speed sensor (S ₄ ) is initialized to “0”, and the distance from the start point (START) (see FIG. 10) to the remote Start traveling by manual control by piloting or boarding.

Then, it is determined whether or not the traveling pulse interrupt process started every time the traveling distance determined based on the detection information of the rotation speed sensor (S ₄ ) reaches the set distance (set to 5 cm). If it is determined that the interrupt process is activated, the value of the distance count (l _C ) is incremented by "1".

After adding "1" to the value of the distance count (l _C ), the value is the first set value (30) set in advance as the distance required for stabilizing the vehicle running from the running start point on each side.
= Set to 1.5 m) is determined.

The value of the distance count (l _C ) is the first set value (30)
If it is less than the above, only the process of adding the value of the distance count (l _C ) is repeated and the process waits.

The value of the distance count (l _C ) is the first set value (30)
In accordance with the above, the vehicle body direction, that is, the current direction (ψ _N ) is calculated based on the detection information of the direction sensor (S ₃ ).

Next, it is determined whether or not the value of the distance count (l _C ) is the first set value (30). In the case of the first set value (30), the current direction (ψ) is set for each of the first average direction (ψ _A ), the second average direction (ψ _B1 ), and the third average direction (ψ _B2 ). _N ) is executed and the initial setting process is executed, and the first to third average azimuths (ψ _A , ψ _B1 ,
sample points (l _SP ) for updating ψ _B2 ),
The first set value (30 = 1.5 m) and the second set value (set to 2 m) are added and set to 70 corresponding to 3.5 m.

If the above determination result is not the first set value (30),
_A first average azimuth (ψ _A ) is calculated by averaging the current azimuth (ψ _N ) calculated each time the vehicle travels the set distance (5 cm).
The process of updating the average direction is executed.

Subsequently, it is determined whether or not the value of the distance count (l _C ) has reached the sample point (l _SP ), and if it has reached, a process of updating the average orientation sample data is executed and the sample A process of updating the point (l _SP ) to a value obtained by adding 40 corresponding to the second set value (2 m) is executed.

In the updating process of the average azimuth sample data, the first average azimuth (ψ _A ) at the present time is replaced with the second average azimuth (ψ _B1 ).
And the second average azimuth (ψ _B1 ) at the present time is substituted into the third average azimuth (ψ _B2 ). That is, the first average azimuth (ψ _A ) up to the current sample point (l _SP ) is set as the second average azimuth (ψ _B1 ), and the third average azimuth (ψ _B2 ) is set as the previous average azimuth (ψ _B2 ). The first average azimuth (ψ _A ) until reaching the sample point (l _SP ) is set, and as the third average azimuth (ψ _B2 ), the first average azimuth until reaching the previous sample point (l _SP ). (Ψ _A ) is set.

When the value of the distance count (l _C ) does not reach the sample point (l _SP ), the current heading (ψ _N )
And the absolute value of the difference between the third average azimuth (ψ _B2 ) and the absolute value of the third average azimuth (φ _B2 ) exceed a preset 45 degree to determine whether or not the teaching of one side work stroke is completed.

If the absolute value of the difference between the current bearing (ψ _N ) and the third average bearing (ψ _B2 ) does not exceed 45 degrees, the processes after the manual control described above are repeated.

When the absolute value of the difference between the current bearing (ψ _N ) and the third average bearing (ψ _B2 ) exceeds 45 degrees, it is determined that teaching of one side is completed, and the side number (n) is dealt with. Then, the value of the distance count (l _C ) is substituted as the stroke distance (l _{0 (n)} ) of one side, and the value of the third average azimuth (ψ _B2 ) is set to the side number (n). Substitute as the corresponding reference orientation (ψ _{0 (n)} ).

That is, as will be described later, the control device (10) constitutes a reference azimuth setting means for setting a reference azimuth (ψ _{0 (n)} ) that serves as a reference for the traveling direction during automatic traveling.

Then, the travel distance (l _{0 (n)} ) and the reference azimuth (ψ
After storing _{(0 (n)} ), the side number (n) reaches 4 after adding "1" to the side number (n) to start teaching on the next side. By determining whether or not all four sides have been taught, it is determined whether or not teaching of all four sides is completed.

When the side number (n) exceeds 4, the teaching control described above is ended, and when it is 4 or less,
After initializing the value of the distance count (l _C ) to “0”,
The series of processes described above will be repeated.

Explaining the automatic traveling control, it is activated by a start switch (SW ₁ ) on the vehicle body side or a remote start switch (22) of the transmitter (16) and is located on the front side in the traveling direction of the vehicle body. Based on the detection information of the pair of left and right scanning sensors (S ₁ ) and (S ₂ ) on the boundary (L) side, the vehicle body (V) moves on the uncut land (B) along the boundary (L). The steering control is performed so that the vehicle automatically travels, and the steering is controlled so that the orientation of the vehicle body (V) is maintained within the set dead zone with respect to the reference azimuth (ψ ₀ ). While V) moves straight as a whole, it is possible to maintain the state of automatically traveling along the boundary (L) so as to prevent uncut residue.

In addition, as shown in FIG. 8, as the automatic travel control is started, the reference azimuth (ψ ₀ ) stored in the teaching, the number of work strokes, and the length of work strokes are set. Turn allowance distances (l ₁ ), (l ₂ ) for determining whether or not the end of the work stroke has been reached based on (l ₀ ) (6th
(See the figure), and work data setting processing for setting various traveling control information such as information on whether the boundary (L) is located on the left or right side with respect to the vehicle body and traveling speed. Based on the number of strokes, the stroke data update process is performed. However, at the start of travel, the number of strokes is not updated in this stroke data update processing.

Next, although not shown, the vehicle body (V) such as water temperature and hydraulic pressure
Check for abnormalities in each part required to drive the car. If there is an abnormality, the engine (E) is brought to an emergency stop and the whole process is terminated. When there is no abnormality, it is determined whether the radio control mode is the first mode or the second mode based on the reception information of the receiver (17).

When the radio control mode is the first mode, it is determined that the remote control is to control the vehicle body (V) by an artificial operation by the transmitter (16), and the automatic traveling process is terminated. Become. That is, this automatic traveling control is performed when the clutch lever (14) for connecting and disconnecting the linkage between the shift motor (9) and the shift arm (12) is operated and the radio control mode is in the second mode. It is controlled so as to be in the operating state only.

Then, when the radio control mode is the second mode, control for automatic traveling is started, and azimuth correction steering control for correcting the vehicle body direction that also serves as a process for changing the reference azimuth (ψ ₀ ) is performed. Subsequently, the copy correction steering control for correcting the vehicle body position is performed.

However, in order to prioritize the correction of the vehicle body direction over the correction of the vehicle body position, when the direction correction steering is used to correct the vehicle body direction, the copying correction steering control is prohibited until the correction is completed as described later. Is done.

Next, the vehicle is controlled by controlling the speed change motor (9) and operating the speed change device (8) so that the vehicle travels at the travel speed set in the work data setting process. It will be.

After the start of traveling, it is determined whether or not the work is completed by determining whether or not the number of strokes reaches "0". When the work is completed, the traveling is stopped and the automatic The process for traveling is ended.

If the work is not finished, it is determined whether or not a turn condition described later is satisfied, and if the turn condition is satisfied, the start end of the next work process is performed based on a preset turn pattern. After performing the turn control for moving to another section, the process is returned to the process data updating process, and "1" is subtracted from the stored number of processes.

However, if the turn condition is not satisfied, the processes after the process of detecting and determining the azimuth error and the scanning error described above are repeated.

The determination of whether the turn condition is satisfied will be described below.
As shown in the figure, the travel distance (l) calculated based on the detection information of the rotation speed sensor (S ₄ ) is in the range of the turn permission distances (l ₁ ) and (l ₂ ), and , The turn condition is satisfied when at least three of the four scanning sensors (S ₁ ) and (S ₂ ) on the front side of the traveling are in the state of detecting the cut land (C). It is decided that it has been done.

However, in order to prevent malfunction, the traveling distance (l)
However, when the distance exceeds the upper limit (l ₂ ) of the turn permission distance, it is forcibly turned regardless of the detection states of the scanning sensors (S ₁ ) and (S ₂ ).

Explaining the azimuth correction steering control,
In the four-wheel steering system, after the steering operation is performed up to the set steering position, the operation for immediately returning to the neutral position corresponding to the straight traveling state is performed once to correct the direction of the vehicle body. When the direction of the vehicle body cannot be corrected by one steering operation, the above-mentioned processing is repeated until the heading error is no longer detected.

In addition, as shown in FIGS. 11 (a) and 11 (b), the detection data of the azimuth sensor (S ₃ ) is read to calculate the current azimuth (ψ _N ) and the receiver (17) Based on the received information, it is determined whether or not there is a radio-controlled azimuth correction instruction by determining the steering type selection state by the steering lever (18) of the transmitter (16).

That is, the received pulse width (Tsm) corresponding to the steering type selection state is counted, and the pulse width (Tsm) is counted.
Whether or not the radio control direction correction instruction is given is determined based on whether or not sm) is less than the set width (128 ms) corresponding to the four-wheel steering type selection state.

When the pulse width (Tsm) is equal to or larger than the set width (128 ms), it is determined that there is no instruction for radio-controlled azimuth correction, and the deviation between the calculated current azimuth (ψ _N ) and the reference azimuth (ψ ₀ ) By calculating (Δψ) and comparing the deviation (Δψ) with the set dead zone (± 2 degrees), it is determined whether or not the azimuth correction is necessary and the correction direction.

If azimuth correction is not necessary, a flag for copying control permission is set, and this azimuth correction steering control is ended.

On the other hand, when the azimuth correction is necessary, the steering direction is determined based on whether the vehicle body (V) is in the forward traveling state or the reverse traveling state, and the determined azimuths are respectively determined with respect to the vehicle traveling direction. In order to correct the body direction toward the correction direction,
As described above, the four-wheel steering type is selected and the steering direction is set.

If the pulse width (Tsm) is less than the setting (128 ms), it is determined that there is an instruction for radio control direction correction, and the received pulse width (Tsa) indicating the operating state of the steering lever (18) in the left-right direction. Is counted to determine the correction state instructed.

In other words, the pulse width (Tsa) is set lower limit value (128m
If it is less than s), it is determined that there is an instruction (IN) to correct the vehicle body direction with respect to the reference azimuth (ψ ₀ ) to the uncut area (B) side, and if it exceeds the set upper limit value (172 ms). , It is determined that there is an instruction (OUT) to correct on the already-cut area (C) side, and if it is between the set lower limit value (128 ms) and the set upper limit value (172 ms), the reference It is determined that there is an instruction to correct the azimuth (ψ ₀ ).

When it is determined that there is an instruction to correct the reference azimuth (ψ ₀ ), the current azimuth (ψ _N ) is replaced with the reference azimuth (ψ ₀ ), and the current vehicle body orientation is changed to a new reference. The direction is changed and set.

That is, the steering lever (1
When 8) is operated in the four-wheel steering type selection state and in the steering neutral state, it is determined that there is an instruction to correct the reference azimuth (ψ ₀ ). Therefore, the above-described processing corresponds to the reference azimuth changing unit (101) that changes the reference azimuth (ψ ₀ ) based on the instruction information from the transmitter (16).

On the other hand, when it is not the correction of the reference azimuth (ψ ₀ ) but the azimuth correction, it is determined based on whether the boundary (L) is located on the left or right side of the vehicle body (V).
The correction direction is determined, and the determination is made by the four-wheel steering method, similarly to the correction of the vehicle body direction by the deviation (Δψ) between the current direction (ψ _N ) and the reference direction (ψ ₀ ) by the direction sensor (S ₃ ). By steering in the direction, the direction of the vehicle body will be corrected.

Then, in order to correct the body orientation, the front and rear wheels (1
Based on the detection information of potentiometers (R ₁ ) and (R ₂ ) provided in F) and (1R) respectively, the front and rear wheels (1
F) and (1R) are turned in opposite directions, and each operation is performed once until they reach the set angles and then returned to neutral.

However, when a steering operation is performed in a four-wheel steering manner to correct the vehicle body orientation, the copying control permission flag is set to the prohibited state, and the direction correction steering control is completed, that is, once. The copying correction steering control is prohibited until the steering operation is completed.

Therefore, the steering control means (100) for performing steering control based on the detection information of the direction sensor (S ₃ ) as the vehicle body direction detection means for detecting the direction deviation of the vehicle body (V). Will correspond.

Explaining the copy correction steering control,
In the parallel steering system, after the steering operation to the set steering position, the operation for immediately returning to the neutral state corresponding to the straight traveling state is performed once to correct the lateral position of the vehicle body. When the vehicle body position cannot be corrected by one steering operation, the above-described processing is repeated until the scanning error is no longer detected, as in the case of the above-described higher-level correction steering.

In addition, as shown in FIGS. 12A to 12D, as in the case of the azimuth correction steering control, the reception pulse width (Ts
m) is counted, and it is determined whether or not there is an instruction for the radio control scanning correction based on whether or not the pulse width (Tsm) is larger than the set width (172 ms) corresponding to the parallel steering type selection state. I am doing it.

If the pulse width (Tsm) is less than the set width (172ms), it is determined that there is no instruction for radio control scanning correction,
Copy sensors (S ₁ ) and (S ₂ ) located on the boundary (L) side
Is read to determine whether or not the vehicle body position needs to be corrected with respect to the boundary (L) and the correction direction.

That is, the detection data of the sensor (S ₁ ) on the outer side of the vehicle body out of the pair of scanning sensors (S ₁ ) and (S ₂ ) is at the “L” level in the detected state of the cut land (C), and , If the detection data of the sensor (S ₂ ) on the inner side of the vehicle body is at the “H” level of the uncut land (B) detection state, it is determined that position correction is unnecessary, and the front and rear wheels (1F), The neutral steering control for maintaining the straight traveling state at (1R) is performed, and the copy correction steering control is ended.

When both of the pair of scanning sensors (S ₁ ) and (S ₂ ) are at the “L” level of the already-cut land (C) detection state, the correction (IN) to the uncut land (B) side is performed. If both of the pair of scanning sensors (S ₁ ) and (S ₂ ) are in the “H” level of the uncut land (B) detection state, or if the sensor (S ₁ ) Is at “H” level and the sensor (S ₂ ) on the inner side of the vehicle body is at “L” level, it is determined that the correction (OUT) is made to the already cut land (C) side. wash.

On the other hand, when the pulse width (Tsm) is larger than the set width (172ms), it is determined that there is an instruction for radio-controlled scanning correction, and the pulse width indicating the operation state of the steering lever (18) in the left-right direction. (Tsa) is counted to determine the instructed correction state.

In other words, the pulse width (Tsa) is set lower limit value (128m
If it is less than s), it is determined that there is an instruction (IN) to correct the vehicle body position with respect to the boundary (L) to the uncut land (B) side, and if it exceeds the set upper limit value (172 ms). , It is determined that there is an instruction (OUT) to correct on the already-cut land (C) side, and the set lower limit value (128 ms) and the set upper limit value (1
If it is within 72 ms), it is judged that there is an instruction to maintain the neutral state.

Then, when the position of the vehicle body (V) with respect to the boundary (L) is corrected by the determination of the correction direction based on the detection data of the scanning sensors (S ₁ ) and (S ₂ ) or the instruction of the radio control scanning correction, Similar to the case of the azimuth correction, the target steering position is switched between large and small based on which side the boundary (L) is located with respect to the vehicle body (V).
The steering direction is set on the basis of the forward / backward traveling state of the vehicle body, and in the parallel steering mode, the steering direction is set to the set steering position and then returned to the steering neutral.

To explain the switching of the target steering position between large and small, the case where the vehicle body position is corrected toward the already-cut area (C) side with respect to the boundary (L) is not preferable in order to prevent uncut residue. The steering amount is set to be larger than in the case where the vehicle body position is corrected toward the cut land (B) side.

[Another embodiment]

In the above embodiment, the steering lever (18) of the remote control transmitter (16) is also used as an operating tool for instructing to correct the reference azimuth (ψ ₀ ). A lever, a switch or the like for instructing the correction of ₀ ) may be provided separately, and the specific configuration of the transmitter (16) for instructing the correction of the reference azimuth (ψ ₀ ) can be variously changed.

Further, in the above-described embodiment, the case where the present invention is applied to the work vehicle for lawn mowing is illustrated, but the present invention can be applied to various work vehicles. For example, a beam of light for guidance indicating the direction of the work process may be projected to automatically travel along the beam of light for guidance, and the steering control means (100) and the reference azimuth (ψ ₀ ) Setting means and reference direction changing means (1
The specific configuration of each part such as 01) can be variously changed according to the configuration of the work vehicle to which the present invention is applied.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a steering control device for an automated guided vehicle according to the present invention, and FIG. 1 is a block diagram showing a control configuration, and FIG.
The figure is a front view of the transmitter, FIG. 3 is a block diagram showing the configuration of the transmitter, FIG. 4 is a side view of the work vehicle, and FIG.
FIG. 6 is an explanatory view of a work site, FIG. 7 is a flowchart showing an outline of traveling control, FIG. 8 is a flowchart of automatic traveling control, FIG. 9 is a flowchart of teaching control, and FIG.
FIG. 10 is an explanatory view thereof, FIGS. 11 (a) and 11 (b) are flowcharts of direction correction steering control, and FIGS. 12 (a) to 12 (d) are flowcharts of scanning correction steering control. (V) …… vehicle body, (ψ ₀ ) …… reference direction, (S ₂ ) …… vehicle body orientation detection means, (16) …… transmitter, (100) …… steering control means, (101) …… Reference direction changing means.

Claims (1)

[Claims] 1. The reference azimuth (ψ ₀ ) with respect to the reference azimuth (ψ ₀ ) so that the body (V) travels toward a reference azimuth (ψ ₀ ) preset by a reference azimuth setting means provided on the body (V). a vehicle body direction detection section (S ₃₎ for detecting the orientation deviation of (V), steering the autonomous vehicle in which the steering control means (100) for steering control is provided based on the detected information A controller (1) for transmitting instruction information for changing the reference azimuth (ψ ₀ ) toward the vehicle body (V) side.
6) is provided, and the transmitter (1
A steering control device for an automatic traveling work vehicle, which is provided with reference azimuth changing means (101) for changing the reference azimuth (ψ ₀ ) while maintaining the automatic traveling state based on the instruction information from 6).