JPH09212236A - Guidance controller for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly perform guidance travel control exactly according to an initial target on the basis of the magnetic fields of respective guide lines although the guide lines can easily be installed in the ground by providing a specific current suppressing means. SOLUTION: The guide lines 2b and 2d which are installed in a ridge along a width direction are provided with a band-pass filter 19 which passes only the frequency of currents supplied to guide lines 2a and 2c installed in a ridge along a length direction as a frequency filter which suppress the inflow of the currents, flowing through the guide lines 2a and 2c, through the ground. The filter 19 consists of a resonance circuit constituted by connecting a coil 19a and a capacitor 19b in series and its resonance frequency corresponds to the frequency of the currents. Therefore, even if a current of different frequency flows in from another guide line through the ground, the flow of the current through the guide line is suppressed and the possibility that each magnetic field sensor detects wrong information can be reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a plurality of induction wires installed on the ground side, and a current supply means for supplying each of the induction wires with a displacement current of a different cycle via the ground. A magnetic field detection unit that is provided on the moving vehicle side and that can individually detect the strength of the magnetic field formed by each displacement current, and that each displacement current that is distinguishably detected by the magnetic field detection unit are formed. The present invention relates to a guidance control device for a mobile vehicle, which is provided with a travel control means that executes a guidance travel control for guiding the travel of the mobile vehicle on the basis of detection information of the respective strengths of the magnetic fields.

[0002]

2. Description of the Related Art In a guidance control device for a mobile vehicle having the above-mentioned structure, both ends of each induction wire are grounded and a displacement current such as an alternating current or a pulsating current is supplied to each induction wire by a current supply means. In this configuration, the current is passed through the ground so that the installation work of the guide wire can be completed as easily as possible even when the installation is performed over a long distance.

By the way, conventionally, alternating currents of different frequencies are supplied to a plurality of induction wires,
The magnetic field detecting means is configured to separately detect the strength of the magnetic field at the detection frequencies corresponding to the respective frequencies, and to perform the guided traveling control based on the detection information of the strength of the respective magnetic fields. Was configured into.

[0004]

In the above configuration,
Although there is an advantage that the installation work of the induction wire can be performed as easily as possible, it has the following disadvantages because it has a structure in which an electric current is passed through the ground.

The current supplied to the induction wire by the current supply means flows from the ground portion on one end side of the induction wire to the ground portion on the other end side of the induction wire through the ground. In the case where the end portion of one induction wire and the end portion of the other induction wire are relatively close to each other, the current supplied to a predetermined induction wire may flow into another induction wire through the ground.

Then, for example, when the guidance control is executed on the basis of the strength of the magnetic field formed by a predetermined guide wire, if the moving vehicle comes close to the other guide wire, the current flowing through the different guide wire. Due to the inflow current as described above, the magnetic field formed by the magnetic field includes a magnetic field generated by a current having the same frequency as the frequency of the current supplied to the predetermined induction wire. As information different from the initial setting information for performing guided travel, the magnetic field will be detected by the magnetic field detection means, and the guidance control is in an appropriate state, for example, the set guidance path,
There is a possibility that proper guidance travel control of the moving vehicle may not be performed.

The present invention has been made by paying attention to such a point, and an object of the present invention is to make it possible to easily install the guide wires by utilizing the underground, while each of them is based on the magnetic field of each guide wire. It is a point to provide a guidance control device for a moving vehicle that can appropriately perform the guidance traveling control according to the initial target.

[0008]

According to the characteristic construction of claim 1, displacement currents of different periods are provided to the respective induction wires installed on the ground side while passing through the ground by the current supply means. Is supplied. Then, in the moving vehicle, guided traveling control is executed while the magnetic field detection means provided therein detects the strength of the magnetic field formed by each displacement current separately.

Further, since the current suppressing means for suppressing the displacement current supplied to each of the induction wires from flowing into the induction wire on the other side is provided, the other side is introduced from the other induction wire through the ground. That is, the displacement currents of different cycles are suppressed from flowing in, and only the displacement currents of the predetermined cycle supplied by the current supply means are made to flow to each of the guide wires. Therefore, information different from the initially set original guidance control information is not detected by the magnetic field detection means, and proper guidance traveling control can be performed.

According to a second aspect of the present invention, the current suppressing means is composed of a frequency filter which allows passage of only the current of the set period supplied to the induction wire by the current supply means. Therefore, even if the current of the induction wire on the other side flows through the ground, a frequency filter is provided, and the current that flows in is different from the allowable frequency of passage, so it cannot pass through the filter and the induction current. Flow through the line is suppressed. Moreover,
It can be done simply by adding a frequency filter and does not significantly complicate the configuration.

According to the third aspect of the invention, the magnetic field detecting means forms a different displacement current for each piece of detection information of the strength of the magnetic field formed by each displacement current. Since the information mixing suppressing unit that suppresses the mixing of the detection information of the magnetic field strength is provided, the information about the period that is the target detection target for the detection target (magnetic field) detected by the magnetic field detection unit is Even when the information of different cycles is included, the information mixing suppressing unit suppresses the mixing of the information, so that the guide travel control always uses the information of the cycle that is the proper target detection target. It will be executed based on.

According to a fourth aspect of the present invention, the information mixture suppressing means is composed of a frequency filter for suppressing passage of detection information on the strength of the magnetic field formed by the other displacement current. Therefore, even if the information of different cycles is erroneously detected by the magnetic field detecting means, the frequency filter is provided, and the detection information is different from the pass allowable frequency. It cannot pass through the filter and is not accidentally used as information for guidance control. Moreover, it is possible to make a simple improvement by adding a frequency filter, and the configuration is not significantly complicated.

According to the characterizing feature of claim 5, among the guide wires installed along the directions intersecting with each other,
Based on the strength of the magnetic field formed by the displacement current supplied to any of the guide wire, the travel control for guidance to run the moving vehicle along each of the plurality of travel routes is executed,
In addition, the traveling control for turning is executed based on the strength of the magnetic field formed by the displacement current supplied to the other induction wire.

Therefore, for example, when the traveling control for guidance is executed based on the strength of the magnetic field formed by the displacement current supplied to any of the induction wires, the inflow phenomenon as described above causes The same displacement current flows in the other guide wires, and the disadvantage that the traveling control for guiding the moving vehicle cannot be performed in an appropriate state can be avoided.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION A guidance control device for a moving vehicle according to the present invention will be described below. As shown in FIG. 1, in a rectangular field 1 as an example of a guidance area, a work vehicle V as an example of a moving vehicle is provided in each of a plurality of parallel traveling routes k along the longitudinal direction of the field 1. , Is configured so that it can be guided and run in an unmanned state.

On each side (ridge) in the outer periphery of the field 1,
Each of the guide wires 2 having a length substantially equal to the length of the ridge is installed along the longitudinal direction of the ridge, and each of the guide wires 2 is provided with an AC current having a predetermined frequency by a current supply source as a current supply means. Is supplied. In other words, alternating currents of the frequency fa (Hz) and the frequency fc (Hz) are supplied by the current supply sources 3 to the respective guide lines 2 a and 2 c installed along the ridges on both sides along the long direction of the field 1. The frequency fb (Hz) and the frequency fd are supplied by the current supply sources 3 to the respective guide wires 2b and 2d which are supplied and installed on the ridges on both sides along the short direction.
(Hz) alternating current is supplied. The frequency is
The frequency is set to several hundred Hz to several tens KHz.

As shown in FIG. 2, each of the guide wires 2 is constructed so that the current flows through the ground through a plurality of piles 4 made of a conductive material that are driven into the ground. , Even if the guide wire is installed over a long distance,
The configuration is such that the installation can be easily performed only by driving the stake 4 on both sides in the longitudinal direction. In the ground, the driving depth of the pile 4 is set so that the current flows through the lower clay layer G2 having a relatively low electric resistance, instead of the ground layer G1 having a relatively high electric resistance.

When a current flows through the induction wire installed as described above, a magnetic field is formed by the current. The theoretical value of the magnetic field strength with respect to the distance from the induction wire can be calculated. , The strength of the magnetic field is inversely proportional to the square of the distance from the guide wire. Therefore, if the supplied current value is constant, as shown in FIG. 3, the change characteristic of the magnetic field strength with respect to the distance from the induction wire is determined, and the magnetic field at a certain point in the field 1 is determined. Has a substantially constant magnitude.

As shown in FIG. 11, the work vehicle V is provided with a rotary tilling device 6 as a ground working device at the rear portion of the four-wheel type traveling vehicle body 5, and the ground work (cultivating work) of the field 1 while traveling is performed. ) Can be done. An engine is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel through a transmission having a forward / reverse switching mechanism 7 and an electromagnetically operated traveling clutch 8 so that the vehicle body travels. The power of the engine is transmitted to the rotary tiller 6. The left and right front wheels are provided so as to be steerable by an electric motor 9 as a steering operation means.

The working vehicle V detects a traveling distance of the vehicle body by detecting the number of rotations of the axle, for example, a traveling distance sensor 10 as a distance detecting means including a rotary encoder, and a direction of the vehicle body. An azimuth sensor 11 as azimuth detecting means, a control device 12 using a microcomputer as traveling control means for controlling the operations of the forward / reverse switching mechanism 7, the steering electric motor 9 and the like are provided.

Further, three magnetic field sensors as magnetic field detecting means GK for individually detecting the strength of the magnetic field formed by the alternating current supplied to each of the induction wires are provided on the front portion of the traveling vehicle body 5. It is provided in a state of being installed side by side along the width direction,
Of these, the side magnetic field sensors 13R located on the left and right sides,
13L is configured to detect the strength of the magnetic field formed by the alternating currents of frequency fa and frequency fc, and the central magnetic field sensor 14 located on the left and right center sides is formed by the alternating current of frequency fb and frequency fd. It is configured to detect the strength of the magnetic field that is generated. Then, the control device 12 performs guided travel control for guiding the work vehicle V along each travel route k in each of the plurality of travel routes k based on the detection information from the side magnetic field sensors 13R and 13L. It is configured to execute the turning control at the terminal end of each travel route k based on the information detected by the central magnetic field sensor 14. That is, as shown in FIG. 4, the output of each of the side magnetic field sensors 13R and 13L and the central magnetic field sensor 14 is processed by the signal processing unit 15 and then given to the control device 12, and these magnetic field detection information is output. Based on this, the drive operation unit for the steering electric motor 9 is controlled so as to be guided to travel along each travel route k, and at the terminal end of the travel route k, the magnetic field detection information, the direction sensor 11, and the travel distance. Based on the information detected by the sensor 10, the steering electric motor 9, the forward / reverse switching mechanism 7, the traveling clutch 8 and the like are controlled so as to make a turning traveling.

Each of the magnetic field sensors 13R, 13L, 14
As shown in FIG. 5, a detection coil 16 in which an induced electromotive force is generated by an alternating magnetic field formed by an alternating current flowing through the induction wire, an amplifier 17 for amplifying the output of the detection coil 16 to a predetermined level, Of the output of the detection coil 16, a bandpass filter BPF as a frequency filter that passes only the output corresponding to the frequency of the current flowing in each induction wire, an amplifier 18 that amplifies the output of this bandpass filter BPF, and the like are configured. ing.

Therefore, each side magnetic field sensor 13R, 13L
The band-pass filter BPF suppresses the detection information by the center-side magnetic field sensor 14 from being mixed in with the detection information by the band-pass filter BPF.
The PF constitutes the information mixture suppressing means.

In this way, each side magnetic field sensor 13R, 1
3L, detection information corresponding to each of the frequency fa and the frequency fc is output, and the central magnetic field sensor 14 outputs the detection information corresponding to each of the frequency fb and the frequency fd. However, the signal processing unit 15 selectively outputs the detection information of the higher detection level, that is, the detection information of the work vehicle V closer to the corresponding guide line. The signal processing unit 15 is shown in FIG.
As shown in the figure, each of the magnetic field sensors 13R, 13L, 14
DC conversion circuits DC for converting the outputs of the above to DC signals are respectively provided, and the converted outputs are input to the controller 12, and the controller 12 detects the detection level among the outputs of different frequencies in each of the magnetic field sensors 13R, 13L, and 14. It is configured to determine an output on the higher side of and to apply a selection signal to the _three analog switches AS _1, AS _2, AS ₃ so as to select the output.

Based on the detection information of the central magnetic field sensor 14, the control device 12 separates the guide wire 2b, 2d installed on the ridge along the short direction from the guide wire on the higher detection level side. Is calculated, and when the separation distance reaches a set value, it is determined that the work vehicle V has reached the end position of each traveling route k. As shown in FIG. 7, the guide wires 2b and 2d installed on the ridges along the short direction are installed in a state where both end portions are bent in a substantially L shape toward the inside of the field 1. . With this configuration, the intensity of the magnetic field is substantially the same over the entire length of the guide lines 2b and 2d at a point where the separation distance of the guide lines 2b and 2d from the intermediate portion t is the set distance. k
Is set as the end position. This end position is a point on the inner side of the field 1 by a set distance from the length H of the end bent portion. Incidentally, according to the experiment conducted by the present applicant, if the length H of the bent end portion is, for example, 3 m, the end portion is located at a distance of 5 m from the guide wire.

As described above, the reason for setting the end position of the traveling route k to the inner side of the end part of the field 1 is that in the magnetic field formed by the guide wire of finite length as shown in FIG.
In the magnetic field strength distribution at the same distance, the relationship between the magnetic field strength and the distance is not linear near the end of the guide wire, and guidance control based on the magnetic field strength may not be performed well. Because there is.

Further, as shown in FIG. 8, the electric current flowing through the guide wires 2a and 2c installed in the ridges along the long direction flows into the guide wire installed in the ridges along the short direction through the ground. As a frequency filter that is an example of a current suppressing unit that suppresses the above, a bandpass filter 19 that allows passage of only the frequency of the current supplied to the induction wires 2a and 2c is provided. This bandpass filter 19
Is composed of a resonance circuit in which a coil 19a and a capacitor 19b are connected in series, and its resonance frequency corresponds to the frequency of the current. Therefore, even if a current with a different frequency flows from the other induction wire through the ground, the inflow current is suppressed from flowing through the induction wire, minimizing the possibility that each magnetic field sensor will detect erroneous information. There is.

Each side magnetic field sensor 13R, 13L is detected.
Each analog switch AS corresponding to output information₁, AS_ThreeOut of
The amplification gain for amplifying the force is
Change and adjust to multiple stages (four stages) based on switching information
It is configured to be. That is, each of the amplification gains
Outputs of four different amplifiers 21, 22, 23, 23
For inputting one of the two to the control device 12.
Switch AS_Four, AS _FiveIs selected by the control device 12
It is configured to dictate the content. Supplied to the guide wire
The strength of the magnetic field formed by the current
Changes greatly with changes in the separation distance.
If the amplification gain is kept constant, the
It is difficult to detect with appropriate resolution and detection accuracy is low
To the control device 12
The input level is, for example, as shown in FIG.
The appropriate magnetic field strength when the separation distance changes by a unit distance
So that the change in height is identifiable, in other words
Amplification gain so that it is in the appropriate output range with high resolution
Is automatically adjusted.

The respective side magnetic field sensors 13R and 13L are
The side magnetic field sensors, which are installed at set intervals in the lateral direction of the vehicle body, travel when the work vehicle V travels along one of the plurality of travel routes k. The side magnetic field sensor on the other side functions as a magnetic field detection unit for the current traveling route k for detecting the strength of the magnetic field to execute the guidance control along the traveling route k inside. so as to function as a magnetic field detection unit for the next travel route k that detects the strength of the magnetic field that will be detected by the magnetic field detection unit for guidance control when the mobile vehicle travels along k. It is configured. That is, the other side magnetic field sensor sequentially detects the magnetic field of the next traveling route k while traveling on the current traveling route k, and this detection information is
It is configured to be sequentially stored in the memory 25 as a storage unit in a state of being associated with the distance information detected by the traveling distance sensor 10.

The control device 12 detects the magnetic field detection information stored in the memory 25 and the end position of the travel route k detected by the travel distance sensor 10 in the next travel route k in which the magnetic field detection information is stored. On the basis of the travel distance information, the target value of the strength of the magnetic field at each point on the travel route k is obtained, and the target value and the side magnetic field sensor functioning as the magnetic field detection unit for the current travel route k are obtained. The guide traveling control for driving and controlling the traveling electric motor 9 is executed so that the detected values match. Also, the control device 1
2 sets the target value of the amplification gain of the magnetic field sensor when the vehicle is guided on the next travel route k based on the magnetic field detection information stored in the memory 25, and prior to the guide travel on the next travel route k. The gain is automatically adjusted to the target value. In particular,
If the maximum value of the magnetic field strength stored in the memory 25 exceeds the set upper limit value, an amplifier having a gain one step lower than the current gain is selected, and the maximum value falls below the set lower limit value. If so, the analog switch AS ₄ , so that an amplifier with a gain one step higher than the current gain is selected.
A selection signal is issued to AS ₅ .
The gains of the analog switches AS ₄ and AS ₅ are always adjusted to the same value. The set upper limit value and the set lower limit value are set as upper and lower limit ranges in which linearity of output change as an analog value is guaranteed.

Next, the control operation of the controller 12 will be described. When the work vehicle V is guided to travel in a certain field 1, prior to the automatic guidance control by the control device 12,
In the first travel route k, the work vehicle V is manually driven in a state of being along the proper travel route k. At that time, as the vehicle starts traveling from the starting end position of the traveling route k, the detection information of the side magnetic field sensor on the side of the next traveling route k (the sensor on the right side in FIG. 1) and the traveling distance sensor 1
The data is sequentially written and stored in the memory 25 in association with the detection information of 0.

Then, the automatic guidance control is started from the next traveling route k, and as shown in FIG. 10, first, the amplification gain and the function as a magnetic field detecting unit for the current traveling route k are determined according to the working state. The side magnetic field sensor (the sensor 13L on the left side in the case of FIG. 1) is initialized (step 1).

Then, while the work vehicle V is traveling at the traveling speed for work, based on the magnetic field detection information stored in the memory 25 and the detection information of the traveling distance sensor 10, the current time on the traveling route k. The target value of the strength of the magnetic field is obtained, and the detection value of the side magnetic field sensor 13L that functions as the magnetic field detection unit for the current travel route k is set to this target value.
The steering electric motor 9 is drive-controlled (step 2). When this guide travel control is executed, the detection information of the side magnetic field sensor on the side of the next travel route k (the sensor 13R on the right side in the case of FIG. 1) is made to correspond to the detection information of the travel distance sensor 10. , Are sequentially written and stored in the memory 25 (step 3).

Based on the detection information of the central magnetic field sensor 14, when it is detected that the end of the traveling route k is reached,
Count up the number n of travel routes (steps 4 and 5),
If the count value does not reach the set number of paths ns in the field 1, the target value of the amplification gain is set as described above from the maximum value of the magnetic field strength written and stored in the memory 25, and the gain is set. A selection signal is instructed to the analog switches AS ₄ and AS ₅ to automatically adjust the gain so that the value becomes the target value (steps 7 and 8).

Next, the side magnetic field sensor functioning as the magnetic field detector for the current travel route k is switched to the opposite side sensor (the sensor 13R on the right side) (step 9). This is because their positional relationship is reversed due to changes in the orientation of the vehicle body.

Next, a turning control is carried out in which the vehicle body is turned around so as to be positioned at the starting end of the next traveling route k (step 10). As shown in FIG. 12 (a), after the vehicle travels straight ahead while maintaining the steering operation in the neutral state for a set distance from the end position of the travel route k, the orientation sensor 11 is reset, and then the orientation of the vehicle body changes to 180 degrees. The vehicle is turned at the maximum turning angle until it is detected that the vehicle has been reversed, and then the vehicle is made to run straight until the start end of the travel route k is reached based on the detection information of the central magnetic field sensor 14. Further, as shown in FIG. 12B, the next traveling is performed based on the detection information of the side magnetic field sensor functioning as the magnetic field detecting unit for the current traveling route k and the stored information stored in the memory 25. The vehicle body is turned forward so as to be in a state along the route k, and the width is adjusted. When the vehicle body is in the posture along the travel route k, the traveling clutch 8 is operated to stop the vehicle body, and the forward / reverse switching mechanism 7 is operated to switch the vehicle to the reverse driving state.
Based on the detection information of No. 4, the vehicle travels backward in a straight traveling state until the starting end of the traveling route k is reached. In this way, the vehicle body is located at the starting end of the next travel route k.

Thereafter, the guide traveling control as described above is executed. At this time, if the gain is changed in step 8, the detection information stored in the memory 25 also corresponds to the change amount. The target value for traveling is calculated by multiplying the gain. Then, steps 2 to 10 are repeated to sequentially guide the work vehicle V along each traveling route k, and when the number of traveling routes n reaches the set number of routes ns, the control ends (step 6).

On the current traveling route k, the strength of the magnetic field stored when traveling on the previous traveling route k and the current traveling route k
Is controlled to be the same as the detected magnetic field at
Since the installation intervals of the side magnetic field sensors 13R and 13L are set to be narrower than the working width of the rotary tiller 6 to the ground, the work area of the rotary tiller 6 is to be wrapped in each traveling route k. Therefore, the unworked area does not occur.

[Other Embodiments] (1) In the above embodiment, the frequency filter is constituted by a resonance circuit in which a coil and a capacitor are connected in series. However, instead of such a constitution, for example, , An active filter using an operational amplifier may be used, and a low pass filter that suppresses passage of frequencies higher than the upper limit frequency by setting upper and lower limit frequencies of the band corresponding to the frequency, and a lower limit frequency Also, a configuration may be adopted in which a specific frequency is passed through together with a high-pass filter that suppresses passage of low frequencies.

(2) In the above-described embodiment, the case where the frequency filter is used as the current suppressing means is exemplified, and in this configuration, it is sufficient to improve the configuration by adding a simple configuration, and the configuration becomes considerably complicated. There is no advantage,
Instead of such a configuration, for example, the entire area of the current flowing portion in the ground may be closed by a cylindrical body made of an insulator so that the current does not leak to the outside.

(3) In the above embodiment, the current suppressing means is provided only on the guide wire located on the terminal side of the traveling route k, but the current suppressing means may be provided also on the guide wire along the traveling route k. You may

(4) In the above embodiment, the case where the information mixture suppressing means is composed of a frequency filter is exemplified, but instead of such a structure, for example, the magnetic field detecting means is composed of a detecting coil and a capacitor. It is configured by a resonance circuit to detect only a signal of a predetermined frequency, and
A configuration may be adopted in which the mixing of signals of different frequencies is suppressed by blocking the output below the set level.

(5) In the above embodiment, the magnetic field detecting means is composed of a plurality of magnetic field sensors each having a different detection frequency. However, instead of such a configuration, for example, various frequency sensors are used. One detection coil capable of detecting the magnetic field of 1) may be provided, and the detection information may be selected and output by a plurality of band pass filters that pass only the signal of the set frequency with respect to the detection value.

(5) In the above-mentioned embodiment, the case of the working vehicle V provided with the rotary tilling device as the moving vehicle was illustrated, but the working vehicle provided with the transplanter, the lawn mowing working vehicle V, and the mowing work provided with the mowing section It may be a vehicle V or the like, or a ground work vehicle V
However, it may be another moving vehicle such as a cleaning vehicle.

(6) In the above embodiment, an alternating current is supplied to the induction wire, but various displacement currents such as a pulsating current or a pulse current having a set period may be supplied.

In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of drawings]

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

FIG. 2 is a side view showing an installation state of a guide wire.

FIG. 3 is a diagram showing a magnetic field strength distribution.

FIG. 4 is a control block diagram.

FIG. 5 is a configuration diagram of a magnetic field detection unit.

FIG. 6 is a configuration diagram of a signal processing unit.

FIG. 7 is a plan view showing an installation state of a guide wire.

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

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

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a plan view of a working vehicle.

FIG. 12 is a plan view showing a turning control state.

[Explanation of symbols]

 2 induction wire 3 current supply means 12 traveling control means 19 frequency filter BPF frequency filter GK magnetic field detection means V mobile vehicle

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yukio Yokoyama 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (5)

[Claims] 1. A plurality of induction wires (2) are installed on the ground side, and a current supply means for supplying each of the induction wires (2) with a displacement current of a different cycle via the ground ( 3) is provided, and the magnetic field detection means (GK) for detecting the strength of the magnetic field formed by each displacement current in a distinguishable state on the side of the moving vehicle (V), and the magnetic field detection means (GK). Travel control means (12) for executing guide travel control for guiding the traveling of the moving vehicle (V) based on the detection information of the strengths of the magnetic fields formed by the displacement currents, which are distinguishably detected. A guide control device for a moving vehicle, comprising: a current suppressing unit that suppresses a displacement current supplied to each of the guide wires (2) from flowing into the counterpart guide wire (2). A guidance control device for a moving vehicle provided. 2. The current suppressing means includes the guide wire (2).
With respect to the frequency filter (1) that allows passage of only the current of the set cycle supplied by the current supply means (3).
9. The guidance control device for a moving vehicle according to claim 1, which is configured by 9). 3. The magnetic field detecting means (GK) detects detection information of magnetic field strength formed by another displacement current for each of detection information of magnetic field strength formed by each displacement current. The guidance control device for a moving vehicle according to claim 1 or 2, further comprising: information mixture suppressing means for suppressing the mixture of the information. 4. A frequency filter (BPF) which suppresses passage of detection information of the strength of a magnetic field formed by the other displacement current, wherein the information mixture suppressing means is constituted by a frequency filter (BPF). 3. The guidance control device for a moving vehicle according to item 3. 5. The guide wire (2) is installed along a direction in which the guide wires (2) intersect with each other, and the traveling control means (12) detects one of the guide wires (GK) detected by the magnetic field detection means (GK). Based on the strength of the magnetic field formed by the displacement current supplied to 2), the traveling control for guidance that causes the moving vehicle (V) to travel along each of the plurality of traveling routes is executed, and 5. The movement according to claim 1, 2, 3 or 4, wherein the traveling control for turning is executed based on the strength of the magnetic field formed by the displacement current supplied to the guide wire (2). Vehicle guidance control device.