JPH0779679A - Electromagnetic induction type autonomous vehicle - Google Patents

Abstract

(57) [Abstract] [Purpose] The noise signal generated from the alternator 150 driven by the rotation of the engine 10 mounted on the electromagnetic induction type automatic traveling vehicle 1 is prevented from being detected by the steering sensors 26a and 26b, and the traveling vehicle is prevented. (1) Prevent the occurrence of a steering malfunction. [Structure] In the guide cable arranged along the guide path,
While transmitting the steering control signal of a predetermined frequency, the alternator 150 is arranged on the rear side of the engine 10 and the pair of left and right steering sensors 26 for detecting the steering control signal are provided.
The a and 26b are arranged on the front side of the engine 10 to widen the distance between them so that the noise signal generated from the alternator 150 is not sensed by the steering sensors 26a and 26b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling vehicle such as an automatic traveling type chemical sprayer (speed sprayer) in an orchard or the like, and more particularly to an induction cable arranged along a guide route. The present invention relates to an electromagnetic induction type automatic traveling vehicle in which a control signal for steering a traveling vehicle is supplied and a steering sensor mounted on the traveling vehicle senses the control signal to steer the traveling vehicle. .

[0002]

2. Description of the Related Art Conventionally, in an automatic traveling type chemical spraying machine (speed sprayer) or the like in an orchard or the like, when an operator executes a chemical spraying work while riding on a traveling vehicle,
Considering that an operator may be exposed to a drug and may be harmful to health, the drug is sprayed while the traveling vehicle is unmanned. in this case,
As shown in FIG. 9A, an alternating current is applied to the induction cable 27 embedded in the groove CH provided along the work route (induction route) SK to change the intensity of the alternating magnetic field generated from the induction cable. The pair of left and right pickup coils (resonance coil type) mounted on the front portion of the traveling vehicle 1 detects the steering sensors La and Lb, and as shown in FIG. A pair of left and right steering sensors La, L generated corresponding to the lateral displacement amount m of
The difference between the output value (voltage value) e at b is calculated to determine the magnitude of lateral deviation (deviation amount) and the direction of lateral deviation (determination of right or left), and the traveling vehicle is guided from these detection results. Steering control is performed by changing the direction of the steered wheels of the traveling vehicle so that the vehicle travels along the cable (actual flat tire 2-
(See Japanese Patent No. 84909).

[0003]

By the way, a traveling vehicle of this type is provided with a generator for charging a battery by rotation of an engine. The mainstream of recent generators is an alternator adopting a semiconductor rectification method, and this alternator is a combination of a three-phase AC generator and a three-phase full-wave rectifier. In a three-phase AC generator, the star-shaped armature constitutes the magnetic field, and the rotor (armature)
Of the armature reaction magnetic field, and the neutral point diode method utilizing the fact that the third harmonic distorts the neutral point voltage of the star connection.

Since the alternator is rotated from the output shaft of the engine or the like via the pulley and the belt,
The rotation speed of the alternator is proportional to the rotation speed of the engine. In view of the structure of such an alternator,
The present inventor suspected that the operation of the alternator might generate a magnetic field that adversely affects the steering sensor.

Then, as a result of an experiment conducted by the present inventor, as shown in FIG.
As shown in Fig. 2, when the engine speed (rpm) is plotted on the horizontal axis and the output value (mV) of the magnetic sensor is plotted on the vertical axis, the alternator with the neutral point diode of B shows 1200 to 1
The noise signal detection value by the steering sensor becomes large in the range of 500 rpm and in the range of 2500 to 2800 rpm, and is 1 in the alternator without the neutral point diode of A.
It was found that the noise signal detection value by the steering sensor increased in the range of 300 to 1700 rpm. That is,
In the alternator (engine) speed range, a magnetic field (noise signal) having a frequency that adversely affects the steering sensor.
Is coming out.

As described above, since the magnetic field generated from the alternator becomes large in a certain range of engine speed,
When the steering sensor is affected by the noise signal of the alternator, the steering sensor detects an erroneous signal as if there is a guidance control signal even though there is no guidance cable. If the vehicle comes off, not only the traveling vehicle will be damaged but also a personal injury will occur.

It is conceivable to cover the alternator by covering it with a magnetic shield member as a device for preventing the magnetic field (magnetism) of the alternator from being emitted to the outside. There is a problem that a perfect shielding structure cannot be achieved. The present invention has been made in order to solve the above-mentioned conventional problems, and an object thereof is to prevent the noise signal due to the operation of the alternator from adversely affecting the detection of the steering sensor.

[0008]

In order to achieve each of the above-mentioned objects, an electromagnetic induction type automatic vehicle according to the invention of claim 1 is arranged such that an induction cable arranged along a guide path is steered at a predetermined frequency. While transmitting the control signal for the vehicle, an automatic vehicle equipped with an engine having an alternator is equipped with at least a pair of left and right steering sensors for detecting the steering control signal, and the installation position of the alternator is set. It is set at a position separated from the installation position of the steering sensor via the member such as the engine.

According to another aspect of the electromagnetic induction type automatic vehicle of the present invention, a steering control signal having a predetermined frequency is transmitted to an induction cable arranged along the induction route and an engine equipped with an alternator is mounted. The automatic vehicle is equipped with at least a pair of left and right steering sensors for detecting the steering control signal, and the frequency of the noise signal generated from the alternator driven by the rotation of the engine is applied to the steering sensor. The number of rotations of the alternator is set so that the area is not sensed.

[0010]

EXAMPLE Next, an example in which the present invention is applied to an automatic traveling type chemical sprayer (speed sprayer) will be described. The speed sprayer has a driving operation unit 2 provided with a handle 3 on the front side of a traveling vehicle 1. The traveling vehicle 1 has a chemical liquid tank 4
And a spraying part 5 at the rear part.

The spraying section 5 is provided with a large number of spray nozzles 6 facing the outer peripheral surface of the traveling vehicle 1 except the lower surface thereof at an appropriate interval toward the radially outer side, and a blower 7 for sending the air outwardly at the radius,
The spray nozzle 6 can be spray-controlled so as to perform spraying work in each of the three sections on the left and right and the upper surface of the traveling vehicle 1 or the two sections on the left and right. Reference numerals 8 and 8 are left and right front wheels,
Reference numerals 9 and 9 denote left and right rear wheels, and these four wheels are of a so-called four-wheel drive type in which power from the engine 10 is transmitted via the traveling speed change mechanism 11 to be driven.
The power from 0 drives the blower 7 via the PTO output speed change transmission mechanism 12 and drives the dynamic injection pump 13 for the spray nozzle 6.

The steering device 14 with the steering wheel 3 is a power steering mechanism 15 including a mechanical or hydraulic system as shown in FIG. 3. The power steering mechanism 15 is a double-acting hydraulic cylinder 17 in a hydraulic circuit 16. When actuated and the hydraulic cylinder 17 extends, the rear wheels 9, 9 are turned to the left through the bell crank 18 having a W-shape in plan view, and the connecting rod 19 and the bell crank 20 having a V-shape in plan view are used. The front wheels 8 and 8 are changed to the right direction (when the hydraulic cylinder 17 is contracted, the front wheels are changed to the left and the rear wheels are changed to the right). It is a wheel steering type.

The hydraulic circuit 16 is shown in FIG.
Is an electromagnetic solenoid type control valve for the hydraulic cylinder 17 for automatic steering. Reference numeral 29 is an electromagnetic solenoid type control valve for controlling the hydraulic cylinder 30 as an actuator for operating the traveling clutch and the brake.
Is a control valve used in the case of manual steering operation. The control valves 29 and 28 are connected to a hydraulic pipe 31 branched from an upstream side of the control valve 23 for manual steering when hydraulic oil is fed from the hydraulic pump 22, and further, control valves for running clutch and brake operation. 29 is connected in series so as to be located upstream of the control valve 28 for automatic steering.

Therefore, when the control valve 29 is operated to a position other than the neutral position in order to operate the traveling clutch and the brake, the hydraulic cylinder 30 is preferentially operated, and the operation of the hydraulic cylinder 17 for steering is secondary. To be the target.
During manual steering, the oil sent from the hydraulic pump 22 is sent to the hydraulic motor 21 via the control valve 23 so that the amount of oil sent from the hydraulic motor 21 is proportional to the turning angle of the handle 3. And sends this oil to a double-acting hydraulic cylinder 17 attached to the steering mechanism 15. During automatic steering control, hydraulic fluid is sent from the hydraulic pump 22 to the hydraulic cylinder 17 via the neutral position of the control valve 29 and the electromagnetic solenoid type control valve 28.

Reference numeral 25 is a steering angle sensor such as a potentiometer capable of detecting the steering angle of the front wheels 8. In this case, the average value of the orientation angles of the left and right wheels may be obtained and detected. The front wheels and the rear wheels may be connected via separate hydraulic cylinder power steering mechanisms so that the front wheels and the rear wheels can be individually steered. The traveling vehicle 1 has a pair of left and right steering sensors 26a, 26b on its front portion.
To provide. The steering sensors 26a and 26b are pickup coils (resonance coils) in which conductors are wound in a coil shape, and are configured to resonate only with a magnetic field having a predetermined frequency to output an output signal. Presence or absence of an AC magnetic field generated around the induction cable 27 by a sine wave AC current having an appropriate frequency (1.5 kHz in the embodiment) supplied to the induction cable 27 by an induction signal generator (not shown). The intensity can be detected.
The guide cable 27 is laid in a groove formed along the guide route which is the working route of the orchard, or is buried underground.

In the case of the 12-pole alternator currently manufactured in Japan, the ripple is 1.5 kHz at 2500 rpm.
z, the rotation speed is 5000 rpm, and the frequency of the third harmonic is 1.
The steering sensor 2 used in the embodiment has a frequency of 5 kHz.
The resonance frequency of the coils 6a and 26b, and consequently the frequency of the steering control signal given to the induction cable 27, 1.5 kHz.
Therefore, the noise signal (1.5 kHz) generated during the operation of the alternator 150 is detected by the steering sensor 26a,
26b will detect, and the steering sensors 26a, 2
6b will be erroneously detected.

In order to avoid such a situation, the installation positions of the steering sensors 26a and 26b and the installation position of the alternator 150 for charging the battery 151 are set to the engine 10 as shown in FIGS. It is located at a distance via. That is, in the illustrated embodiment, the pair of left and right steering sensors 26a and 26b are installed in front of the radiator 152 arranged in the front part of the traveling vehicle 1, while the radiator 152 is installed.
The alternator 1 on the rear side of the engine 10 located on the rear side of the
50 is installed, and a belt is wound around the pulley 153 of the alternator 150 and the pulley 155 of the rotation shaft (output shaft etc.) 154 of the engine 10 to transmit the rotational force to the alternator 150. With this configuration, the noise signal generated during the operation of the alternator 150 is obstructed and attenuated by members such as the engine 10 and the radiator 152, and adversely affects when the steering control signals from the guide cable 27 are detected by the steering sensors 26a and 26b. Is not given.

Further, the pulley 155 on the engine 10 side.
And the diameter ratio between the alternator 150 and the pulley 153 on the alternator 150 side are appropriately set so that the rotational speed of the alternator 150 is about 7,000 rpm when the engine rotational speed is 2800 rpm during the automatic mode traveling. As a result, the third harmonic generated when the alternator 150 is activated can be prevented from being sensed by the steering sensors 26a and 26b.

The microcomputer units (MPUs) 101 and 102, which will be described later, are mounted in a portion surrounded by the front bumper 156 and the bottom plate 157. FIG. 5 shows an embodiment of the spray section 5, in which the liquid chemical from the chemical liquid tank 4 enters the dynamic injection pump 13 via the tank drain valve 32 and the filter 33, and the chemical liquid distributor via the main valve 34 and the pipe 35. Left and right and center (upper) switching valves 37, 38, 39 from 36.
Is sprayed to the spray nozzle 6 in each direction via the switching valve 37, 38, 39.
7a, 38a, 39a are provided, and it is possible to select spraying the chemical liquid only in a predetermined direction depending on the positional relationship between the traveling direction of the traveling vehicle and the material to be scattered (tree). Reference numeral 40 is a pressure regulating valve, and reference numeral 41 is a stop valve connected to a correction spray discharge pipe 42. A hose (not shown) is connected to the tip of the pipe 42 to manually touch a tree that has not been exposed to the chemical solution. To spray.

When a key is inserted into a key switch (not shown) provided on the operation panel of the driving operation unit 2 at the time of starting and the key is rotated by a predetermined angle, the control device 100 described later stands up (starts up) and prepares for execution. It becomes a state (standby state). Then, when further rotated by a predetermined angle, the starter motor is activated to operate the engine. As the automatic mode setting switch 46, an alternate push button switch is used as an example. Therefore, the pressed state (ON state) is held by the first pressing. When the automatic mode setting switch 46 is pressed again, the protruding state (OFF state) is restored. The display unit including a liquid crystal display element displays the current control status and instructions for the operator in characters or figures. Reference numeral 49 is a shift switch for the operator to separately confirm his / her intention, and the push button switch portion is covered with a transparent openable / closable cover body. Press. As will be described later, switching from the automatic mode to the manual mode, and conversely, switching from the manual mode to the automatic mode, in addition to the operation of the automatic mode setting switch 46, the shift switch based on a clear intention of the operator. 49
Or the detection signal of the switch that operates based on the operation performed under the clear intention of the operator (for example, the depression operation of the traveling clutch petal 61) can realize the mode switching. To do.

When the automatic mode is set,
The automatic mode lamp 47 is turned on, and when the manual mode is set, the automatic mode lamp 47 is turned off. FIG. 6 is a functional block diagram of the control device 100 when the control of the traveling vehicle is executed by the software of the microcomputer, and shows two microcomputer units (MPU) 101, 102.
The two MPUs 101, 102 are connected via a coupler with a detachable communication line 103, and mutually monitor whether or not the control on the other side is normally operating. Further, each MPU 101, 102 includes a central processing unit (CPU), a readable / writable memory (RAM), a read-only memory (ROM), an interface, and the like, which are not shown. In addition, these two MPUs 101, 1
02 is formed in the same form (same component) and is replaceable with each other, and in order to distinguish both MPUs, the determination port 104 of one MPU 101 is a low port,
The discrimination port 105 of the other MPU 102 is a high port.

An operation switch (manual operation switch) 10 for switching the operation section (left side, upper side, right side) of the spray nozzle 6 is provided at the input port of one MPU 101.
6, 107 and 108 terminals and the shift switch 4
9 and the terminal of the fan clutch operation switch 109 for connecting and disconnecting the power transmission to the blower 7, and the operation signal transmitted from the remote operation transmitter 110 for performing various operations to the receiver 111. Mounted on the front portion of the traveling vehicle 1 and the output signal terminal of each channel of the discrimination circuit and the reception monitor signal output terminal of the discriminating circuit which receives the signal by a plurality of channels (6 channels in the embodiment). The terminals of the pair of left and right obstacle detection sensors 112a and 112b, the output terminal of the chemical solution sensor 113 for detecting the presence or absence of the chemical solution in the chemical solution tank, or the amount (full or empty) of the chemical solution, and the automatic mode setting switch 46. Connect the terminals to input signals.

Further, the output ports of the MPU 101 are connected to the switching operation motors 37a, 38a, 39a of the switching valves 37, 38, 39 for supplying the chemical liquid for each of the operation sections (left side, upper side, right side) of the spray nozzle 6. Terminal, an electromagnetic solenoid terminal of an electromagnetic control valve 29 for the hydraulic cylinder 30 for automatic operation of the traveling clutch and brake, a terminal of an electric cylinder 114 for operating a fan clutch for interrupting power transmission to the blower 7, and a dynamic injection pump. Signals are output by connecting the terminals of the relays 115 that permit the operation of 13 respectively.

At the input port of the other MPU 102, the terminal of the automatic mode setting switch 46, the output signal terminal of each channel of the receiver 111, and the main speed change lever of the traveling speed change mechanism 11 are in the retracted position. Is attached to the front of the front bumper of the traveling vehicle 1 to stop traveling when an obstacle comes into contact with the terminal of the restraining switch 91 that detects the For touch sensor 11
6 terminals, a terminal of a stroke sensor 117 for detecting the maximum protruding position of the stroke of the piston rod of the hydraulic cylinder 17 for steering, and steering sensors 26a, 26b for detecting a steering control signal from the guide cable 27. (Not shown), the directions of the spray nozzles 6 on the left and right sides are adjusted on a plane that intersects with the traveling direction axis of the traveling vehicle 1 in order to effectively spray the chemical liquid to the standing trees on the sloped surface of the mountain. The terminal of the switch 118 for activating the spray nozzle direction changing actuator for the operation and the terminal of the rotation speed detector 119 of the engine 10 are connected to each other to input a signal. Further, the output port of the MPU 102 is connected to the engine 1
0 operation permitting relay 120 terminal, various pilot lamp 121 terminals, monitor lamp 122 terminal, automatic mode lamp 47 terminal for confirming the state in the automatic mode, electromagnetic control valve 28 for steering. The terminals 28R and 28L of the solenoid are connected to each other to output a signal.

With this configuration, the electromagnetic induction signal generator can send a steering control signal of a predetermined frequency (1.5 kHz in the embodiment) to the induction cable 27. The steering control signal is continuously transmitted while the traveling vehicle is traveling. On the traveling vehicle 1 side, the steering sensor 26a,
26b, the steering control signal is detected, and the MPU 102 in the control device 100 compares the magnitudes of the detection signals of the left and right steering sensors 26a, 26b, and the horizontal center of the traveling vehicle 1 is the axis of the guide cable 27. Determine whether it is right above or is deviated to the left or right. Then, according to the left-right deviation, the control valve 2 for steering is controlled by a predetermined control method.
8 outputs an appropriately large output signal to the terminals 28R and 28L of the electromagnetic solenoid to operate the steering device 14,
The steering control is executed so that the front wheels 8 and 8 and the rear wheels 9 and 9 are turned to follow the guide cable 27.

On the other hand, in the remote operation, when the engine is started in the manual mode and then the control is switched to the automatic mode and the power of the transmitter 110 is turned on, the radio wave of the reception monitor signal goes to the receiver 111. And continuously transported. The operator inputs an operation signal from the transmitter 110 to the control device 100 via the receiver 111 only when executing various operations such as starting and stopping the traveling vehicle 1 and starting and stopping the spraying work. Similarly, the MPU 101 discriminates which work is to be executed depending on which channel has been entered, and the control valve 29 and the engine operation permission relay 11 for the traveling clutch device and the brake device are executed.
5. The MPU 10 outputs a predetermined signal to various output devices such as the motors 37a, 38a, 39a for spraying the chemical liquid.
1, 102, etc. to start traveling (start) on a predetermined control loop, drive the blower (fan) 7 in the spray section 5, and switch the left nozzle 6, the right nozzle 6, and the upper nozzle 6 to start spraying. The motors 37a, 38a, 39a are turned on.

[0027]

As described above, claim 1
According to another aspect of the present invention, there is provided an electromagnetic induction type autonomous vehicle, which transmits a steering control signal of a predetermined frequency to an induction cable arranged along an induction route, and which is equipped with an engine having an alternator. The at least a pair of left and right steering sensors for detecting the steering control signal are mounted, and the installation position of the alternator is separated from the installation position of the steering sensor via a member such as the engine. Since the setting is made, even if the frequency of the steering control signal given to the induction cable matches the noise signal generated when the alternator operates, the noise signal generated when the alternator operates is attenuated by the components such as the engine. When the steering sensor detects the steering control signal from the guide cable, it does not have an adverse effect.

Further, the electromagnetic induction type automatic vehicle according to the invention of claim 2 is provided with an alternator while transmitting a steering control signal of a predetermined frequency to an induction cable arranged along the induction route. An automatic vehicle equipped with an engine is equipped with at least a pair of left and right steering sensors for detecting the steering control signal, and the frequency of a noise signal generated from the alternator driven by the rotation of the engine is the steering wheel. Since the number of revolutions of the alternator is set so as to be in a region that is not sensed by the steering sensor, the steering sensor does not erroneously detect and the traveling vehicle can be reliably steered along the guide cable.

[Brief description of drawings]

FIG. 1 is a side view of a drug spraying machine.

FIG. 2 is a plan view of the medicine spraying machine.

FIG. 3 is a schematic plan view of a steering device 14.

FIG. 4 is a control hydraulic circuit diagram of a steering device and the like.

FIG. 5 is a mechanism block diagram of a spraying unit.

FIG. 6 is a functional block diagram of a control device.

FIG. 7 is a side view of a main part of the medicine spraying machine.

FIG. 8 is a plan view of a main part of the medicine spraying machine.

9A is an explanatory diagram showing a positional relationship between an AC magnetic field generated from an induction cable and a steering sensor in a traveling vehicle, and FIG. 9B is a diagram showing an output of the steering sensor due to lateral displacement of the steering sensor with respect to the induction cable. It is explanatory drawing which shows a relationship.

FIG. 10 is a diagram showing a relationship between an engine speed and a detection value of a steering sensor.

[Explanation of symbols]

 1 Traveling Vehicle 6 Spray Nozzle 7 Blower 10 Engine 11 Travel Speed Change Mechanism 12 Power Transmission Mechanism 13 Dynamic Injection Pump 14 Steering Device 16 Hydraulic Circuits 26a, 26b Steering Sensor 27 Induction Cable 28 Automatic Steering Control Valve 29 Control Valve 100 Control Device 101 , 102 MPU 150 Alternator 152 Radiator 153, 155 Pulley

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yukio Murai 1-32 Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd.

Claims (2)

[Claims] 1. A steering control signal having a predetermined frequency is transmitted to a guide cable arranged along a guide path, while the steering control signal is supplied to an automatic vehicle equipped with an engine equipped with an alternator. At least a pair of left and right steering sensors for detection are mounted, and the installation position of the alternator is set to a position apart from the installation position of the steering sensor via a member such as the engine. Self-driving vehicle. 2. A steering control signal having a predetermined frequency is transmitted to a guide cable arranged along a guide path, while the steering control signal is supplied to an automatic vehicle equipped with an engine equipped with an alternator. At least a pair of left and right steering sensors for detection are mounted, and the number of rotations of the alternator is set so that the frequency of the noise signal generated from the alternator driven by the rotation of the engine is in a region not sensed by the steering sensor. An electromagnetic induction type autonomous vehicle characterized by being set.