A6 B6 219883 五、發明説明（1 ) (請先閲讀背面之注意事項再項寫本頁) 本發明偽關於一種作業車之誘導糸統，詳言之，偽關 於一種作業車之行走路徑為由主路徑及由該主路徑之多數 分叉點分出之多數作業路徑所構成，令作業車由主路徑轉 向一作業路徑並行至該作業路徑端部，然後受換行走方向 ，朝主路徑回走，再變換方向沿著主路徑行走，並轉向相 鄰作業路徑所使用之作業車用誘導糸统。 此種作業車誘導条統偽用於使沿著田壟實施藥液噴灑 作業之農用作業車自動行走之機構。此情形中，各田壟間 偽相當於作業路徑，作業車由一田壟向另一田壟移動時所 用之路徑則相當於主路徑。通常，作業車為往來行走於作 業路徑實施作業，但並非在作業路徑端部轉彎掉頭，而是 將行走方向由前進變換為倒退，之所以採用此種方式乃是 因轉鬻掉頭所需空間並非經常容易獲得的緣故。另一方面 ，如果是噴灑藥液用作業車，輸送藥液用軟管也經常會妨 妨礙掉頭操作。 經濟部中央標準局興工消費合作社印製 以往技術偽如日本特願平2-262223號申請案所示，在 作業車之左右側裝置設超音波感測器，且按此等感測器之 偵測信號實施方向控制，使作業車.自己行駛於田壟（作業 路徑）間，並由輸藥軟管之拉出長度判斷是否到達作業路 徑端部，以變換行走方向，同時在一作業路徑往來行走後 回到主路徑時則暫時停止，以人為操作移動行走至次一作 業路徑。 上述作業車之誘導糸统有以下各黏待改善。首先，為 使利用超音波感測器的作業車在田壟間自己行走時動作得 本紙張尺度適用中01國家標準（CNS)甲4规格（210 X 297公釐） 82.6. 40 000 219883 A6 B6 經濟部中央標準局貝工消費合作社印製 五、發明説明（2 ) 以確實，田壟必須作某種程度的修整，如田壟崩塌，則容 易引起方向控制之錯誤。又，以軟管拉出長度判斷作業路 徑端部的方法並非十分正確，且僅限用於噴灌藥液等有限 用途的作業。尤甚者，消費者對於由一作業路徑移動至次 一作業路徑時不必經由手動操作的自動控制方式可諝需求 甚殷。 本發明係鑑於上述情況而開發成功者，其目的在提供 一種作業車得以自動地在作業路徑確實地來往行走及在作 業路徑間自動地移種的誘導条統。 為達成上述目的，本發明之作業車誘導条统偽在作業 車行走路徑為由主路徑及由該主路徑的多數分叉點分出的 多數作業路徑所構成，令作業車自主路徑轉向一作業路徑 並行至該作業路徑端部，繼則變換行走方向，朝主路徑回 走，再變換方向沿箸主路徑行走，並轉向相鄰的作業路徑 ;其第一特擻為電線的一部份偽舖設成沿著行走路徑延伸 的狀態，作業車上設有追蹤感測器及實施行走控制的控制 裝置，追蹤感測器可測出電流流經上述電線時所産生的磁 場，控制裝置的控制則包括了根據追蹤感測器的偵測信號 令作業琪沿電線行走的方向控制；在上述分叉點上，主路 徑的電線與作業路徑的電線僳藉由可變換選擇電流流通路 徑的電流變換裝置相迪接，同時作業車上裝有變換信號發 送器，於該作業車朝主路徑回走並通過上述分叉點時，變 換信號發送器可發出變換信號令電流變換裝置動作。 本發明第二恃擻則在第一恃歡中，如上述追蹤感測器 -4- 本紙張尺度適用中國國家標準（CNS〉甲4规格（210 X 297公釐） 82.6. 40,000 ------------I-----(------裝------訂------, (請先閱讀之注意事項再塡寫本頁) 219883 A6 B6 經濟部中央標準局A工消費合作社印製 五、發明説明（3 ) 的偵測信號未逹預定位準的狀態持鑲達第1設定時間以上 時，控制裝置可將作業車的行走方向加以變換；且以來自 變換信號發送器的變換信號切換電流路徑時，電流變換裝 置可在較第1設定時間為長的第2設定時間内使電流不流 經任何路徑。 本發明第三持擞乃在第一特擞中的電線傜舖設成包含 主路徑及多數作業路徑之梯子形網狀電路，且在作業路徑 端部令電線連接成T字形；而控制裝置在迫蹤感測器的偵 測信號未達預定位準的狀態持缅達第1設定時間以上時， 可將作業車的行走方向加以變換。 本發明第四特戤傜在第二或第三待徴中，當追蹤感測 器的偵測信號未逵預定位準時，控制裝置可令作業車停止 ;且追蹤感測器的偵測信號未達預定位準的狀態持鑲達第 1設定時間以上時，該控制裝置可將作業車的行走方向加 以變換。 本發明第五待戡則僳在第四待街（中，於作業車的停止 狀態下，迫蹤娀测器的偵測信號超過預定位準的狀態持壤 '逹第3設定時間時，控制裝置可令作業車再行走驅動，且 設有電流斷缠裝置，可將電流遮斷，其時間短於第1設定 時間，然後將電流導通，其時間短於第3設定時間，並反 覆進行此種電流通斷動作。 以下說明本發明的作用與功效。 依照本發明第一待徴，可用迫蹤威測器偵测流通於電 線的電流所産生的磁場，控制裝置則根據其偵測信號進行 (請先閲讀Ϊ之注意事項*璜寫本頁) 本紙張尺度適用中國國家標準（CNS)甲4规格（210 X 297公釐） 82.6. 40,000 A6 B6 219883 五、發明説明（4 ) 諸如方向控制或行走方向的變換控制等有闢行走方面的控 制，使作業車得以沿著舖設於作業路徑的《線確實地行走 。又，用以連接作業路徑電線與主路徑霣線的霣流變換裝 置可以選擇變換作業路徑或主路徑（即次一作業路徑）作 為電流流通路徑，於作業車朝主路徑回走而通過分叉黏時 ,上述愛換動作即可依照變換信號發送器所發出的變換倍 號施行之。在作業車在倒退行走期間，如變換信號發送器 處在待命狀態，則上述受換作用即得以實施。 由於作業車到逹作業路徑端部後行走方向的變換（由 前進變為倒退）及作業車朝主路徑回定而在通過分叉黏後 行走方向的變換（由倒退變為前進），作業車在往復行走 作業路徑後，得以被自動誘導至次一作業路徑。作業車行 走方向的變換傜以例如第二及第三特街（之方式行之。 上述本發明第二待街[係掲示作業車朝主路徑回走期間 ，在通過分叉點後之行走方向變換（由倒退變為前進）之 具體構成。依據該待徽，電流變換裝置在切換電流路徑時 ，於第2設定時間内電流不流經任何路徑，故作楽車的迫 蹤感測器的偵測信號未達預定位準的狀態會在第2設定時 間内持缠。此種狀態持縝超過第1設定時間（註：該設定 時間係短於第2設定時間）時，控制裝置即將作業車的行 走方向變換。 第三特勘偽掲示作業車達作業路徑端部時用以受換行 走方向（由前進變為倒退）的具醱構成。依照該構成，® 線僳舖設成包含主路徑及多數作業路徑的梯子型網狀回路 本紙张尺度適用中國國家標準（CNS)甲4规格（210 X 297公釐） (請先Μ讀^&之注意事項再塡寫本頁) _裝. 訂. 經濟邾中央標準局貝工消費合作社印製 82.6. 40,000 219883 A6 B6 五、發明説明（5 ) (此先《讀背面之注意事項再塡寫本頁) ，且在作業路徑端部處，霄線偽連接成T字型。因此，作 . > . ' 業車行走於作業路徑而達端部時，流通於爾線之霣流所産 生的磁場方向乃驟然轉向9 0° ,故追蹤戚测器偵测倍號的 位準急劇降低。而在未逹預定位準的狀態持鑛超過第1設 定時間時，控制裝置可將作業車的行走方向改受。， 第四恃徽係在第二及第三持徴之構成中，當變換行走 方向時，如追蹤感測器的偵測信號未連預定位準，則先令 作業車停止。龃於偵测信號未達預定位準的狀態持鑕超過 第1設定時間時，以停止狀態直接變換作業車行走方向， 因此，在作業路徑端部或主路徑上的作業路徑分叉黏不會 産生多餘的行走動作，故不因變換行走方向而擗要額外的 空間，又可安全確實地變換行走方向。 此外，變換行走方向後，雖可立即再啓動作業車，但 如第五特擻所示地，如在追蹤感测器的偵測信號超過預定 位準的狀態持缠達第3設定時間時再開始啓動作業車，則 安全性較佳。但在第三特徴中，於作業車停止在作業路徑 端部的狀態下，要使迫蹤感測器的偵測信號再逹預定位準 以上，則必需随箸上述行走方向的變換而進行諸如迫蹤感 測器的位置變換（由作業車前側改至後側）等操作。 經濟部中央標準局員工消費合作社印製 如依照第五特徴，則藉著以電流斷鑲裝置將霣流在短 於第1設定時間的時間内予以遮斷，且在短於第3設定時 間的時間内使之通電，並反覆進行此種霣流斷鑲動作，即 可將作業車維持暫時停止狀態。亦即，控制裝置偽在遮斷 時間未逹第1設定時間之期間通電，故作業車不作行走方 82.6. 40,000 本紙張又度適用中因國家標準（CNS) T 4规格（210 X 297公;^ ) 219883 A6 B6 經濟部中央標準局β工消費合作社印製 五、發明説明（6 ) 向變換，且通電時間未達第3設定時間之期間内予以遮斷 ,故無作業車再啓動的情事。 由上述可知，如依照上述第--第三待擻，則作業車 在作業路徑的往復行走及作業路徑間移動的確實誘導可由 簡單的構成達成之。 再者，如依照第四待徴，則雖在作業路徑端部未有充 分空間，作業車的行走方向仍可安全地施以變換與誘導。 若依照第五特m,則用簡單構成即可由地面側以遙控 操作令作業車暫時停止，然後再啓動。 贲施例 以下參佐圖面詳細說明本發明實施例。 本誘谱糸統實施例的誘導對象為作業車，其主要係用 在室内對農作物噴灑藥液。如圖5及麵6所示，行走機體 設有一種腳輪型遊轉式前輪1、作為驅動輪的左右一對後 輪2及操縱把手3等，該機體前部豎設有藥液噴灑用噴蓀 管4 ,軟管捲架5以其回轉軸和後輸2的車軸重叠的形態 裝設。由設於室外適當位置的藥液供應裝置延伸至噴蓀管 4的軟管7則藉軟管捲架捲取或放出，由藥液供應裝置經 由軟管7供給的藥液自設在噴镙管4的多數噴嘴4 a噴灑時 ，作業車A可自動往來行走於田壟間。 作業革A俗藉電磁誘導式条統誘導其在田壟間（以下 稱作業路徑）自動往復行走及朝柑鄰作業路徑移動行走。 亦即，如圖1所示，將電線舖設於由多數作業路徑8及用 以供作業車在作業路徑間移動行走的主路徑9所形成的梯 -8- -請 先 閲 Λ •背 注 意 事 項 再 寫 本 頁 裝 訂 本紙张尺度適用中國國家標準（CNS)甲4规恪（2iO X 297公釐〉 82.6· 40*000 經濟部中央標準局Β工消費合作社印製 219883 A6 _ B6_ 五、發明説明（7 ) 子型回路網，且該電線上設有用以發出數KHZ交流® (以 下稱電流）的誘導發送器10。 在主路徑9和作菜路徑8的分叉黏，經由霣流變換裝 置（以下稱變換器）11、12連接有霣線作為自誘導發送器 10所發出的電流的流通路徑，而變換器11、12則用以將霣 流選擇變換於作業路徑8或主路徑（即次一作業路徑）9 。但設於距誘導發送器10最近的分叉點的I型變換器11與 設於其他分叉點的II型變換器12係如後述地在功能上有些 不同。此外，圖中之β、9亦分別表示舖設於作業路徑或 主路徑的電線。又，爾線及變換器11、12係淺埋於地面下 ，誘導發送器10則設於室内或室外的地上。 如上所述，作業車Α的行走路徑僳由主路悝9及自該 主路徑9的多數分叉點分出的多數作業路徑8所組成。作 業車A由主路徑9轉向其中之一作業路徑8並行至其纗部 8a,逛將行走方向由前進變換為倒退而朝主路徑9回走。 再將行走方向變換為前進，並沿主路徑9行走，然後轉向 次一作業路徑8。亦即由出發點（ho«e position) 13開始 行走的作業車A係由距出發點13最近的作業路徑8 —邊朝 依序鄰接的作業路徑8移動，一邊在各作業路徑8進行藥 液噴灑作業。最後面的作業路徑8的藥液噴篇作業完畢時 ，即直接以倒退狀態回至出發點13。 其次，就該誘導条統中令作業車A沿霣線行走的方向 控制部份加以說明。 如圖5及圖6所示，作業車A的行走機體的前後左右 本紙張尺度適用中國國家標準（CNS) f 4规格（210 X 297公釐） 82.6. 40,000 -------------------『------裝------，玎------^ (請先閲讀f面之注意事項再塡寫本頁) 219883 A6 B6 經濟部中央標準局κκ工消費合作社印製 五、發明説明（8 ) 4餹位置處設有霣磁傳戚器（Pick up)作為追蹤烕拥器。 該電磁傳感器14可将流通於上述電線的電流所産生的磁場 測出，並由各霄磁傳威器14取得威應霣ffi作為偵拥倍號， 而該感應電壓係依傅感器與電線之距離而增減。因此，可 自左右側電磁傳感器14偵測信號的位準差而«知作業車A 相對於電線的横向偏差，並根據此種位準差實施作業車A 沿電線行走的方向控制。以下具體説明控制裝置15的方向 控制技術。 搭載於作業車A的控制裝置15的構成偽如圓2所示。 圖2的下半部主要司方向控制。首先，來自上述4値®磁 傳感器U的信號係分別輸入於各前後感測器苗擇《路15a ，並依情況選擇前一對傳威器或後一對傅戚器的倍號。亦 即，前進時，以設於行走機體前期（的一對霣磁傅成器14的 偵测信號較有效，倒退畤則以設於機體後侧的一對霣磁傅 慼器14的偵测信號較有效。 所選擇的左右一對電磁傅越器14的偵測器經放大、檢 波、整流而成直流電懕後，即可以動作放大霣路15b求得 左右位準差。該左右位準差輸入笛壓比較霣路15c ,並與 三角波振盪電路15d所生三角波比較，再變換成與位準差 相對應的負Μ比（duty ratio)脈衝倍號。該脈衝倍號於輪 出前後選擇電路15β處與前進信號或倒退信號取得“與” 蓮算（AND operation)後，分別輸入一對馬遑驅動霄路16。 如圃5及圖6所示，作業車A之行走機驩設有左右成 對的電動馬逹1 7 (以下稱行走馬達），而各行走馬逹1 7分 -1 0- 本紙张尺度適用中國國家標準（CNS)甲4规格（210 X 297公釐） 82.6. 40,000 -----------------f------装------1T------^ (請先閲讀背*面之注意事項再塡寫本頁) 經濟部中央標準局R工消费合作社印奴 219883 A6 __________ B6 _ 五、發明説明（9 ) 別介由鏈條與鍵輪式傳動機構回轉驅動左右側的驅動輪（ 後輪）2 。上逑的一對馬逹驅動電路16依照來自控制霣路 15的脈衝信號分別正反驅動左右成對的行走馬連17,同時 以對應於脈衝信號之負荷比的轉動速度驅動。 因而，控制裝置15乃以上述方式按照左右霣磁傳戚器 14的偵測信號位準差來改變脈衝信號負荷比的PWM控制法 使左右驅動輪2的轉動速度産生差異，令作業車A轉向。 例如，由左右電磁傳越器14的偵測信號位準差檢知作業車 A向右偏時，左侧行走馬達驅動用之脈衝倍號負荷比即行 降低，使左側驅動輪2的轉動速度放慢，結果，作業車A 得以轉向左方。亦即，改變作業車A的方向使左右®磁傅 感器14的偵測倍號位準差成為零。如此，作業車A即可沿 著電線行走。 其次説明作業車A到逹作業路徑8的端部8a時行走方 向由前進變換為倒退之控制。 圖2之控制裝置15方塊圖中，自動前進倒退控制霣路 15f為用以産生行走方向決定信號之霣路。該自動前進倒 退控制電路15f可以输出用以切換前後威測器霣路15a的 信號及供應至輸出前後理揮《路15β之前進倍號及倒退信 號。於電力接通重置霣路15g作用而使暫時停止觸發（ toggle)電路15h重置後，如按下啓動開鬭（未画示）， 該自動前進倒退控制電路15f即保持在前進狀態。 控制裝置15後設有具備三種CR時常數式的《性計時 器（hard timer)的反轉、停止、禁止行走判定霣路（以 -11- (锖先閲讀背&之注意事項再塡寫本頁) —裝· 訂·A6 B6 219883 V. Description of the invention (1) (Please read the precautions on the back and then write this page) The invention is about the induction system of a work vehicle. In detail, it is false about the walking path of a work vehicle. The main path and the majority of work paths divided by the majority of bifurcation points of the main path make the work vehicle turn from the main path to a work path in parallel to the end of the work path, and then change the direction of travel to go back to the main path , Then change direction to walk along the main path, and turn to the guidance system for work vehicles used by adjacent work paths. This kind of work vehicle guidance system is used as a mechanism for automatically moving an agricultural work vehicle that performs a chemical liquid spraying operation along a field. In this case, the pseudo-equivalent between the ridges is the working path, and the path used when the work vehicle moves from one ridge to another is equivalent to the main path. Generally, the work vehicle performs work by walking on the work path, but instead of turning around at the end of the work path, it changes the walking direction from forward to backward. The reason for this method is that the space required for turning around is not Often easy to obtain sake. On the other hand, if it is a work vehicle for spraying chemical liquid, the hose for conveying the chemical liquid will often hinder the U-turn operation. The Ministry of Economic Affairs, Central Standards Bureau, Xinggong Consumer Cooperative printed the past technology as shown in the Japanese application No. 2-262223. The ultrasonic sensors are installed on the left and right sides of the work vehicle, and the detection of these sensors is used. The direction of the measured signal is used to control the direction of operation, so that the operation vehicle can travel between the fields (operation path), and determine whether it reaches the end of the operation path by the length of the drug delivery hose. After returning to the main path, it temporarily stops and moves to the next working path with human operation. The induction system of the above operation vehicle has the following sticking points to be improved. First of all, in order to make the operation vehicle using the ultrasonic sensor move itself in the field, the paper scale is applicable to the 01 National Standard (CNS) A 4 specification (210 X 297 mm) 82.6. 40 000 219883 A6 B6 Economy Printed by the Beigong Consumer Cooperative of the Central Standards Bureau of the Ministry. 5. Description of invention (2) To be sure, the ridge must be repaired to some extent. If the ridge collapses, it is easy to cause errors in direction control. In addition, the method of judging the end of the working path by the length of the hose is not very correct, and it is only used for limited-use operations such as sprinkling irrigation liquid. What's more, consumers have a high demand for automatic control methods that do not have to be manually operated when moving from one work path to the next. The present invention has been successfully developed in view of the above circumstances, and an object of the present invention is to provide an induction system in which a work vehicle can automatically walk reliably on a work path and automatically transfer seeds between work paths. In order to achieve the above-mentioned object, the work vehicle induction rule of the present invention is composed of a main path and a plurality of work paths divided by a majority of bifurcation points of the main path in the work vehicle travel path, so that the work vehicle autonomous path turns to a work The path is parallel to the end of the working path, and then the walking direction is changed, back to the main path, and then the direction is changed to walk along the main path of the grate, and turn to the adjacent working path; the first feature is a part of the pseudo wire Laying into a state of extending along the walking path, the work vehicle is provided with a tracking sensor and a control device that implements walking control. The tracking sensor can detect the magnetic field generated when current flows through the above wires, and the control device controls Including the control of the running direction of the electric wire according to the detection signal of the tracking sensor; at the above-mentioned bifurcation point, the electric wire of the main path and the electric wire of the working path can be switched by a current conversion device that can select the current flow path Connect with each other, and at the same time, the work vehicle is equipped with a conversion signal transmitter. When the work vehicle returns to the main path and passes the above bifurcation point, the conversion signal transmitter A current issue converted signal converting apparatus operation. The second aspect of the present invention is in the first aspect, as described above tracking sensor -4- This paper scale is applicable to the Chinese national standard (CNS> A 4 specifications (210 X 297 mm) 82.6. 40,000 ---- -------- I ----- (------ installed ------ ordered ------, (please read the precautions before writing this page) 219883 A6 B6 Printed by A Industrial and Consumer Cooperative of Central Bureau of Standards of the Ministry of Economy V. Description of Invention (3) When the detection signal is not at the predetermined level and is held for more than the first set time, the control device can change the direction of operation To be converted; and when switching the current path with the converted signal from the converted signal transmitter, the current conversion device can prevent current from flowing through any path within a second set time that is longer than the first set time. It is in the first special line that the wires are laid into a ladder-shaped mesh circuit containing the main path and most of the working paths, and the wires are connected in a T shape at the end of the working path; and the control device is investigating the tracking sensor When the measured signal does not reach the predetermined level and the Minda is set for the first set time or more, the traveling direction of the work vehicle can be changed The fourth feature of the present invention is that in the second or third standby, when the detection signal of the tracking sensor is not at a predetermined level, the control device can stop the work vehicle; and the detection signal of the tracking sensor is not The control device can change the running direction of the working vehicle when the state of reaching the predetermined level is longer than the first set time. The fifth standby of the present invention is on the fourth waiting street (in the stop of the working vehicle) In the state, when the detection signal of the forcing detector exceeds the predetermined level and holds the state for the third set time, the control device can make the work truck drive again, and a current breaking device is provided to cover the current. Off, the time is shorter than the first set time, and then the current is turned on, the time is shorter than the third set time, and this current on and off action is repeated. The following describes the function and effect of the present invention. According to the first You can use the tracking sensor to detect the magnetic field generated by the current flowing through the wire, and the control device is based on its detection signal (please read the precautions of Ϊ first * write this page) This paper standard is applicable to Chinese national standards (CNS) 4 Specifications (210 X 297 mm) 82.6. 40,000 A6 B6 219883 V. Description of the invention (4) There are travel-oriented controls such as direction control or change of walking direction control, so that the work vehicle can be laid along the work path. "The line runs reliably. In addition, the device for converting the current of the working path wire and the main path of the wire can choose to change the working path or the main path (ie, the next working path) as the current flow path. When walking back and sticking through the bifurcation, the above-mentioned love-changing action can be performed according to the conversion multiplier issued by the conversion signal transmitter. When the work vehicle is walking backwards, if the conversion signal transmitter is on standby, the above The exchange effect can be implemented. Due to the change of the travel direction of the work vehicle to the end of the work path (from forward to reverse) and the return of the work vehicle to the main path, the change of the travel direction after passing through the fork (from reverse to forward), the work vehicle After reciprocating the working path, it can be automatically induced to the next working path. The change of the traveling direction of the work vehicle is performed in the manner of, for example, the second and third special streets. The above-mentioned second standby street of the present invention [shows the travel direction of the work vehicle after passing through the bifurcation point while the work vehicle is traveling toward the main path. The specific structure of the transformation (from backward to forward). According to the pending symbol, when the current conversion device switches the current path, the current does not flow through any path within the second set time, so it is used as the tracking sensor of the car The state where the detection signal does not reach the predetermined level will be entangled within the second set time. When this state persists for more than the first set time (Note: the set time is shorter than the second set time), the control device is about to operate The traveling direction of the vehicle is changed. The third special survey pseudo-instruction shows that the operating vehicle is used to change the traveling direction (from forward to reverse) when it reaches the end of the working path. According to this configuration, the ® line is laid to include the main path And the ladder-shaped mesh circuit of most working paths. The paper size is applicable to the Chinese National Standard (CNS) A 4 specifications (210 X 297 mm) (please read the precautions ^ & then write this page) _installed. Order. Economic Central Printed by the quasi-administrative Beigong Consumer Cooperative Society 82.6. 40,000 219883 A6 B6 V. Description of the invention (5) (this first "read the precautions on the back and then write this page), and at the end of the operation path, the Xiao line is pseudo-connected T-shaped. Therefore, when the industrial vehicle walks on the working path and reaches the end, the direction of the magnetic field generated by the flash current flowing on the Seoul line suddenly turns to 90 °, so it is tracked by the detector. The level of the double number drops sharply. When the mine is held for more than the first set time in a state where the predetermined level is not exceeded, the control device can change the running direction of the work vehicle. The fourth and third emblems are in the second and third In the structure of holding, when changing the direction of walking, if the detection signal of the tracking sensor is not connected to the predetermined level, the operation vehicle is stopped first. If the detection signal does not reach the predetermined level, the holding force exceeds the first level. 1 When the time is set, the working direction of the work vehicle is directly changed in the stopped state. Therefore, the sticking of the working path at the end of the working path or the main path will not cause excessive walking movements, so it is not necessary to change the walking direction. Space can be changed safely and securely Walking direction: In addition, after changing the walking direction, the work vehicle can be restarted immediately, but as shown in the fifth feature, if the detection signal of the tracking sensor exceeds the predetermined level, it holds the third setting It is better to start the operation vehicle at the time, but the safety is better. However, in the third feature, when the operation vehicle is stopped at the end of the operation path, the detection signal of the tracking sensor must be set to a predetermined level again. In the above, it is necessary to perform operations such as the position change of the tracking sensor (changed from the front side of the work vehicle to the rear side) in accordance with the change of the above-mentioned walking direction. Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs , The current is interrupted by the current interrupting device in a time shorter than the first set time, and it is energized in a time shorter than the third set time, and this type of current interrupting is repeated Action, you can maintain the work vehicle temporarily stopped. That is, the control device is pseudo-energized during the period of the first set time of the interruption time, so the work vehicle does not travel 82.6. 40,000 This paper is again applicable to the national standard (CNS) T 4 specifications (210 X 297 male; ^) 219883 A6 B6 Printed by the β-Consumer Cooperative of the Central Standards Bureau of the Ministry of Economy V. Description of invention (6) The direction is changed, and the power-on time is less than the third set time to be blocked, so there is no case of restarting the work vehicle . It can be seen from the above that, according to the above-mentioned third to third waiting, the sure induction of the reciprocating walking of the working vehicle and the movement between the working paths can be achieved by a simple structure. Furthermore, according to the fourth waiting condition, although there is not enough space at the end of the working path, the traveling direction of the working vehicle can be safely changed and induced. According to the fifth feature m, the operation vehicle can be temporarily stopped by the remote control operation from the ground side with a simple structure, and then restarted. Example 2 The following describes the embodiment of the present invention in detail with reference to the drawings. The induced object of the embodiment of the decoy system is a work vehicle, which is mainly used for spraying chemical liquid on crops indoors. As shown in FIGS. 5 and 6, the walking body is provided with a caster-type wandering front wheel 1, a pair of left and right rear wheels 2 as a driving wheel, and a handle 3, etc., and a spray for spraying chemical liquid is erected on the front of the body The sun tube 4 and the hose reel 5 are installed in such a manner that the rotary shaft and the axle of the rear conveyor 2 overlap. The hose 7 extending from the chemical liquid supply device provided at a suitable location outdoors to the spray tube 4 is taken up or discharged by the hose reel, and the chemical liquid supplied by the chemical liquid supply device through the hose 7 is self-installed in the spray When most of the nozzles 4 a of the tube 4 are sprayed, the operation vehicle A can automatically move between the fields. The operation leather A uses electromagnetic induction to induce it to automatically walk back and forth between fields and ridges (hereinafter referred to as the operation path) and move towards the operation path adjacent to the orange. That is, as shown in FIG. 1, the electric wire is laid on the ladder formed by the majority of the work path 8 and the main path 9 for the work vehicle to move between the work paths.-Please read Λ first. Re-write this page. The size of the paper is applicable to the Chinese National Standard (CNS) A4 (2iO X 297 mm)> 82.6 · 40 * 000 Printed by the Central Standards Bureau of the Ministry of Economic Affairs 219883 A6 _ B6_ Printed by the Consumer Cooperative Society (7) Sub-type loop network, and the wire is provided with an inductive transmitter 10 for sending a number of KHZ AC® (hereinafter referred to as current). The bifurcated stick on the main path 9 and the cooking path 8 is passed through a divergent flow conversion device (Hereinafter referred to as converters) 11, 12 are connected with a wire as a flow path for the current sent from the induction transmitter 10, and the converters 11, 12 are used to convert the current to the working path 8 or the main path (ie Next working path) 9. However, the I-type converter 11 provided at the branch point closest to the guidance transmitter 10 and the II-type converter 12 provided at other branch points are functionally different as will be described later. , Β and 9 in the figure also indicate Route or main route. In addition, the Seoul line and the converters 11 and 12 are shallowly buried under the ground, and the induction transmitter 10 is installed on the ground indoors or outdoors. As mentioned above, the walking path of the work vehicle A is determined by the main The road 9 and the majority of the work path 8 branched from the majority of the main path 9. The work vehicle A is turned from the main path 9 to one of the work paths 8 and parallel to its part 8a. The forward direction is changed to reverse and walks back to the main path 9. Then the walking direction is changed to forward, and walks along the main path 9, and then turns to the next working path 8. That is, the operation starting from the starting point (ho «e position) 13 The vehicle A is moved from the working path 8 closest to the starting point 13 toward the sequentially adjacent working path 8 while performing the chemical liquid spraying operation on each working path 8. When the chemical liquid spraying operation of the last working path 8 is completed , That is, return directly to the starting point 13 in the reverse state. Secondly, the direction control part of the guidance system to make the operation vehicle A travel along the engraved line will be described. As shown in FIGS. 5 and 6, the walking body of the operation vehicle A Front, back, left, and right of this paper Applicable to China National Standards (CNS) f 4 specifications (210 X 297 mm) 82.6. 40,000 ------------------- 『------ installed-- ----, 玎 ------ ^ (Please read the precautions on page f before writing this page) 219883 A6 B6 Printed by the Central Standards Bureau of the Ministry of Economic Affairs κκIndustry and Consumer Cooperative V. Invention Instructions (8) 4 A magnetic pickup device (Pick up) is provided as a tracking device at the position of the magnet. The electromagnetic sensor 14 can measure the magnetic field generated by the current flowing through the above-mentioned wire and obtain the power from each magnetic transmission device 14 Ying Fei should be used as a detection number, and the induced voltage increases or decreases depending on the distance between the sensor and the wire. Therefore, the horizontal difference of the work vehicle A relative to the electric wire can be detected from the left and right electromagnetic sensors 14 to detect the horizontal deviation of the signal, and the direction of the work vehicle A running along the electric wire can be controlled according to this level difference. The direction control technology of the control device 15 will be described in detail below. The configuration of the control device 15 mounted on the work vehicle A is shown as a circle 2. The main control direction of the lower half of Figure 2 is Division. First, the signals from the above-mentioned 4-value magnetic sensor U are input to each of the front and rear sensors Miao Zu 15a, and the multiples of the former pair of transmitters or the latter pair of inverters are selected according to the situation. That is, when advancing, the detection signals of the pair of magnetic magnetic generators 14 provided in the early stage of the walking body are more effective, and the detection signals of the pair of magnetic magnetic generators 14 provided on the rear side of the body are more effective. After the detectors of the selected pair of left and right electromagnetic frequency converters 14 are amplified, detected, and rectified to form a DC electric current, they can be operated to amplify the 霣 路 15b to obtain the left and right level difference. The left and right level difference is input to the flute pressure comparison霣 路 15c, and compared with the triangular wave generated by the triangular wave oscillation circuit 15d, and then converted into a negative M ratio (duty ratio) pulse multiple corresponding to the level difference. The pulse multiple is selected at the circuit 15β before and after the wheel and advances After the AND operation is obtained by the signal or the reverse signal, a pair of horses are driven to drive the Xiao Road 16. As shown in the garden 5 and FIG. 6, the walking machine of the operation vehicle A is provided with a pair of left and right electric horses 1 1 7 (hereinafter referred to as walking motor), and each walking horse 1 7 points -1 0- This paper scale is applicable to China National Standard (CNS) A 4 specifications (210 X 297 mm) 82.6. 40,000 ------ ----------- f ------ install ------ 1T ------ ^ (please read the back side first (I will write this page again) The Central Standards Bureau of the Ministry of Economic Affairs, R Industry and Consumer Cooperatives, Yinnu 219883 A6 __________ B6 _ V. Description of the invention (9) Do n’t drive the left and right side drive wheels through the chain and key wheel transmission mechanism (rear Wheel) 2. The upper pair of horse-riding drive circuits 16 drive the pair of left and right walking horses 17 forward and backward in accordance with the pulse signal from the control road 15, respectively, and drive at a rotation speed corresponding to the load ratio of the pulse signal. The control device 15 uses the PWM control method of changing the pulse signal duty ratio according to the detection signal level difference between the left and right magnetic transmitters 14 in the above-described manner to make the rotation speed of the left and right drive wheels 2 different, and steer the work vehicle A. For example , When the detection signal level difference of the left and right electromagnetic passers-by 14 detects that the work vehicle A is deflected to the right, the pulse multiple load for driving the left travel motor is lower than the immediate load, which slows down the rotation speed of the left drive wheel 2 As a result, the work vehicle A can be turned to the left. That is, the direction of the work vehicle A is changed so that the level difference of the detection times of the left and right magnetic sensor 14 becomes zero. In this way, the work vehicle A can move along the electric Travel. Next, the control of the travel direction from the forward to the reverse when the working vehicle A reaches the end 8a of the working path 8. The block diagram of the control device 15 in FIG. 2 is that the automatic forward and reverse control 15f is used to generate the walking direction. Decide the signal path. The automatic forward and reverse control circuit 15f can output the signal used to switch the front and rear detectors 15a and supply the signal before and after the output. After the action of the 15g is set to reset the temporary toggle circuit 15h, if the start switch (not shown) is pressed, the automatic forward / reverse control circuit 15f remains in the forward state. Behind the control device 15, there are three types of CR time constant type "hard timer" inversion, stop, and prohibition of walking to judge the road (take -11- This page) — Loading · Ordering ·
A 本紙張尺度適用中國國家標準（CNS)甲4规格（210 X 297公浼） 82.6. 40,000 經濟部中央標準局ΚΚ工消費合作社印奴 219883 A6 _ B6_ 五、發明説明（10.) 下稱計時器判定霉路）15i ,如匾2所示，左右m磁傅威 器14的偵測信號即輸入於此。該計時器判定霣路15i可判 斷左右電磁傳戚器14的偵测信號和是否逹預定位準以上。 又可由其與三種設定時間的組合發出如下述的倍號並供窸 至自動前進倒退控制m路15f。此外，以左右霣磁傅成器 14的偵測信號和來判斷偽為了減少作楽車A相對於電線的 左右方向偏位所産生的影堪。 首先，霄磁傅威器14的偵測倍號和（以下簡單稱作偵 測信號）未達預定位準時，即由計時器判定霣路15 i發出 禁止行走信號輪入於自動前進倒退控制電路15f。意即， 如偵測信號消失，則無法使作業車A沿霣線行走，故偵测 信號未達預定位準時，即發出禁止行走信號。而自動前進 倒退控制電路15f乃根據該禁止行走倍號將供至輸出前後 選擇電路15β的前進信號及倒退倍號兩者均两掉，令左右 行走馬達17停止，結果，作業車Α即被停止。 偵測信號未達預定位準的狀態持續逹第1設定時間（ 例如2秒鐘）時，即由計時器判定《路15i输出反轉信號 並輸至自動前進倒退控制霉路15f。如此，自動前進倒退 控制電路15f即將以往所保持的前進狀態切換並保持於倒 退狀態。但該保持狀態係在自動前進倒退控制電路15f内 部的狀態，實際上，供至輪出前後逛擇霣路15β的倒退倍 號導通的時機係在經下述處理使上述禁止行走倍號解除之 後。 如圖1所示，電線在作業路徑8之端部8a僳逋接成Τ -1 2- 本紙张尺度適用中國國家標準（CNS)甲4规格（210 X 297公釐） 82.6. 40,000 ------------------' ——I-裝------ir------A (**先閲讀背面之注意事項再塡寫本頁) 219883 A6 B6 五、發明説明（11.) (請先閱讀背&之注意事項*蟥寫本頁) 字形。故作業車A行走於作楽路徑8並速锎部8a時，流通 於霉線的霣流所産生的磁場方向费[然改變90° ,故所理擇 的前側霣磁傅感器14的越應電壓急刺降低。结果則如上所 述地，控制裝置15乃随著偵測倍號未逹預定位準而令作業 車A停止，並在經第1設定時間後將作業車A的行走方向 改變（内部保持狀態由前進變換為倒退）。 結果，用以變換前後感测器灌择霉路15a倍號反轉， 後側的一對電磁傳感器14的信號發生作用，故偵拥信號再 逹預定位準以上。如此，經遇第3設定時間（例如2秒饞 )後，計時器判定電路15 i乃將上述禁止行走倍號解除。 從而倒退信號由自動前進倒退控制霣路15 f傅輪至輪出前 後蓮擇18路15β ，行走馬逹17乃將左右驅動輪2朝倒退方 向旋轉驅動。 經濟部中兴標準局貝工消費合作社印製 意卽，偵測信號逹預定位準後，控制裝置15即在經第 3設定時間後再令作業車Α行走驅動。此外，偵測信號未 逹預定位準的狀態如經過第4設定時間（例如5秒鐽）時 ，即令自動行走結束。令作業車A完全停止的停止倍號偽 由計時器判定電路15i發出，並傅至自動前進倒退霣路 15f。此為一種安全機能裝置，如欲再啓動，則必須再按 啓動開關。 藉由上述方式，作業車A逹作業路徑8的端部8a時即 可改變行走方向。此外，在距出發貼13最遠的作業路徑8 的端部8b處，由於笛線雖非連接成T宇形，而是舖設成L 字形，故作業車A亦可和其他作業路徑8 —樣，在到連端 -13- 本紙張尺度適用中國國家標準（CNS)_甲4规格（210 X 297公釐） 82.6. 40 000 A6 219883 _B6_ 五、發明説明（12·) 部8b時改變其行走方向。 其次説明作業車A由主路徑9轉向一作業路徑8時的 控制及由作業路徑β以倒退狀筋回走至主路徑9時行走方 向愛換為前進再朝箸次一作楽路悝8在主路悝9上前進之 控制。 首先，將設於主路徑9與作業路徑8的分叉黏上的I 形變換器11及II形變換器12的轚路方塊圃掲示於圔3(a) 及圖3(b)。該等笛源係由+ ΙΝ端子輸入，經由第1 «驛 11a、12a後自+ OUT端子輸出。然後由距出發黏13最近的 I形變換器11開始依序使+ 〇ϋΤ端子連接於次一 II形變換 器12的+ ΙΝ端子。第1電驛11a、12a之另一接點則連接 於位在主路徑9之出發點13電線（SIN端子）相反側的霣 線（NEXT端子）。任一接點均為A接點（常開）。 此外復設有第2霣驛11b、12b,其A接黏係連接於主 路徑9的出發點13側霣線（SIN端子）與作業路徑8的電 線（LINE端子）。任一變換器11、12均導通時，由於«發 電路11c、12c之重置，使第2霣驛lib、12b導通，第1電 驛11a、12a則切斷。 接收線圈lid、12 d所接收之交流信铖（切換信號）經 放大、檢波、整流所得之信號如在預定準以上時，則《發 電路11c、12c反轉，使第1 «驛11a、12b導通，第2霣釋 lib、12b則切斷。但由於導通延邂電路11β、12β之作用而 使第2電驛lib、12b切斷後，須於經過第2設定時間後第 1電驛11a、12a才導通。該第2設定時間之設定長度傈較 -1 4 _ 本紙張尺度適用中國Θ家標準（CNS)甲4规格（210 X 297公釐） (請先閱讀背面之注意事項再塡寫本頁) -•丨裝· 訂. 經濟部中央標準局月工消费合作社印製 82.6. 40,000 219883 A6 _ B6_ 五、發明説明（13.) (請先閲讀背面之注意事項再填寫本頁) 變換作莱車A行走方向的第1設定時間（例如2秒鐘）為 長（例如2 . 5秒鐘）。 發出上述爱換倍號的變換倍號發射器18供設於作業車 A ，且如圖2所示地連接於控制裝置15的倒退燈點亮用輪 出端子。意即，僅在作業車A倒退時才發出變換倍號。因 而，作業車A前進通過變換器11、12時，變換器11、12並 無任何變化，但倒退通過時，亦即作業車A由作業路徑8 朝主路徑9回走而通過該等變換器11、12時，該等變換器 11、12即會産生上述變化。 藉由上述的構成，作業車A由出發點13啓程時，僅有 I形變換器11通電，主路徑9的出發黏側霣線與作業路徑 8的電線傜相連接。因而，作業車A可一邊偵拥流通於《 線的霣流所産生的磁場，一邊轉向行走至頭一作業路徑8 。不久，到逹作業路徑8的端部8b,即如前述他由前進變 換為倒退，朝主路徑9回走，並倒退通過I形變換器11。 經濟部中央標準局R工消費合作社印製 於是，I形變換器11乃將主路徑9的出發點钿霣線與 作業路徑8電線的連接狀態（SIN〜LIHE)切斷，再於第2 設定時間過後將主路徑9的出發點側電線和相反側的霣線 (SIN〜HEXT)連接起來，同時將通往次一 II形變換器12的 供電線（+NI〜+ OUT)連接起來。此時，次一 II形變換器 12由於會將SIN〜LINE間電線互相連接，故通過第二作業 路徑8的電線環路乃流通有用以誘導作業車A的霣流。意 即，由通過第一作業路徑8的電線琛路流通有霣流的狀態 經過任一環路均未流通電流的狀態（第2設定時間），再 -15- 82.(5. 40,000 本.紙張尺度適用中國國家標準（CNS)甲4规格（210 X 297公釐） 219883 A6 B6 經濟部中央標準屬WK工消费合作杜印製 五、發明説明（R) 移換至通過第二作業路徑8的霣線琛路上流通有霣流的狀 態。 另一方面，作業車A的控制裝置15在藉由相同於上述 作業路徑端部8b處的動作令作業車A暫時停止後即改變方 向再次行走。意即，作業車A倒退通過I型變換器11時， 會由於流通於電線之m流被切斷而令作業車A停止，於第 1設定時間過後再由倒退狀態切換至前進狀觴。自霣流遮 斷起經第2設定時間過後，I型變換器11再令笛流導通時 ，經第3設定時間後，控制裝罝15即令作業車A再次行走 ，使其沿箸流通有霣流的霣線前進，並轉向第二作業路徑 8 〇 經由反復實施上述之控制，作業車A即可由距出發黏 13最近處依序往返行走於作業路徑8 ,並在最後作業路徑 8的端部8b改變行走方向，以倒退狀態走上歸程。不久， 作業車A再次倒退通過II型變換器12。如此，圔3 (b)的 觸發電路12c再行反轉，使第1電驛12a斷開，第2霣驛12b 導通。由於第2電驛12b未有導通延遯霣路，故第1霣驛 12 a斷開之同時第2電驛12 b即行導通。意即，流通於霣線 之電流不經由遮斷期間即可變換至包括前邊（出發點側） 作業路徑8在内的電線環路。 因此，作業車不箱停止或變換方向即可由主路徑9倒 退而回至出發點.13。但I型變換器11與II型變換器12不一 樣，在作業車A第二次倒退通過時，第1霣驛12a及第2 電驛12b兩者均OFF。意即，如圖3(a)所示，觸發II路lie -16- (請先閲讀背面之注意事項再塡寫本頁) —裝- 訂· 本紙張尺度適用中國國家標準（CNS)甲4規格（210 X 2耵公釐> 82.6. 40,000 219883 A6 B6 經濟部中央標準局貝工消費合作社印製 五、發明説明（15.) 再反轉時，由於第2觸發電路Ilf之作用，第2霣驛亦成 OFF。所以，流通於電線之電流得以遮斷。 其次參佐圖4之方塊圖簡單說明用以産生交流電流通 於電線之誘導發送器1〇。 誘導發送器10備有二進制計數器10b、類比開關霣路 10 d相減電路10 d及帶通濾波器10f。二進制計數器10 b係與 由正弦皮産生用時鐽之振通電路l〇a所産生的基本時鐘同 步而生成0〜15的二進位數據；類比開關11路10d則對應 於二進位數據施行開開動作，使基準霣饜由藉霣阻網路 l〇c實施分壓之電産生樓階狀變化之霄®;相減霣路IQd則 將樓梯狀電壓作正負變化；帶通濾波器l〇f則可由所《致 之樓梯狀交流霄壓取得滑暢之棋擬正弦波。 所取得的模擬正弦波經霣力放大霣路l〇g放大後邸施 加於電線上。電線上經由分路霣阻10h流通有霣流。為使 該電流固定（例如〇. 3A),乃將發生於分路霣阻10h之電® 回授至誤差檢出/放大霣路l〇i,根據其與設定霣®之誤差 將施加於電阻網路l〇c之基準電壓加以補正。 該誘導發送器10設有使上述模擬正弦波産生斷鑛之裝 置，亦即使流通於m流通斷的電流通斷装置。暫時停止用 時鐘電路l〇j及開關l〇k即為此裝置。開朗10k閉合時，暫 時的距形波。由於該輸出係連接於二進制計數器1 0 b的淸 除（clear)端子，故二進制計數器10b將反復0.5秒作用/ 0.5秒停止的動作，從而令流通於霄線的霉流反復地0H 0.5 秒。 -17- (請先閱讀背面之注意事項再塡寫本頁) 本紙张尺度適用中00家標準（CNS)甲4规格（210 X 297公釐） 82.6. 40,000 經濟部中央標準局與工消費合作社印製 219883 A6 _ Β6 _ 五、發明説明（16.) 由於在短於第1設定時間（例如2秒）的時間電流遮 斷及在短於第3設定時間（例如2秒）接通霣流的動作反 復進行，故作業車A的控制装置15不必變換作業車的行走 方向即可維持暫時停止狀態。意卽，藉由開關10k的ON/OFF 即可以對作業車A的暫時停止/暫時行走操作加以遙控。 谢針對圖2之控制裝置方塊圖加以補充說明。 首先，各輸入開蘭中，「噴管j開開係在噴皤藥液用 噴蓀管傾斜超過規定角度時0N,此開開偽為用以令作業車 A停止的安全裝置。「液歷j開期則在藥液嗔完時0N,使 作業車停止。「倒退變換j則在作業車A前進中如按下此 開關可令作業強制變換為倒退狀態。「手動前進J、 「手 動倒退」為設於操縱手把3的開關，於採用手動操作時， 可在按押該開關的時間内令作業庫前進或後退。「手動右 J、 「手動左」偽設在操縱手把3的開期，採用手動操作 時，可在按押該開關的期間内使作業車右轉、左轉。 輸出信號中，「捲取馬達J係在作業車A倒退時令捲 取馬達19驅動俥使軟管7捲繞用捲管架5轉動的倍號，該 信號只有在作業車A倒退中才發生。又，捲取馬達19與捲 管架5在捲取軟管的方向係以磨擦板連接，於軟管拉出的 方向則用離合器連結使里自由狀態。 「往復散布」「單程散布J為用以驅動_液噴灑用泵 馬逹20的輸出端子。「往復散布j於作業車A前進中及倒 退中均ON, 「單程散布j則僅在作業車倒退期間才ON。變 換開開21可將泵馬達20連接於任一輸出。「霣池燈」係在 -18- 本紙银又度適用中國國家標準（CNS)甲4规格（210 X 297公釐） 82.6. 40,000 (請先《讀背面之注意事項存場寫本頁) 219883 A6 B6 烴濟邡中央標华局貝工消費合作社印奴 五、發明説明（17.) 控制裝置15中的電池筲壓判定《路15h測得搭載於作業車 A的電池2 2的18壓在規定«至以下時即導通，黏亮電池燈 ，以通知霄池襦要充電或更換。 以下分別説明其他實施例。 (1) 如圖7所示，使用變換開關23將流通霣流的霣線 電路大幅變換時，可以擴大作業車A的行走路徑。此時， 作業車A得以和上述實施例同樣地按照行走路徑的各®段 (block)依序往來行走於多數作業路徑8。 (2) 於上述實施例中，作業車A在距出發黏13最遠的 作業路徑的作業已完成，然後沿回程往出發點13倒退行走 時，各變換器12可不經遮斷期間而逕自將流通霉流之霣線 踅路依序切換至包含前面（出發黏侧）作業路徑8的電線 電路，其目的在使諸如倒退行走於主路徑9的作業車A停 止，並可使用手動操作再往復行走於作業路徑8。 作業車A只要倒退行走至出發點13時，祗痛使«流流 通於包括離出發點13最遠的作業路徑8在内的霣線霣路卽 可。此時，各變換器12只在偵測出第一次的變換倍號時切 換電流路徑，至於第二次的變換倍號偵澜則不予理會。 (3) 上述實施例中，於作業車A變換行走方向時，随 箸追蹤感測器U的偵測信號未逹預定位準，作業車首先會 停止行走，經第1設定時間後即變換行走方向，而在偵拥 信號超過預定位準後，須經第3設定時間再開始行走；但 亦可在變換行走方向後立即再開始。也可以不經暫時停止 時間，而在偵測信號未逹預定位準之狀態經規定時間時立 -1 9- (請先閱讀背面之注意事項再塡寫本頁) _裝_ 訂· Γ 本纸張尺度適用中國國家標準（CNS)甲4规格（210 X 297公梦） 82.6. 40,000 219883 A6 B6 經濟部中央標準局貝工消费合作社印製 五、發明説明（18.) 即直接變換行走方向。 但由於已在作業路徑8之端部變換行走方向，且後側 追蹤烕測器14已確實測出來自霣線之磁場，故必須使作業 車A在上述規定時間行走之距離小於由前側迫蹤戚測器14 至後侧臧測器14之距離。 (4) 於上述實施例中，作業車A在作業路徑8端部暫 時停止的狀態下變換行走方向時，由於作用之迫蹤烕測器 1 4可由前側改換至後側，故得以使追蹤威测器1 4的偵测倍 號再次達預定位準以上，但迫蹤鉞測器Ί4僅設在前侧時， 上述方式即不適用。此時，可採取在變換行走方向之同時 提高追蹤感測器14的威度（放大度）或降低預定位準（判 定位準）的方式。 (5) 就作業車A在作業路徑a端部變換行走方向時辨 別作業路徑端部之方法而言，除如上述實施例所示地按照 追蹤感测器14之偵測信號辨別以外，亦可用接觸威测器觴 碰之偵測方法或偵测磁性標示之方法。作業車朝主路徑9 回走隨箸通過分叉黏而變換行走方向時，通過分叉點的辨 別方法亦可用偵測磁性檫號之方法，甚至其他各種方法亦 可採用。 (6) 本發明作業車之誘導条統並不限用於上述實施例 之藥液噴灑用作業車，只要是低速行走的作業車裝置均可 適用。 又，申請專利範圍中各元件或裝置均標有代號係為便 於與圖面對照，但本發明之構成並非僅限於圖面之態搛。 -2 0 - (請先聞3面之注意事項再塡寫本頁) 裝. 訂· 本紙張尺度適用中國困家標準（CNS)甲4规格（210 X 297 «釐） 82.6. 40,000 219883 a6 B6 五、發明説明（19·) 棋 置 佈 面 平 之 統 糸 導 0 之 ί ί 業 作 例 施 實 明 明發 說本 單為 簡 1 之圃 面 圃 圖 式 圖 塊 方画 置塊 裝方 制置 控裝 之換 車變 業流 作電 為為 2 3 圖圖圖圖圖画 4 5 式 棋 置 佈 面 平 之 例 施 實 他 ; 其 圖 統 塊.，；糸 方圖圖導 器視視誘 送惻底之 發車車車 導業業業 誘作作作 為為為為 (婧先閲讀耆面之注意事項再項寫本頁) 圖 —裝. 訂. 經濟邾中央摞準局典工消費合作社印製 本紙張尺度適用中國Β家標芈（CNS)甲4现樁（210 X 297公釐） 82.6. 40,000A This paper scale is applicable to China National Standard (CNS) Grade A 4 (210 X 297 gongs) 82.6. 40,000 Central Standards Bureau of the Ministry of Economic Affairs, Kukong Consumer Cooperatives Innu 219883 A6 _ B6_ V. Description of invention (10.) The device determines the mold path) 15i, as shown in the plaque 2, the detection signals of the left and right m magnetic inverter 14 are input here. The timer determines that the road 15i can determine whether the detection signals of the left and right electromagnetic transmitters 14 are above a predetermined level. In addition, it can issue a multiple number as described below in combination with the three set times and supply it to the automatic forward / reverse control m way 15f. In addition, the detection signal sum of the left and right magnetic converters 14 is used to determine the pseudo in order to reduce the effect of the lateral displacement of the trolley A relative to the wire. First, when the detection multiplier sum (hereinafter simply referred to as the detection signal) of the magnetic flux controller 14 does not reach the predetermined level, the timer determines that the en route 15 i sends a prohibition signal to take turns in the automatic forward and reverse control circuit 15f. This means that if the detection signal disappears, the operation vehicle A cannot be driven along the line, so when the detection signal does not reach the predetermined level, the walking prohibition signal is issued. The automatic forward / reverse control circuit 15f switches both the forward signal and the reverse multiplier number supplied to the front and rear selection circuit 15β according to the prohibited travel multiple to stop the left and right travel motors 17, and as a result, the work vehicle A is stopped. . When the state that the detection signal does not reach the predetermined level continues for the first set time (for example, 2 seconds), the timer judges that the road 15i outputs the reverse signal and outputs it to the automatic forward and reverse control 15f. In this way, the automatic forward / reverse control circuit 15f switches the forward state held in the past and keeps it in the reverse state. However, this holding state is the state inside the automatic forward and reverse control circuit 15f. In fact, the timing for turning on the reverse double number for selecting the front and back 15β before and after the wheel is turned on after the above-mentioned travel prohibited double number is released through the following processing . As shown in Figure 1, the wires are connected to Τ -1 at the end 8a of the working path 8 2- This paper scale is applicable to the Chinese National Standard (CNS) A 4 specifications (210 X 297 mm) 82.6. 40,000 --- --------------- '---- I-installed ------ ir ------ A (** Please read the notes on the back before writing this page) 219883 A6 B6 V. Description of the invention (11.) (Please read the notes on the back & write this page first) Glyph. Therefore, when the work vehicle A walks on the work path 8 and speeds the caliper portion 8a, the direction of the magnetic field generated by the wind flowing through the mildew changes by 90 °, so the selected front side magnetic sensor 14 is The voltage spike should be reduced. As a result, as described above, the control device 15 stops the work vehicle A as it detects that the double number has not reached the predetermined level, and changes the running direction of the work vehicle A after the first set time (the internal holding state is changed from Forward to change back). As a result, the sensor used to change the front and back sensor selection path 15a is reversed, and the signals of the pair of electromagnetic sensors 14 on the rear side act, so the detection signal is higher than the predetermined level. In this way, after encountering the third set time (for example, 2 seconds), the timer determination circuit 15 i releases the above-mentioned travel prohibition multiple. Therefore, the reverse signal is controlled by the automatic forward and reverse control of the 15th road to the front and back to the front and back of the wheel. The 18th road 15β is selected, and the walking horse 17 drives the left and right drive wheels 2 in the reverse direction. The Peking Consumer Co-operative Society of the ZTE Standards Bureau of the Ministry of Economic Affairs printed the 卽. After the detection signal reached the predetermined level, the control device 15 caused the operation vehicle A to drive after the third set time. In addition, if the detection signal is not at a predetermined level, the automatic walking will be ended when the fourth set time (for example, 5 seconds) elapses. The stop multiplier for completely stopping the work vehicle A is issued by the timer judging circuit 15i, and then automatically advances to the backward and forward road 15f. This is a safety function device, if you want to restart, you must press the start switch again. In the above manner, the working vehicle A can change the walking direction when it works at the end 8a of the working path 8. In addition, at the end 8b of the working path 8 farthest from the starting sticker 13, since the flute wire is not connected in a T-shape, but is laid in an L shape, the working vehicle A can also be the same as other working paths 8. , To the end of -13- This paper scale applies the Chinese National Standard (CNS) _A4 specifications (210 X 297 mm) 82.6. 40 000 A6 219883 _B6_ V. Description of invention (12 ·) Part 8b Change its walking direction. Next, the control when the work vehicle A is turned from the main path 9 to a work path 8 and the travel direction from the work path β to the main path 9 with the reverse ribs are changed to the direction of love and then forward, and then toward the chopsticks. The control of the advance on Road 9. First, the loops of the I-shaped converter 11 and the II-shaped converter 12 provided on the bifurcated sticks of the main path 9 and the working path 8 are shown in Fig. 3 (a) and Fig. 3 (b). These flute sources are input from the + IN terminal, and output from the + OUT terminal after the first station 11a, 12a. Then, starting from the I-shaped converter 11 closest to the starting stick 13, the + 〇ϋT terminal is connected to the + IN terminal of the second-II converter 12 in sequence. The other contacts of the first relays 11a and 12a are connected to the wire (NEXT terminal) opposite to the wire (SIN terminal) of the starting point 13 of the main path 9. Any contact is A contact (normally open). In addition, there are second terminals 11b and 12b, and the A bonding system is connected to the starting line 13 side of the main path 9 (SIN terminal) and the working path 8 line (LINE terminal). When any of the converters 11 and 12 is turned on, the reset of the generator circuits 11c and 12c turns on the second relays lib and 12b, and the first relays 11a and 12a are turned off. When the AC signal (switching signal) received by the receiving coil lid, 12 d is amplified, detected, and rectified, if the signal is above the predetermined level, the "transmission circuit 11c, 12c is reversed, so that the first« station 11a, 12b On, the second and second lib and 12b are cut off. However, after the second relays lib and 12b are cut off due to the effects of the conduction delay circuits 11β and 12β, the first relays 11a and 12a must be turned on after the second set time. The set length of the second set time is -1 4 _ This paper scale is applicable to the Chinese Θ Home Standard (CNS) A 4 specifications (210 X 297 mm) (please read the precautions on the back before writing this page)- • Installed and ordered. Printed by the Monthly Labor and Consumers Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. 82.6. 40,000 219883 A6 _ B6_ 5. Description of the invention (13.) (Please read the precautions on the back before filling out this page) The first set time in the walking direction (for example, 2 seconds) is long (for example, 2.5 seconds). The change number transmitter 18 that issues the above-mentioned love change number is provided in the work vehicle A, and is connected to the wheel-out terminal for lighting the reverse lamp of the control device 15 as shown in FIG. This means that the shift multiple is only issued when the work vehicle A reverses. Therefore, when the work vehicle A advances through the inverters 11 and 12, there is no change in the inverters 11 and 12, but when it passes backward, that is, the work vehicle A returns from the work path 8 toward the main path 9 and passes through the converter At 11, 12, these converters 11, 12 will produce the above changes. With the above-mentioned configuration, when the work vehicle A departs from the starting point 13, only the I-shaped converter 11 is energized, and the starting sticky side of the main path 9 is connected to the electric wire of the working path 8. Therefore, the work vehicle A can steer to the first work path 8 while detecting the magnetic field generated by the encircling current on the line. Soon, to the end 8b of the working path 8, as described above, he changes from forward to backward, walks back toward the main path 9, and passes backward through the I-shaped converter 11. Printed by the R Industry and Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economics. Therefore, the I-shaped converter 11 cuts off the connection state (SIN ~ LIHE) of the starting line of the main route 9 and the wire of the working route 8 and then sets the time at the second After that, the starting line side of the main path 9 and the opposite side line (SIN ~ HEXT) are connected, and at the same time, the power supply line (+ NI ~ + OUT) to the secondary II converter 12 is connected. At this time, since the second type II converter 12 connects the wires between SIN and LINE to each other, the wire loop passing through the second working path 8 is circulated and useful to induce the wandering of the working vehicle A. This means that there is no current flowing through any loop through the state of the electric wire passing through the first working path 8 (the second set time), then -15- 82. (5. 40,000 copies. Paper The standard is applicable to the Chinese National Standard (CNS) A 4 specifications (210 X 297 mm) 219883 A6 B6 Central standard of the Ministry of Economic Affairs is WK industrial and consumer cooperation du printing 5. The description of invention (R) is transferred to the second operation path 8 On the other hand, there is a state in which there is a stream flowing on the Chen line. On the other hand, the control device 15 of the work vehicle A changes its direction and walks again after temporarily stopping the work vehicle A by the same action at the end 8b of the work path. That is, when the work vehicle A passes backward through the I-type inverter 11, the m current flowing through the electric wire is cut off, so that the work vehicle A stops, and then switches from the reverse state to the forward state after the first set time. After the second set time has elapsed since the current was interrupted, and the I-type converter 11 turns on the flute current again, after the third set time, the control gear 15 will cause the work vehicle A to walk again, making it flow along the dust basket. En route forward and turn to the second working path 8 〇 By repeatedly performing the above control, the work vehicle A can sequentially walk back and forth to the work path 8 from the closest to the starting stick 13, and change the travel direction at the end 8b of the last work path 8 to go back in a backward state. Soon, The work vehicle A reverses again through the type II converter 12. In this way, the trigger circuit 12c of U3 (b) reverses again, turning off the first relay 12a and turning on the second relay 12b. Since the second relay 12b There is no continuation along the escape road, so the first relay 12a is disconnected and the second relay 12b is turned on. This means that the current flowing through the barrier can be changed to the front (starting point) without passing through the interruption period. Side) The wire loop including the working path 8. Therefore, the work vehicle can be reversed from the main path 9 to the starting point without stopping or changing the direction of the box. 13. However, the I-type converter 11 is not the same as the II-type converter 12, When the operation vehicle A passes backwards for the second time, both the first and second relays 12a and 12b are turned off. That is, as shown in FIG. 3 (a), the II route lie -16- is triggered (please read first Note on the back and then write this page) — Binding-Ordering · This paper standard applies to China National Standard (CNS) A 4 Grid (210 X 2 mm)> 82.6. 40,000 219883 A6 B6 Printed by the Beigong Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs V. Invention description (15.) When it is reversed, due to the effect of the second trigger circuit Ilf, 2 霣 驿 also turned OFF. Therefore, the current flowing through the wire can be interrupted. Next, refer to the block diagram of FIG. 4 for a brief description of the induction transmitter 10 used to generate AC current through the wire. The induction transmitter 10 is equipped with a binary counter 10b. The analog switch 10d subtraction circuit 10d and the band-pass filter 10f. The binary counter 10 b is synchronized with the basic clock generated by the oscillating time-generating vibration circuit 10a to generate binary data of 0 ~ 15; the analog switch 11 road 10d corresponds to the binary data execution opening Action, the reference voltage is generated by the voltage divider by the resistance network 10c to generate a step-like change; the subtraction IQd changes the staircase voltage positively and negatively; the band-pass filter l〇f Then the smooth quasi-sinusoidal wave can be obtained from the resulting stair-shaped alternating pressure. The obtained simulated sine wave is amplified by the force amplifier 10g and applied to the electric wire. On the wire, there is a current flowing through the branch for 10 hours. In order to fix the current (for example, 0.3A), the electricity that occurs at the shunt resistance 10h is fed back to the error detection / amplification path Io, and the error according to the setting of the resistance will be applied to the resistance The reference voltage of the network 10c is corrected. The induction transmitter 10 is provided with a device for causing the above analog sine wave to break the ore, and a current on-off device for circulating m current. The clock circuit 10j for temporary suspension and the switch 10k are such devices. When the cheerful 10k is closed, the temporary wavy wave. Since this output is connected to the clear terminal of the binary counter 10 b, the binary counter 10 b will repeat the action of 0.5 second action / 0.5 second stop, so that the flow of mildew flowing on the line will repeat 0H 0.5 second. -17- (Please read the precautions on the back before writing this page) The paper size is applicable to the China 00 standard (CNS) A 4 specifications (210 X 297 mm) 82.6. 40,000 Central Bureau of Standards of the Ministry of Economic Affairs and Industrial and Consumer Cooperatives Printed 219883 A6 _ Β6 _ 5. Description of the invention (16.) Because the current is interrupted in a time shorter than the first set time (for example 2 seconds) and turned on in a shorter time than the third set time (for example 2 seconds) The operation of is repeated, so the control device 15 of the work vehicle A can maintain the temporary stop state without changing the traveling direction of the work vehicle. In other words, by turning ON / OFF the switch 10k, it is possible to remotely control the temporary stop / temporary operation of the work vehicle A. Xie supplements the block diagram of the control device of FIG. 2. First, in each input Kailan, "the opening of the nozzle j is 0N when the spray tube for spraying the medical liquid is inclined beyond the specified angle, this opening is a safety device to stop the operation vehicle A." During the opening period of j, 0N will stop the operation vehicle when the liquid medicine is finished. "Reverse conversion j" If you press this switch while the operation vehicle A is moving forward, the operation will be forced to change to the reverse state. "Manual advance J," Manual reverse ”Is a switch provided on the handle 3. When manual operation is used, the operation library can be moved forward or backward within the time of pressing the switch. "Manual right J" and "manual left" are presumed to be in the opening period of the handlebar 3. When manual operation is adopted, the work vehicle can be turned right and left within the period of pressing the switch. In the output signal, "The take-up motor J is a multiple that causes the take-up motor 19 to drive the reel 5 to rotate the hose 7 when the work vehicle A is reversed. This signal occurs only when the work vehicle A is reversed. In addition, the take-up motor 19 and the reel stand 5 are connected with a friction plate in the direction of taking up the hose, and the clutch is connected in the direction of pulling out of the hose to make the inside free state. It is used to drive the output terminal of the pump 20 for liquid spraying. "Reciprocating distribution j is ON during the forward and reverse movement of work vehicle A," One-way distribution j is only turned on during the reverse operation of the work vehicle. Change open 21 Connect the pump motor 20 to any output. "Yuanchi Lamp" is at -18- This paper silver is also applicable to China National Standard (CNS) A 4 specifications (210 X 297 mm) 82.6. 40,000 (please read "Back" first (Notes to be written on this page) 219883 A6 B6 Hydrocarbon Jifang Central Standardization Bureau Beigong Consumer Cooperative Insignia V. Description of invention (17.) Judgment of battery pressure in the control device 15 "Road 15h measured and carried in operation When the battery 18 of battery A 2 2 is pressed «to the following, it will be turned on, and the battery light will stick, In order to inform Xiaochihuan to charge or replace. The other embodiments are described below. (1) As shown in Fig. 7, when the switch circuit 23 is used to greatly change the circuit of the flying wire, the traveling path of the work vehicle A can be enlarged. At this time, the work vehicle A is able to walk on the plurality of work paths 8 in order according to the blocks of the travel path in the same manner as in the above embodiment. (2) In the above embodiment, when the operation vehicle A has completed the operation on the working path farthest from the starting stick 13 and then walks backwards to the starting point 13 along the return journey, each inverter 12 can circulate without interruption. The winding path of the mustard line is sequentially switched to the wire circuit including the working path 8 on the front (starting stick side), the purpose of which is to stop the working vehicle A such as walking backward on the main path 9 and can reciprocate using manual operation于 工作 PATH8. As long as the work vehicle A walks backwards to the starting point 13, the pain will make «flow through the en route including the working path 8 farthest from the starting point 13 *. At this time, each converter 12 only switches the current path when the first conversion multiple number is detected, but ignores the second conversion multiple number detection. (3) In the above embodiment, when the work vehicle A changes the direction of travel, as the detection signal of the tracking sensor U does not reach the predetermined level, the work vehicle will first stop walking, and then change the travel after the first set time Direction, and after the detection signal exceeds the predetermined level, you must start walking after the third set time; but you can also start again immediately after changing the walking direction. You can also stop the time without a temporary stop, and when the detection signal is not at the predetermined level, the time will be -1 9- (please read the precautions on the back before writing this page) _ 装 _ end · Γ this The paper scale is in accordance with the Chinese National Standard (CNS) A4 specifications (210 X 297 public dreams) 82.6. 40,000 219883 A6 B6 Printed by the Beigong Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 5. The invention description (18.) is to directly change the walking direction . However, since the walking direction has been changed at the end of the working path 8, and the rear-side tracking detector 14 has indeed detected the magnetic field from the upper line, it is necessary to make the distance traveled by the working vehicle A at the above-mentioned specified time less than the front side. The distance between the reference detector 14 and the rear detector 14. (4) In the above embodiment, when the work vehicle A changes its walking direction with the work path 8 end temporarily stopped, the tracking sensor 14 can be changed from the front side to the rear side, so that the tracking power can be The detection times of the detector 14 are again higher than the predetermined level, but when the tracking detector Ί4 is only located on the front side, the above method is not applicable. At this time, a method of increasing the power (magnification) of the tracking sensor 14 or lowering the predetermined level (judging the positioning level) while changing the walking direction may be adopted. (5) As for the method of identifying the end of the working path when the working vehicle A changes the walking direction at the end of the working path a, it can also be used in addition to the detection signal of the tracking sensor 14 as shown in the above embodiment. The detection method of contact with the prestigious detector or the method of detecting magnetic labels. When the work vehicle moves back to the main path 9 and changes the direction of travel through the fork stick, the method of identifying the branch point can also use the method of detecting the magnetic sign, and even other various methods can also be used. (6) The induction system of the working vehicle of the present invention is not limited to the working vehicle for spraying the chemical liquid of the above embodiment, as long as it is a working vehicle device that travels at a low speed. In addition, each component or device in the patent application is marked with a code to facilitate comparison with the drawing, but the structure of the present invention is not limited to the state of the drawing. -2 0-(please read the notes on the three sides before writing this page). Binding. This paper size is applicable to the China Sleepy Family Standard (CNS) A 4 specifications (210 X 297 «Cli> 82.6. 40,000 219883 a6 B6 Fifth, the description of the invention (19 ·) Che Zhiqiu cloth surface level system guide Shi Zhiming Shi Shiming Mingfa said that this list is Jan 1's nursery garden pattern block square painting block installation system control Installed and changed the car to change the industry to make electricity for 2 3 Figure figure figure picture 4 5 type chess set cloth flat example to implement him; its figure system block.,; Yundi's start-up car guide industry is tempted to act (Jing first read the precautions of the noodles and then write this page) Figure-installed. Ordered. Printed by the Central Government Bureau of Economics and Trade Co-production Bureau The scale of this paper is applicable to the Chinese B Jiabiao (CNS) Jia 4 pile (210 X 297 mm) 82.6. 40,000