JPH07281742A - Traveling controller for beam light guided work vehicle - Google Patents

Abstract

PURPOSE:To prevent erroneous traveling in the case of turning between adjacent traveling courses by discriminating received light by angle difference between a projecting direction calculated based on a car body bearing and a projection angle and a projecting direction in the other traveling course. CONSTITUTION:In the crossing position of two traveling courses, when the vehicle turns from a state along one beam light out of two projected beam lights for guidance to a state along the other beam light between the adjacent traveling sections, a controller 16 calculates the projecting direction of the beam light for guidance received by a photosensor S1 for steering control based on the detected information of a car body bearing sensor S4 and a projection angle detecting means 101. When the angle difference between the calculated projecting direction and the projecting direction of the beam light for guidance in the other traveling course is within a prescribed angle, the guide beam light received by the photosensor S1 for steering control is discriminated as the beam light for guidance in the other traveling course.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide beam along the longitudinal direction of each of the two travel paths so that the work vehicles can automatically travel along each of the two travel paths provided in the intersecting state. Two beam light projecting means for projecting light are provided on the ground side, and for detecting the deviation in the vehicle body lateral direction with respect to each of the guiding beam light projected by the two beam light projecting means, A steering control optical sensor for receiving a beam of light, a steering means for controlling the steering of the work vehicle, and the work vehicle for each of the two traveling strokes based on the light reception information of the steering control optical sensor. Of the steering means so that the work vehicle automatically travels along the traveling path and moves at a crossing point of the two traveling paths from a state along one traveling path to a state along another one traveling path. The control means that controls the operation Concerning the traveling control apparatus for a resulting beam induction type working vehicle provided in the working vehicle.

[0002]

2. Description of the Related Art In the traveling control apparatus for a beam light guide type work vehicle, a case of a rice planting work vehicle V as a beam light guide type work vehicle has been conventionally shown in FIG.
As illustrated in (a), the work vehicle V has one side M of two adjacent sides M1 and M2 of the work site K that is a rectangular farm field.
The guide beam light A1 projected along the longitudinal direction of 2 is received by the steering control sensor S1 on the left side of the vehicle body, and the other side M is automatically driven along the guide beam light A1.
After entering the work site K along the longitudinal direction of the one side M2 from the entrance Mi provided at one end of the No. 1, turn at the headland portions K1 and K2 on both end sides of the one side M2 in the longitudinal direction. While reciprocating along the longitudinal direction, the planting work is performed on the work target portion Ks, which is the central side portion.
Then, 90 from the terminal end portion (the lower right position in the figure) of the final traveling stroke of the work target portion Ks toward the starting end portion of the first traveling stroke of the second headland portion K2 adjacent to the side M4 opposite to the side M1. The steering control sensor on the right side of the vehicle body moves from the state where the steering control sensor S1 on the left side of the vehicle body receives the guiding beam light A1 projected along the longitudinal direction of the side M2. At S1, the state is switched to the state of receiving the guiding beam light A2 projected along the longitudinal direction of the side M1. After that, after traveling back and forth in two traveling strokes inside and outside the second headland portion K2 along the guiding beam light A2, the work target portion Ks is moved from the stroke end portion of the second headland portion K2. Side M3 at the bottom of the figure left in the work for
90 degrees to the start end of the traveling stroke portion K3 adjacent to the vehicle (at this time, the guidance beam light received by the steering control sensor S1 on the right side of the vehicle body is switched from A2 to A1). The vehicle travels, and then turns right at the end of the travel stroke portion K3 (at this time, the guidance beam light received by the steering control sensor S1 on the right side of the vehicle body is switched from A1 to A2) and is adjacent to the side M1. After traveling on the outer stroke of the first headland portion K1 in a non-working state, the vehicle travels back and forth between two strokes on the inner and outer sides thereof, and finally, the stroke end portion (upper end of the figure) of the first headland portion K1. Turn 90 degrees left from the entrance Mi
To leave the work area K.

[0003]

In the above-mentioned prior art, at the lower right position of FIG. 27 (a), the work vehicle V is moved from the end of the final traveling stroke of the work target portion Ks to the second headland portion K2.
In the case where the steering control sensor S1 to be used is moved 90 degrees leftward toward the start end of the first traveling stroke of the vehicle, the steering control sensor S1 to be used is changed from the steering control sensor S1 on the left side of the vehicle body to the steering control sensor S1 on the right side of the vehicle body. By switching, it will be confirmed whether or not the steering control sensor S1 on the right side of the vehicle body receives the guiding beam light A2 in the next stroke, but as shown in FIG. When the steering control sensor S1 on the right side of the vehicle body crosses the guiding beam light A1 in the previous stroke, the beam light A1 may be temporarily received. In that case, it is not possible to determine whether or not the received guiding light beam A1 is the guiding light beam A2 in the next step.
The received guiding beam light A1 is mistakenly regarded as the guiding beam light A2 in the next step, and there is a possibility that proper automatic traveling along the guiding beam light cannot be performed.

The present invention has been made in view of the above situation, and an object thereof is to eliminate two drawbacks of the above-mentioned prior art by projecting in two intersecting states at intersections of two traveling strokes. When the turning control sensor moves from one state of the guiding beam light along one of the guiding beam lights to another state of the guiding beam light between adjacent traveling strokes, the steering control sensor In order to surely receive the guiding light beam of the stroke, it is possible to accurately determine whether or not the received light beam is the guiding light beam of the next stroke.

[0005]

A travel control device for a beam light guide type work vehicle according to the present invention is configured to automatically travel along each of two travel paths provided in a state where the work vehicles intersect. Two beam light projecting means for projecting the guiding beam light along the longitudinal direction of each of the two traveling strokes are provided on the ground side, and the guiding beam light projected by each of the two beam light projecting means is provided. A steering control optical sensor that receives the guiding light beam, a steering means that controls the steering of the work vehicle, and light reception information of the steering control optical sensor in order to detect a shift in the vehicle body lateral direction. Based on the above, the work vehicle automatically travels along each of the two travel strokes, and at the intersection of the two travel strokes, the work vehicle moves along one travel stroke to another travel stroke. Turn to move along The control means for controlling the operation of the steering means is a travel control device for a beam light guide type work vehicle provided in the work vehicle, and a first characteristic configuration thereof is the work vehicle. Further, a vehicle body direction detecting means for detecting a vehicle body direction of the working vehicle, and a projection angle detecting means for detecting a projection angle of the guiding beam light received by the steering control optical sensor with respect to the vehicle body direction of the working vehicle. And the control means, during the turning operation from one traveling stroke to the other traveling stroke at the intersection,
The projection direction of the guidance light beam received by the steering control optical sensor is calculated based on the detection information of the vehicle body direction detection means and the projection angle detection means, and the calculated projection direction and the other one When the angular difference from the projection direction of the guiding beam light in one traveling stroke is within a predetermined angle, the guiding beam light received by the steering control light sensor is used for guiding in the other traveling stroke. It is configured to be discriminated as a light beam.

In the second characteristic configuration, before and after the steering control optical sensors are juxtaposed in the vehicle front-rear direction with a space therebetween to detect the light receiving positions of the guiding beam light in the vehicle lateral direction, respectively. The projection angle detecting means is composed of a pair of optical sensors, and the projection angle detecting means is arranged with respect to the vehicle body azimuth of the work vehicle based on the difference between the light receiving positions of the front and rear optical sensors in the lateral direction of the vehicle body and the distance information in the vehicle longitudinal direction. It is configured to detect the projection angle of the guiding light beam.

A third characteristic configuration is that the working vehicle automatically travels along the guiding light beam from one of the two beam light projecting means. A trigger light sensor that receives the guidance light beam from another one of the light beam projection means that intersects with the guidance light beam, the control means is provided with the light reception information of the trigger light sensor. On the basis of the above, the start position of the turning operation from one traveling stroke to the other traveling stroke at the intersection is set.

A fourth characteristic configuration is for guiding the work vehicle from the two beam light projecting means so that the work vehicle automatically travels in parallel with two adjacent sides of a rectangular work site. The light beams are projected along the respective two sides in the longitudinal direction so as to be orthogonal to each other.

In a fifth characteristic configuration, the control means is
The length of one side of each of the two sides of the rectangular work site is set to be a headland part on both ends of the work site in the longitudinal direction of one of two adjacent sides and the central part is a work target part. After performing the reciprocating work for working on the work target portion while reciprocating the work vehicle along the direction, the work vehicle reciprocates along the longitudinal direction of the other one of the two sides. The headland work is performed on both headland parts while performing the turning movement from the end part of the final travel stroke of the reciprocating work to the start end of the first travel path of the headland work. In addition, it is configured so as to discriminate the guiding light beam.

[0010]

According to the first characteristic configuration of the traveling control apparatus for a beam light guided working vehicle according to the present invention, the working vehicle projects the beam light along one of two traveling strokes provided in a crossing state. The steering means is operated based on the deviation in the lateral direction of the vehicle body detected from the information received by the steering control light sensor from the guidance light beam projected by the steering means, and the steering means is automatically operated along one traveling path. At the intersection of the two traveling strokes, the steering means is operated to make a turning movement from the state along the one traveling stroke to the state along the other one traveling stroke. At the time of this turning operation, the guidance beam light received by the steering control optical sensor is detected from the vehicle body direction information obtained by the vehicle body direction detection means and the projection angle detection information obtained by the projection angle detection means with respect to the vehicle body direction. When the angle difference between the calculated projecting direction and the projecting direction of the guiding light beam in the other traveling path is within a predetermined angle, that is, both projecting directions are within a predetermined angle. When they match, the guidance light beam in the light receiving state is discriminated as the guidance light beam in one of the other traveling strokes, and thereafter, the guidance light beam is received by the steering control optical sensor. The steering means is actuated based on the deviation in the vehicle width direction detected from the vehicle to automatically travel along the other travel path.

According to the second characteristic configuration, the projection angle of the guiding light beam is detected by the projection angle detecting means.
This is done as follows. That is, a pair of front and rear optical sensors that are juxtaposed in the steering control optical sensor in the longitudinal direction of the vehicle body detect the light receiving positions of the guiding beam light in the lateral direction of the vehicle body, respectively. The projection angle detection means projects the guidance beam light to the vehicle body azimuth of the work vehicle based on the difference in the light receiving position in the vehicle width direction with respect to the guidance beam light and the distance information between the pair of front and rear optical sensors in the vehicle front and rear direction. Detect the angle. Then, the projection direction of the guiding light beam is calculated from the projection angle detection information of the guiding light beam and the vehicle body direction information by the vehicle body direction detecting means.
As described above, it is determined whether or not the guiding light beam in the light receiving state is the guiding light beam in the traveling stroke after turning.

According to the third characteristic configuration, the work vehicle is moved along one traveling path of the two traveling paths, that is, from one of the two beam light projecting means. When the trigger light sensor receives the guide beam light from another one of the beam light projecting means that intersects with the guide beam light while automatically traveling along the guide beam light, the trigger light is received. At the start position of the turning motion set based on the light reception information of the sensor, the above-mentioned 2
A turning operation from one traveling stroke to another traveling stroke at the intersection of one traveling stroke is started. And
At the time of this turning operation, calculation of the projection direction of the guiding light beam in the light receiving state based on the vehicle body direction information and the projection angle detection information of the guiding light beam with respect to the vehicle body direction,
Then, it is determined whether or not the guiding light beam in the light receiving state is the guiding light beam in another traveling route after turning, and thereafter, the work vehicle is guided for the other traveling route. The vehicle automatically travels along the one traveling path other than the above, along the guidance light beam determined to be the light beam.

According to the fourth characteristic configuration, the work vehicle is
Of the two adjacent sides of the rectangular work site, the vehicle automatically travels along the guide beam light projected along the longitudinal direction of one of the two sides, that is, in a state parallel to the one side, and At a crossing point where the guiding beam light projected along the longitudinal direction and the guiding beam light projected along the longitudinal direction of the other side intersect in an orthogonal state, the steering means is operated to operate the above-mentioned 1
It swings from a state parallel to one side to a state parallel to the other side. Then, at the time of this turning operation, as described above, it is determined whether or not the guiding light beam in the light receiving state is the guiding light beam along the other side, and thereafter, the work vehicle is determined as described above. 1 along the guiding beam of light
It runs automatically in a state parallel to the sides.

According to the fifth characteristic configuration, the work vehicle is
While traveling back and forth along the longitudinal direction of one side of each of the two adjacent sides of the rectangular work site in the longitudinal direction of one side in the longitudinal direction, as a headland part, with respect to the work target portion of the central side part After performing the reciprocating work, the headland work is performed on both headland parts while reciprocating along the longitudinal direction of the other one of the two sides. And
During the turning movement from the end portion of the final traveling stroke of the reciprocating work to the starting end portion of the first traveling stroke of the headland work, as described above, the guiding beam light in the light receiving state is It is determined whether or not it is the guidance light beam along the first traveling stroke, and thereafter, the work vehicle automatically travels along the first traveling stroke of the headland work along the determined guidance light beam.

[0015]

Therefore, according to the first characteristic configuration of the present invention, at the intersection of two traveling strokes, one of the two guidance light beams projected by the work vehicle in an intersecting state is guided. The beam light received by the steering control sensor is changed from the state along the beam light to the state along the other guide beam light between the adjacent traveling strokes. Since it is possible to accurately determine whether or not it is light, for example, even when the received guide beam light is the guide beam light of the previous stroke, the guide beam light is erroneously selected. It is possible to obtain a traveling control device for a beam light guide type work vehicle that is prevented from automatically traveling along the vehicle and that is highly reliable.

According to the second characteristic configuration, the steering control sensor for detecting the deviation in the lateral direction of the vehicle body with respect to the guiding light beam is used, and the steering direction control sensor is used to detect the vehicle body direction. By making it possible to detect the projection angle of the guiding beam light with respect to, for example, while avoiding the complication of the device configuration without providing another projection angle detection means,
Suitable means for achieving the effect of the first characteristic configuration can be obtained.

Further, according to the third characteristic constitution, the turning operation at the intersection of the guiding light beams can be properly started from a predetermined position, and thus the effect of the first characteristic constitution is realized. In this case, more suitable means can be obtained.

According to the fourth characteristic constitution, when the beam light guide type working vehicle is automatically driven in a state of being parallel to each of two adjacent sides of the rectangular work place, the first characteristic constitution is adopted. A suitable means for achieving the effect can be obtained.

Further, according to the fifth characteristic configuration, the vehicle is automatically run in a state parallel to one of two adjacent sides of a rectangular work site, and both sides of the one side in the longitudinal direction are pillowed. In order to work the above headland part by automatically running in a state parallel to the other one side after working the work center side part as the ground part,
When turning and moving toward the first stroke of the headland part,
It is possible to accurately turn and move, and therefore, when automatically traveling while working on a rectangular work site, the fourth
Suitable means in the characteristic configuration of the above can be obtained.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a traveling control device for a work vehicle for rice transplanting as a beam light guide type work vehicle will be described with reference to the drawings.

As shown in FIG. 1, one end (upper left end of the figure) of one reference side M1 of a plurality of sides surrounding a rectangular work site (field) K is adjacent to the reference side M1. An entrance Mi is provided to allow the work vehicle V to enter and exit along the longitudinal direction of the sides M2 and M3, and the adjacent side M
In the longitudinal direction of M2, M3, work is performed along the longitudinal direction of the adjacent sides M2, M3 with both end sides of the work site K being headland parts K1, K2 and the central part being the work target part Ks. Performing a reciprocating work for working on the work target portion Ks while reciprocating the vehicle V, and then reciprocating the working vehicle V along the longitudinal direction of the reference side M1 in both headland portions K1 and K2. The headland work is performed on the headland portions K1 and K2. still,
The work target portion Ks and the two headland portions K1 and K2 are two boundaries, a right side and a left side, which are provided at both ends of the work target portion Ks in the longitudinal direction of the adjacent sides M2 and M3 along the reference side M1. It is divided by lines Y and Y.

The reference side M1 in the work target portion Ks
Process R1 as a plurality of travel processes arranged in the longitudinal direction of the vehicle
In order to guide the work vehicle V along each of the above, the first beam light projecting device B1 for projecting the guiding beam light A1 along the longitudinal direction of the working stroke R1 is provided, and the pair of headland portions K
The first headland portion K adjacent to the reference side M1 of 1, K2
1 and the second headland portion K2 adjacent to the opposite side M4 opposite to the reference side M1, the work vehicle along each of the work steps R2 as a plurality of traveling steps arranged in the longitudinal direction of the adjacent sides M2 and M3. In order to guide V, a second beam light projection device B2 is provided that projects the guidance light beam A2 along the longitudinal direction of the work process R2. That is, along two traveling strokes R1 and R2 provided in a state where the work vehicle V intersects, that is, two adjacent sides M1 and M of the rectangular work site K.
2 so as to automatically travel in parallel with each other, in a state where they are orthogonal to each other along the longitudinal direction of each of the two travel paths R1 and R2, that is, along each of the longitudinal directions of the two sides M1 and M2. Two beam light projecting devices B as two beam light projecting means for projecting the guiding beam lights A1, A2.
1, B2 are provided on the ground side.

The first beam light projection device B1 is basically installed at a boundary position between two adjacent work strokes of the plurality of work strokes R1 at a ratio of one to two adjacent work strokes. However, the drawing shows the case where the number of work strokes R1 is odd, and one first beam light projection device B1 is arranged only for the work stroke R1 (R1a) at the uppermost end.
Further, the second beam light projection device B2 is installed at the boundary position of the work steps because the plurality of work steps R2 are two. Further, in the figure, the guiding beam light A2 from the second beam light projection device B2 in the longitudinal direction of the adjacent sides M2, M3.
Third beam light projecting device B3 for projecting the beam light A3 in parallel with the guiding beam light A2 inside the projection position of
Is provided. Although not described in detail, each beam light projection device B1, B2, B3 is composed of a laser device or the like, and each beam light A1, A2, A3 is scanned within a predetermined angle range in the vertical direction (see FIG. 2). ).

Next, a method of traveling the work vehicle V shown in FIG. 1 will be described. First, the work site portion connected to the entrance Mi along the longitudinal direction of the adjacent sides M2, M3 is the final work site portion R.
1a, and of the pair of adjacent sides M2, M3,
The work site portion adjacent to the adjacent side M3 located away from the entrance Mi is used as the relay work site portion R1b, and the reciprocating work is performed while leaving the final work site portion R1a and the relay work site portion R1b. Here, the final work site portion R1a
Is a work site portion corresponding to the uppermost one work process of the plurality of work processes R1 arranged in the longitudinal direction of the reference side M1, and the relay work site part R1b is one of the plurality of work processes R1. Is a work site portion corresponding to two work strokes on the lower end side of the. Then, a first headland portion K1 adjacent to the reference side M1 of the pair of headland portions K1, K2, and
The headland work is performed by working the second headland portion K2 adjacent to the facing side M4 that faces the reference side M1, and in the headland work, from the first headland portion K1 to the second headland portion K2.
At the time of transition to, the relay work site portion R1b is run while the relay work site portion R1b is operated, and finally,
It is set to work on the final work site portion R1a while running the final work site portion R1a from the second headland part K2 toward the entrance Mi.

Further, the work vehicle V is moved forward by one stroke so that each of the work strokes in the reciprocating work and the headland work can be performed in the forward movement state, and then 180 degrees or 90 degrees.
The turning is performed to move to the adjacent stroke while changing the direction. That is, in the turning for moving between the respective work strokes R1 in the reciprocating work and between the respective work strokes R2 in the headland work, the direction is changed by 180 degrees, and the work of the headland work is changed from the work stroke R1 of the reciprocating work. In the turning for moving to the stroke R2, moving between the work stroke R2 for headland work and the relay work land portion R1b, and moving for moving from the work stroke R2 for headland work to the final work land portion R1a, 90
The direction is changed. By running the work vehicle V as described above, the work (planting work in this case) in the work area K in a predetermined range can be continuously performed.

Explaining the structure of the work vehicle V,
As shown in FIG. 2 and FIG. 3, a seedling planting device 6 that can be switched between a ground working state and a non-working state is provided at a rear portion of a vehicle body 5 provided with a pair of left and right front wheels 3 and rear wheels 4 and is vertically movable. The drive can be stopped freely. In other words, when the vehicle is driven in the lowered state, it is the ground work state, and the other states are non-working states. Further, as shown in FIG. 4, the front and rear wheels 3 and 4 are configured such that the left and right wheels are paired so as to be individually steerable, and steering hydraulic cylinders 7 and 8 and an electromagnetically operated control valve 9 for them are provided. , 10 are provided. That is, a two-wheel steering system that steers only one of the front wheels 3 or the rear wheels 4, a four-wheel steering system that steers the front and rear wheels 3, 4 in opposite phases and at the same angle, and the front and rear wheels 3, 4 in the same phase. In addition, it is possible to selectively use three types of steering types, that is, a parallel steering type that steers at the same angle. As described above, the hydraulic cylinders 7 and 8 and the control valves 9 and 10 constitute steering means 7 to 10 that control the steering of the work vehicle V.

In FIG. 4, 11 is a hydraulic continuously variable transmission that shifts the output from the engine E to drive the front and rear wheels 3 and 4 simultaneously, 12 is an electric motor for gear shifting operation, and 13 is a planting device. 6, a hydraulic cylinder for raising and lowering, 14 a control valve thereof, 15 an electromagnetically operated planting clutch for intermittently driving the planting device 6 by the engine E, 16 a work vehicle V
Is a control device using a microcomputer for controlling the traveling of the plant and the operation of the planting device 6, and based on detection information by various sensors described later and work data stored in advance, the shift motor 12 and each control valve 9 , 10, 1
4 and each of the planting clutch 15 are controlled.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 4, steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor R3 that uses a potentiometer to indirectly detect the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11, and an encoder S3 for detecting the traveling distance by counting the number of rotations of the output shaft of the transmission 11.
And a direction sensor S4 using geomagnetism as a body direction detecting means for detecting the body direction of the work vehicle V, and the planting device 6
An inclination sensor S6 that is installed in the vehicle body and detects the inclination angle in the lateral direction of the vehicle body, and a potentiometer S5, which will be described later, that is installed at a location where the planting device 6 is connected to the vehicle body 5 are provided.

Also, as shown in FIGS. 2 and 3, the work vehicle V has guiding light beams A1 and A2 projected by the first beam light projecting device B1 and the second beam light projecting device B2, respectively. In order to detect the deviation in the vehicle body lateral direction with respect to the vehicle body, the steering control optical sensor S1 that receives the guidance beam lights A1 and A2, and the work vehicle V are the first beam light projection device B1 or the second beam light projection device B1.
Beam light for guidance A1, A2 from the beam light projector B2
The guide beam lights A2 and A from the second beam light projection device B2 or the first beam light projection device B1 that intersect the guide beam lights A1 and A2 while automatically traveling along
Beam light A3 from the first and third beam light projectors B3
And a trigger optical sensor S2 for receiving the light. The steering control optical sensor S1 can receive the guiding beam lights A1 and A2 on either side of the vehicle body.
A pair of left and right are provided on both left and right sides of the front part of the vehicle body so as to be located on a line connecting both axial cores of the front wheels 3 in a plan view. Sensor S2a, S2b of
The front-side sensor S2a is located a predetermined distance ahead of the line connecting the two shafts of the front wheel 3, and the rear sensor S2b is located on the line connecting the two shafts of the rear wheel 4. In addition, the trigger optical sensor S2 is provided with the beam lights A1 and A from the left and right sides of the vehicle body.
Only the presence / absence of light reception for 2 and A3 is detected, and the light reception position cannot be detected.

The steering control optical sensor S1 will be described in more detail. As shown in FIG. 5, a pair of front and rear wheels are arranged side by side with a distance d in the longitudinal direction of the vehicle body and an interval in the vertical direction. Comprised of optical sensors S1a and S1b,
Each of the pair of front and rear optical sensors S1a and S1b has a plurality of light receiving elements D arranged side by side in the lateral direction of the vehicle body, and is guided based on the position of the light receiving element D0 located at the sensor center in the lateral width direction. The light receiving positions of the beam light A1, A2 in the lateral direction of the vehicle body, that is, the positions X1, X2 of the light receiving element D can be detected. Also, the beam light A for guidance
In order to receive light with no difference between the front and rear directions of the vehicle body 1 and A2, incident light from the front and rear directions of the vehicle body can be received by the light receiving surfaces of both the optical sensors S1a and S1b. A reflecting mirror 18 that reflects the light is provided.

The control configuration for detecting the displacement of the vehicle body 5 in the lateral direction of the vehicle body by the steering control optical sensor S1 will be described. A pair of optical sensors S before and after the steering control optical sensor S1 will be described.
Based on the positions X1 and X2 of the respective light receiving elements 1a and S1b and the distance d in the vehicle front-rear direction, the inclination φ and the lateral width direction of the vehicle body 5 with respect to the projection direction of the guiding beam lights A1 and A2 are calculated from the following equations. The deviation x of the position at is obtained.

[0032]

## EQU1 ## φ = tan ^-1 (| X1-X2 | / d) x = X1

However, when the vehicle body 5 is tilted, it is necessary to remove the error due to the tilt. Hereinafter, the correction of this error removal will be described. As shown in FIG. 2, the planting device 6 is rotatably connected around a shaft center along the vehicle body front-rear direction at a connection position with respect to the vehicle body 5, and the planting device 6 and the shaft center of the car body 5 are connected to the connection position. A potentiometer S5 for detecting the rotation angle of the surroundings is installed, and the control device 16 uses a link mechanism or the like (not shown) based on the information of the tilt sensor S6 so that the planting device 6 is in a horizontal posture in the lateral direction of the vehicle body. The tilting means M consisting of is operated (see FIG. 4). Therefore, the rolling angle of the vehicle body 5 can be obtained by adding / subtracting both detection angles of the potentiometer S5 and the tilt sensor S6. Then, as shown in FIG. 6, a difference in height between the connection point and the steering control optical sensor S1 on the vehicle body is L1, and the connection point (center of the vehicle body left and right).
From the connection point in a state where the vehicle body is tilted, where the lateral distance on the vehicle body from the vehicle to the center of the light receiving portion of the light sensor S1 for steering control is L2 and the rolling angle of the vehicle body is θ. The lateral distance L3 to the center of the light receiving portion of the sensor S1 is determined, and the amount ΔL obtained by subtracting the lateral distance L2 when the vehicle body 5 is not tilted from this L3 is the correction amount.
Therefore, the deviation x ′ after the inclination correction is obtained as a value x ′ obtained by adding the correction amount ΔL to the deviation x. By the way, θ = 0
In this case, ΔL = L2-L2 = 0 and x ′ = x.

[0034]

(2) L3 = L1 × sin θ + L2 × cos θ ΔL = (L3-L2) x ′ = x + ΔL

In this example, the position deviation in the lateral width direction is the light receiving position of one of the pair of photosensors S1a and S1b (S1a), but an error due to the inclination φ should not occur. In order to do so, the average value of the light receiving positions X1 and X2 of the pair of optical sensors S1a and S1b may be used. Then, the work vehicle V is steering-controlled by setting a target steering angle so that both the inclination φ and the deviation x ′ are zero. However, in the present embodiment, steering control is performed by a two-wheel steering system in which only the front wheels 3 are steered during straight traveling in each work stroke.

Based on the detection information of various sensors such as the steering control optical sensor S1 and preset work schedule information, the control device 16 controls the steering means 7 to 10 and the planting section 6 and the like. It is configured to control the operation of various devices. Then, using the control device 16,
Two work strokes R1 and R2 provided by the work vehicle V in the intersecting state based on the light reception information of the steering control optical sensor S1.
Automatically traveling along each of the two work strokes R1 and R2, and at the intersection of the two work strokes R1 and R2, the work vehicle V moves from one work stroke R1 to R2 to another work stroke R1.
The steering means 7 to so as to pivotally move in a state along R2.
A control means 100 for controlling the operation of 10 is configured.

Further, by using the control device 16, the guiding beam light A received by the steering control optical sensor S1 is received.
Projection angle detection means 101 for detecting the projection angles of the work vehicles V 1 and A 2 with respect to the vehicle body direction is configured. Specifically, the projection angle detecting means 101 includes a front-rear direction difference d and a light-receiving position difference between a pair of front and rear optical sensors S1a and S1b provided in the steering control optical sensor S1 in the vehicle lateral direction.
Based on the information, the projection angles of the guidance light beams A1 and A2 with respect to the vehicle body direction of the work vehicle V (which is the above-described inclination φ) are detected.

Then, the control means 100 causes the azimuth sensor S4 and the projection angle detection means 101 during the turning movement from one work stroke R1, R2 at the intersection to another work stroke R1, R2. Of the guidance beam lights A1 and A2 received by the steering control optical sensor S1 is calculated based on the detection information, and the calculated projection direction and the guidance in the other one work process R1 and R2. When the angle difference between the projection directions of the beam lights A1 and A2 for use is within a predetermined angle (for example, 45 degrees), the beam light A1 for guidance received by the optical sensor S1 for steering control is changed to the beam light for the other one The guide light beams A1 and A2 in one work process R1 and R2 are discriminated.

Next, regarding the discrimination of the guidance beam lights A1 and A2 by the control means 100, as shown in FIG. 7A, the work vehicle V is guided by the steering control photosensor S1 on the right side. From the state of automatically traveling along the stroke R1 while receiving A1, the two work strokes R1 and R2 are 90
The vehicle turns right 90 degrees at the intersection, and this time the steering control optical sensor S1 receives the guiding beam light A2 of the next stroke R2 and automatically travels along the stroke R2. The case of turning movement will be described as an example. Figure (a)
As shown at (a) point, when the steering control optical sensor S1 on the left side receives the guiding beam light A1 of the stroke R1 before the turning during the turning, as shown in FIG.
The direction of projection of the guiding light beam A1 is the direction J of the vehicle body direction.
To J1 which is the direction of the inclination φ, the direction of the guiding beam light A2 in the next step R2 is J2 and the angle difference is 90 degrees, so that the guiding beam received is It is determined that the light A1 is not the guiding light beam of the next step R2. Further, as shown at the time point (b) in FIG. 10A, if the steering control optical sensor S1 on the left side receives the guiding beam light A2 in the next stroke R2, just before the end of the turning, FIG. As shown in FIG.
Since the angle difference between the projection direction J1 of 1 and the direction J2 of the guiding beam light A2 in the next stroke R2 is 0 degree (assuming that there is no detection error), the received guiding beam light A2 is It is determined that the light beam is a guiding light beam in the next process R2.

The set value of the predetermined angle for discrimination is 4
A value other than 5 degrees can be appropriately set, and when the detection accuracy of the azimuth sensor S4 and the projection angle detection means 101 is high, a value smaller than 45 degrees (for example, 30 degrees or less)
It is desirable to set to to minimize the possibility of misjudgment.

Further, the control means 100 causes the headland portion K to be located at both end sides of the work ground K in the longitudinal direction of one side M2 of the two adjacent sides M1 and M2 of the rectangular work ground K.
1, K2 and the central portion is the work target portion Ks, along the longitudinal direction of the one side M2.
After performing the reciprocating work in which the work target portion Ks is reciprocated, the work vehicle V is reciprocated along the longitudinal direction of the other side M1 of the two sides M1 and M2. When the headland work is performed on the headland parts K1 and K2, and the turning movement is performed from the end part of the final travel stroke of the reciprocating work to the start end of the first travel stroke of the headland work. , The guidance beam lights A1 and A2 are configured to be discriminated.

Further, the control device 16 causes the work vehicle V to travel forward by one stroke so that the work vehicle V performs each work stroke in the reciprocating work and the headland work in the forward state, and then, The work vehicle V uses the first beam light projection device B1 or the second beam light projection device B2 for guiding the beam light A1,
When the vehicle automatically travels along A2, the guiding beam light A from the second beam light projecting device B2 or the first beam light projecting device B1 intersects with the guiding beam lights A1 and A2.
2, based on the light reception information of the trigger optical sensor S2 that receives A1, sets the start position of the turning operation of 180 degrees or 90 degrees from the end of each stroke to the start of the next stroke adjacent to it. Is configured to. That is, the control means 100 determines the start position of the turning motion from one work stroke R1, R2 at the intersection to the other work stroke R1, R2 based on the light reception information of the trigger optical sensor S2. Configured to set.

Next, referring to FIG.
If you explain more concretely based on,
Of the work strokes R1 of the work target portion Ks, the work stroke R1 farthest from the entrance Mi except for the relay work ground portion R1b consisting of two work strokes R1 is set to the work start position of the start end portion. The process starts from the Pst point on the right boundary line Y shown in the leftward direction in the drawing. Therefore, first, the vehicle is made to travel forward to the Pst point in a non-working state. The path is guided by the guiding beam light A1 based on the detection information from the steering control optical sensor S1 on the left side, and while advancing along the side M2 from the entrance Mi, the guiding beam light projected from the side. A2 turns 90 degrees rightward based on the information received by the rear sensor S2b for trigger, and this time, while being guided by the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the right side, The vehicle advances downward along the side M1. Then, while counting the number of times the trigger sensor S2 receives the guiding beam light A1 projected from the side, the lowermost guiding beam light A1 is detected.
2b turns right by 180 degrees based on the information received, and this time, it moves forward while being guided by the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the right side in the upward direction of the drawing. To do. Then, based on the information received by the rear side sensor S2b, the second guidance beam light A1 from the bottom projected from the side is turned 90 degrees to stop at the point Nh. The first seedling supply is performed at this Nh point. Although not shown, seedling replenishment is appropriately performed thereafter when the work vehicle V is stopped at the starting end of the work strokes R1, R2 on the reference side M1 side. After replenishing seedlings, this time heading to the right in the figure,
Based on the detection information of the steering control optical sensor S1 on the right side, the vehicle advances while being guided by the guiding beam light A1. And
While counting the number of times the trigger sensor S2 receives the beam lights A2 and A3 projected from the side, 180 degrees right based on the information received by the front sensor S2a of the guidance beam light A2 on the far right side of the figure. After turning, the planting device 6 is lowered when this turning is completed, and the right boundary line is located at a predetermined distance from the position where the front-side sensor S2a for trigger receives the second guiding beam light A3 from the right in the figure. Drive to Pst point on Y.

When the point Pst is reached, the planting device 6 is driven to start the planting work, and the guiding beam light is directed toward the left in the figure based on the detection information of the steering control optical sensor S1 on the right side. Move forward while being guided by A1.
When the number of rows (for example, six rows) of the planting device 6 is odd due to the size of the work site K (five or less), the odd rows are planted in the first work process R1. adjust. Then, the beam light A2 projected from the side
While counting the number of times that the sensor S2 for trigger receives A3, the vehicle moves forward to the left boundary line Y, which is a point traveled for a predetermined distance from the position where the front side sensor S2a receives the leftmost guide beam light A2 in the figure. . When the vehicle arrives at the left boundary line Y, the planting device 6 is stopped and raised to stop the planting work, and it turns right by 180 degrees to move to the start end of the next work stroke R1. When the turning is completed, the planting device 6 is lowered and the next work process R is performed.
In 1, the vehicle travels a predetermined distance from the position where the front sensor S2a for triggering receives the second light beam A3 from the left in the figure, and when the left boundary line Y is reached, the planting device 6 is driven to start. The planting operation is started, and the plant moves forward in the right direction of the drawing while being guided by the guiding beam light A1 based on the detection information of the steering control optical sensor S1 on the right side.
After that, in the same way as described above, 18 at the end of each work process R1.
While turning 0 degrees right or left, planting work is performed for each work stroke R1 of the work target portion Ks, and the work target portion K
In the final work stroke R1 of s (the second stroke from the top of the figure), the right boundary line Y, which is a point after traveling a predetermined distance from the position where the front side sensor S2a receives the guiding beam light A2 on the far right side of the figure. Drive to the end position Pen located above.

Next, based on the detection information of the steering control optical sensor S1 on the right side, first, in order to move to the starting end of the inner working stroke R2 of the two working strokes R2 of the second headland portion K2. While being guided by the guiding beam light A1, the vehicle moves backward from the end position Pen to the position where the front side sensor S2a receives the guiding beam light A2 on the far right side in the figure, and then switches to the forward state and rotates 90 degrees clockwise. The guide beam light A1 projected from the side is guided while being guided by the guide beam light A2 based on the detection information of the steering control optical sensor S1 on the left side by turning the planting device 6 downward. The vehicle travels in the backward state from the position where the rear sensor S2b receives the light to a position of a predetermined distance to reach the planting start position. After that, the planting device 6 is driven to perform the work process R2,
In the forward state, the guiding beam light A1 projected from the side is guided by the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the left side, and the guiding beam light A1 projected from the side is used as the trigger sensor S2.
The number of times the light is received is counted, and the lowermost guidance light beam A
1 is traveled for a predetermined distance from the position where the front side sensor S2a receives light to reach the planting stop position.

Next, based on the detection information of the left steering control optical sensor S1 in order to move to the start end of the inner stroke R1b of the two work strokes R2 of the relay work site portion R1b. While being guided by the guiding beam light A2, the vehicle travels backward from the planting stop position of the work stroke R2 to a position where the lowermost guiding beam light A1 is received by the front sensor S2a, and then switches to the forward state 90 Turn right, then
The steering control optical sensor S1 on the left side is switched to the reverse drive state.
While being guided by the guiding beam light A1 based on the detection information of the above, the guiding beam light A2 projected from the side travels for a predetermined distance from the position where the rear sensor S2b for trigger receives and reaches the planting start position. . After that, the work process R1
b while being guided to the guiding beam light A1 based on the detection information of the left steering control optical sensor S1 in the forward state,
The number of times the trigger sensor S2 receives the beam lights A2 and A3 projected from the side is counted, and the planting is stopped by traveling for a predetermined distance from the position where the front side sensor S2a receives the leftmost guide beam light A2. To the position.

Next, in order to move to the starting end portion of the work stroke R2 inside the first headland portion K1, first, the guiding beam light A1 is guided based on the detection information of the steering control optical sensor S1 on the left side. Meanwhile, after moving backward from the planting stop position to a position where the front-side sensor S2a receives the leftmost guiding beam light A2 in the figure, the state is switched to the forward state and turned 90 degrees rightward, and further to the reverse state. The guiding beam light A1 projected from the side while being guided to the guiding beam light A2 based on the detection information of the left steering control optical sensor S1.
Is traveled for a predetermined distance from the position where the rear sensor S2b for trigger receives light to reach the planting start position. After that, in the working stroke R2, the steering control optical sensor S on the left side in the forward movement state.
The number of times the trigger sensor S2 receives the guiding beam light A1 projected from the side while being guided by the guiding beam light A2 based on the detection information of 1 is counted, and the uppermost guiding beam light A1 is detected. The vehicle moves forward from the position where the front sensor S2a receives the light to a work stop position where the vehicle has traveled a predetermined distance.

When the work stop position is reached, the planting device 6 is stopped and raised to stop the planting work, and the work stroke R2 outside the first headland portion K1 is performed.
Turn 180 degrees to the left to move to the beginning. When the turning is completed, the planting device 6 is lowered, and in the work process R2, the second guiding beam light A1 from the top of the drawing travels for a predetermined distance from the position where the front sensor S2a for trigger receives. When the work start position is reached, the planting device 6 is driven to start the planting work, and the guidance beam light A2 is generated based on the detection information of the steering control optical sensor S1 on the left side in the downward direction of the drawing. Move forward while being guided. Then, the guiding light beam A projected from the side
The number of times that the trigger sensor S2 receives 1 is counted, and the robot moves forward to the work stop position, which is a point where the vehicle has traveled a predetermined distance from the position where the lowermost guide beam light A1 was received by the rear sensor S2b.

Next, in order to move to the start end portion of the stroke R1b outside the relay work site portion R1b, first, the guiding light beam A is detected based on the detection information of the left steering control optical sensor S1.
While being guided to 2, the lowermost guide beam light A1 from the planting stop position in the work stroke R2 is provided to the rear sensor S2.
After moving backward to a position where b is received, the vehicle turns left 90 degrees in the forward state, and is further switched to the backward state, and based on the detection information of the steering control optical sensor S1 on the left side, the guiding light beam A
While being guided to 1, the guide beam light A2 projected from the side travels for a predetermined distance from the position where the rear sensor S2b for trigger receives and reaches the planting start position. After that, the work stroke R1b is guided forward by the guide beam light A1 based on the detection information of the steering control optical sensor S1 on the left side in the forward state, and the beam lights A2 and A3 projected from the side are provided.
The number of times the trigger sensor S2 receives light is counted, and the rightmost guiding beam light A2 travels for a predetermined distance from the position where the rear sensor S2b receives and reaches the planting stop position.

Next, in order to move to the start end portion of the work stroke R2 outside the second headland portion K2, first, the guiding beam light A1 is guided based on the detection information of the steering control optical sensor S1 on the left side. While moving backward from the work stop position of the stroke R1b outside the relay work site portion R1b to the position where the rear-side sensor S2b receives the guiding beam light A2 on the far right side in the figure, 90 degrees in the forward state. Turning to the left and further switching to the reverse drive state, the guiding beam light A1 projected from the side while being guided by the guiding beam light A2 based on the detection information of the left steering control optical sensor S1 is used as a trigger. The vehicle travels a predetermined distance from the position where the rear sensor S2b receives the light and reaches the planting start position. After that, the work stroke R2 is guided to the guiding beam light A2 based on the detection information of the steering control optical sensor S1 on the left side in the forward state, and the guiding beam light A1 projected from the side is used as the trigger sensor. The number of times S2 receives light is counted, and the uppermost guiding beam light A1 travels a predetermined distance from the position where the front sensor S2a receives light to reach the planting stop position.

Next, in order to move from the end portion of the work stroke R2 outside the second headland portion K2 to the start end portion of the final work portion R1a, first, the steering control optical sensor S1 on the left side is moved.
While being guided by the guiding beam light A2 based on the detection information of 1), the vehicle moves backward to a position where the front side sensor S2a receives the guiding beam light A1 on the upper side of the figure,
Turn left by 0 degrees, switch to the reverse state, and trigger the beam lights A2 and A3 projected from the side while being guided by the guiding beam light A1 based on the detection information of the steering control optical sensor S1 on the right side. After performing the planting work on the final work site portion R1a while counting the number of times that the sensor S2 receives light, the vehicle travels straight in the forward state and exits from the work site through the entrance Mi.

Next, the operation of the control device 16 will be described with reference to the flowcharts shown in FIGS. As shown in FIG. 8, the entire process flow is an initialization process for a communication unit such as RS232C (not shown) and actuators (the shift motor 12, the control valves 9, 10, 14 and the planting clutch 15). After doing
Perform work plan setting processing to set a work plan in which control contents are distinguished by numbers. Next, the corresponding control data is read based on the work plan set in the work plan setting process, and the vehicle body control process is executed to actually execute the vehicle body control based on the control data. The execution status of the work plan by the vehicle body control process is checked by the work plan check process, and when the completion of one work plan is confirmed, after performing the necessary communication process to the ground side, the work end instruction is given. If there is, end processing is performed, and otherwise, the flow from the work plan set processing is repeated.

In the work plan setting process, as shown in FIG. 9, it is determined whether or not a new work plan is set. Specifically, when a plan flag described later is in a reset state, it is determined that a new work plan is set. When it is judged that a new work plan is set,
After setting the plan flag, the plan numbers input in a predetermined order are read in order. And when the control information corresponding to the plan number is prepared,
It is read and set as control contents.
Here, the control contents are given as program data, and it is confirmed whether or not the data of the starting step (usually step 0) for setting the starting position of the program and the program have ended in a normal state. The data of the end step for performing is also set at the same time. On the other hand, if there is no control information corresponding to the entered plan number, it is processed as an abnormality.

In the vehicle body control process, as shown in FIG.
First, check whether the plan flag is set,
No processing is performed when the plan flag is reset. When the plan flag is in the set state, the control contents set in the work plan setting process (FIG. 9) are read out and it is checked whether or not the corresponding process is actually present.
As the process corresponding to the above control content, as shown in the figure, a stop process for stopping the work vehicle V, a straight-forward process for moving the work vehicle V forward or backward in a straight line based on the distance measurement information by the encoder S3. (End with distance measurement), straight forward processing (end with light source measurement) for moving the work vehicle V forward or backward to a position where the trigger sensor S2 detects the guiding beam lights A1, A2 a set number of times (end with light source measurement), each work stroke R1 , R2, a turning process for turning from the end of R2 to the start of the next stroke, orbit converging for making the steering control sensor S1 properly receive the guidance beam lights A1, A2, and seedling Each processing of the seedling supply device processing for instructing the supply and controlling the driving of the planting device 6 is prepared. In the turning process and the trajectory convergence process, the vehicle body is
Steering is controlled by wheel steering.

In the work plan check process, as shown in FIG. 11, first, it is checked whether or not the plan flag is set, and when the plan flag is reset, the process is not performed. When the plan flag is set, the achievement status of the work plan executed in the vehicle body control process (FIG. 10) is checked. Specifically, if the content of the control step that is initially set in the start step and is set so that the numerical value increases as the control data is executed is the end step, the process is performed in a normal state. It is determined that the processing has ended, and if the step is any other step, it is determined that the processing has not ended or that the processing has ended in an abnormal state. When the achievement of the work plan is confirmed, the work plan number is updated to the next plan number, and then the plan flag and the control step are cleared.

Next, a specific example of the control contents of the work plan designated by a number will be described in association with the traveling route of the work vehicle V shown in FIG. Plan number 1 is zenshin-laser-left-r
It is written as ear-nowwork (1), and its contents are
In the forward state, while the guiding beam light is detected by the steering control optical sensor S1 on the left side and guided to it, the rear sensor S2b for trigger receives the guiding beam light from the side once, It means to go straight in a non-working state. That is, it corresponds to traveling straight ahead from the entrance Mi along the side M2 to the point where the vehicle turns 90 degrees in the forward state. Plan number 2 is written as turn (-90),
The content means turning right in the forward movement state.
That is, it corresponds to turning rightward by 90 degrees from the direction along the side M2 and heading in the direction of the work stroke R2 of the first headland portion K1.
Here, the sign of the angle is + for counterclockwise and − for clockwise.
And The plan number 3 is written as search (right), and its content is the steering control optical sensor S1 on the right side.
Means to control the vehicle so that the vehicle receives the light beam for guidance. That is, after the 90-degree right turn, the steering control optical sensor S1 on the right side is moved to the first headland portion K.
It corresponds to the state of receiving the guiding beam light A2 along the first work process R2. Plan number 4 is zens
hin-laser-right-rear-nowo
It is written as rk (8), and its content is that in the forward state, the guiding beam light is detected by the steering control optical sensor S1 on the right side and guided by it, while the guiding beam light from the side is used for triggering. To the position where the rear sensor S2b receives light eight times,
It means going straight in a non-working state. That is, the above 90
It corresponds to traveling straight from the turning point to the 180-degree turning point at the lower end of the work site K along the work stroke R2 of the first headland portion K1. Also, Zenshin-pulse
-Left-work (5) is a state of forward movement, in which the guiding beam light is detected by the steering control optical sensor S1 on the left side and guided to it, to a position where five pulses are output from the encoder S3. , Means to go straight in the working state, koushin-laser-left-fro
nt (1) is a reverse drive state, and while detecting the guidance light beam by the steering control optical sensor S1 on the left side and being guided thereto, the front guidance sensor S2a for triggering the guidance light beam from the side is 1 It means that the vehicle goes straight to the position where it receives light twice in a non-working state. Hereinafter, although the details are omitted, while making the same notation, corresponding to each part of the traveling route of FIG.
Each control content is set with a work plan number.

Next, each process of the vehicle body control process will be described. First, in the stop processing, as shown in FIG. 12, a neutral state set of the transmission 11 (step 0), each solenoid set for brake operation, clutch disengagement, double speed operation off operation (step 1), and neutral set of steering. After performing (Step 2), the received light data of the left or right steering control optical sensor S1 used at that time is fetched (Step 3). Then, it is checked whether or not it is in the light receiving state (step 4). If it is in the light receiving state, the control step is advanced to the final step, step 5, and if it is in the non-light receiving state, the control step is left as it is. . As a result, it is possible to know whether the stop processing has been normally executed. Hereinafter, although not described, it is assumed that the control step becomes the corresponding number of steps as the control flow is executed.

In the straight-ahead processing (end of distance measurement), the process shown in FIG.
As shown in FIG. 14, after the brake is released and the solenoid for engaging the clutch is set (step 0), the left or right steering control optical sensor S1 in use is used.
The received light data of (1) is fetched (step 1), and it is checked whether or not it is in a light receiving state (step 2). If it is receiving light,
The distance data from the encoder S3 is reset and the process proceeds to step 3, but if it is in the non-light-receiving state, the process returns to step 1 to capture the light-receiving data. Therefore, if the non-light receiving state continues, the process stays at step 1 or 2. In step 3, the speed change device 11 is set to a predetermined speed change state, and the planting device 6 is driven in a lowered state. Step 4
Then, after receiving the light reception data of the steering control optical sensor S1, the light reception state is checked in step 5. As shown below, the non-light reception state has already been detected three times in succession (light reception error). If the count is 3), the engine is stopped as an abnormality. On the other hand, if the continuous non-light receiving state is twice or less and the non-light receiving state is the current time, the light receiving miscount is incremented by 1, and if the continuous non-light receiving state is two times or less, the current light receiving state is If so, the predetermined steering control (see FIG. 24) is performed based on the received light data, and the received light miscount is cleared, and then each encoder S
Request distance data from 3 (step 6). In step 7, it is checked whether or not the target distance has been reached, and if the target distance has been reached, the transmission 11 is set to a neutral state, the planting device 6 is raised to stop driving (step 7), and Brake operation, solenoid setting for clutch disengagement (step 8), and steering neutral setting (step 9) are performed. If the target distance is not reached in step 7, the flow from step 4 is repeated. At this time, if speed control is necessary, after performing the process, the flow from step 4 is repeated.

In the straight-ahead processing (finished by light source measurement), FIG.
As shown in FIG. 16, after the brake is released and the solenoid for engaging the clutch is set (step 0), the left or right steering control optical sensor S1 in use is used.
The received light data of (1) is fetched (step 1), and it is checked whether or not it is in a light receiving state (step 2). If it is receiving light,
The distance data from the encoder S3 is reset and the process proceeds to step 3, but if it is in the non-light-receiving state, the process returns to step 1 to capture the light-receiving data. Therefore, if the non-light receiving state continues, the process stays at step 1 or 2. In step 3, the speed change device 11 is set to a predetermined speed change state, and the planting device 6 is driven in a lowered state. Step 4
Then, after the light reception data of the steering control optical sensor S1 is fetched, the light reception state is checked in step 5. As shown below, the non-light reception state has already been detected three times in succession (light reception). When the miscount is 3), the engine is stopped as an abnormality. On the other hand, if the continuous non-light receiving state is twice or less and the non-light receiving state is the current time, the light receiving miscount is incremented by 1, and if the continuous non-light receiving state is two times or less, the current light receiving state is If so, predetermined steering control (see FIG. 24) is performed on the basis of the received light data, the received light miscount is cleared, and then the distance data from each encoder S3 is requested (step 6).

In step 7, it is judged whether or not the trigger check distance at which the trigger light can be received is reached. If the trigger check distance is not reached, the flow from step 4 is repeated. At this time, if speed control is necessary, after performing the process, the flow from step 4 is repeated. On the other hand, if the trigger check distance has been reached, it is further checked whether or not an overrun has occurred, and if overrun, an abnormal process such as engine stop is performed as an abnormal condition. If the trigger check distance has been reached and there is no overrun, it is checked whether or not the trigger light is received, and if the trigger light is not received, step 4
Repeat the flow from. At this time, if speed control is necessary, after performing the process, the flow from step 4 is repeated. If the trigger check distance has been reached and there is no overrun, if the trigger light is received, the transmission 11 is set to the neutral state, the planting device 6 is raised to stop the drive (step 7), and the brake is activated. , Set the solenoid for clutch disengagement operation (step 8) and set the steering neutrally (step 9).

In the turning processing, as shown in FIGS. 17 to 21, first, the body direction data before turning is obtained from the direction sensor S4 (step 0), and in step 1, the turning angle (90) is added to the current body direction. Degree or 180 degrees) is added or subtracted to calculate the reversal direction, that is, the target direction, and the light reception determination area for performing the light reception determination of the guiding beam light in the next stroke (the vehicle speed is decelerated in this area, so the deceleration area is also (Referred to) is set within a predetermined angle (45 degrees) range on both sides of the target azimuth as a center, and a turnable area in which the vehicle can turn beyond the target azimuth is defined as an angle obtained by adding a predetermined angle to the target azimuth. Set and set solenoid to deactivate brake. Then, after resetting the distance data from the encoder S3 (step 2) and setting the steering angle (usually the maximum steering angle) (step 3), the transmission 11 is set to a predetermined shift state and the planting device 6 And stop driving (step 4),
After inputting the steering angle (step 5), the process proceeds to step 6.

In step 6, the necessity of the double speed operation is judged from the turning angle of the steering wheel. If the double speed operation is not necessary, the body direction data is obtained, and in step 7,
It is checked whether or not the light receiving determination area is reached. Here, if the light receiving determination area has been reached, the transmission 11 is set to a neutral state, an abnormal end process is performed (step 16), and the process ends. If the light receiving determination area has not been reached, the encoder S3
The distance data is obtained from the data, and if it is determined in step 8 that the vehicle is overrun exceeding the limit distance in turning movement, abnormal stop processing is performed, and then abnormal termination processing is performed ( Step 16) The process is completed, but if there is no overrun, the flow from step 5 is repeated while raising the planting device 6 and stopping driving. On the other hand, if the double speed operation is required in step 6, the double speed operating device (not shown) is turned on to obtain the vehicle body direction data (step 9), and then the process proceeds to step 10.

In step 10, it is judged from the vehicle body direction whether or not it is within the deceleration area, that is, within the light receiving determination area. If it is not within the deceleration area, distance data is obtained from the encoder S3, and if it is determined that the vehicle is overrunning in step 11 based on the distance data, abnormal stop processing is performed and then abnormal end processing is performed. (Step 16) The process is completed, but if there is no overrun, the flow from step 9 is repeated. On the other hand, if within the deceleration area,
After decelerating the vehicle speed, the light reception data of the steering control optical sensor S1 on the left or right side used in the next stroke is fetched (step 12), and in step 13, the guiding beam light of the next stroke, that is, the laser orbit. Check the light receiving status of. here,
If it is in the non-light receiving state, after obtaining the vehicle body direction data,
In step 14, it is checked whether or not it is in the turnable area,
If it exceeds the turnable region, the abnormal stop process is performed, and then the abnormal end process is performed (step 16) to end the process. If it does not exceed the turnable area, the distance data is obtained, and in step 15, it is checked whether or not there is an overrun. If it is overrun, abnormal stop processing is performed and then abnormal end processing is performed. (Step 16) The process is completed, but if there is no overrun, the flow from step 12 is repeated. On the other hand, if it is in the light receiving state at step 13, the data of the vehicle body direction and the projection angle (the inclination φ) of the guiding beam light with respect to the vehicle body direction is requested, and the guiding direction J1 of the guiding beam light calculated from both the data is obtained. It is determined whether or not the angular difference from the projection direction J2 of the guiding light beam in the next step (that is, the direction of the target azimuth) is within a predetermined angle (45 degrees) (see FIG. 7). If it is not within the predetermined angle, the process proceeds to step 14, while if it is within the predetermined angle, stop processing is performed, and in step 17, after confirming the stop of the vehicle body, the steering control optical sensor S1 The received light data is fetched, and the process proceeds to step 18.

In step 18, the steering control optical sensor S
It is checked whether the light receiving position of 1 is the central position D0. If the light receiving position is the central position, the neutral setting of the steering wheel (step 23), the setting of the solenoid for brake operation (step 24), and the clutch The solenoid for the cutting operation is set (step 25), and the process ends. On the other hand, when the light receiving position is not in the center position, it is further checked whether or not the light receiving position is deviated, and when it is closer to the front side, that is, the stroke side before turning, it is the turning direction as it is, and it is not the front side. That is, when the vehicle is approaching the travel side after turning, the turning direction is reversed, and the vehicle turns at low speed. Then, while resetting the distance data, the limit value (for example, 1 m) of the moving distance in the turning traveling is set (step 19), and the light reception data of the steering control optical sensor S1 is fetched (step 20).
In step 21, it is checked whether or not the light receiving position is the center position D0. Here, if the light receiving position is not the center position, the distance data is obtained, and then in step 22, it is checked whether or not there is an overrun exceeding the limit value of the moving distance. After performing the abnormal stop process, the abnormal end process is performed (step 16) to end the process, but if there is no overrun, the light reception data of the steering control optical sensor S1 is fetched, and then the flow from step 21. repeat. If the light receiving position is the central position in step 21, the stop process is performed, and then the flow from step 23 is performed to complete the process.

In the trajectory convergence processing, as shown in FIG.
After deactivating the brake, setting the solenoid for engaging the clutch (step 0), and setting the neutral position of the steering (step 1), the left or right steering control optical sensor S1 to be used in the next stroke. (Step 2), and it is checked in step 3 whether or not the guiding beam light of the next step is received. here,
If it is in the non-light-receiving state, stop processing is performed and the process returns to step 2. On the other hand, in the light receiving state, while operating the transmission 11 at a low speed and driving the planting device 16 to the raised state, the distance data is obtained (step 4) and the light receiving data is taken in (step 5). And proceed to step 6.

In step 6, it is checked whether or not the guiding beam light of the next step is being received, and if it is in the non-light receiving state,
After the light-receiving miscount is incremented by one, if the light-receiving miscount is 3, that is, the non-light-receiving state is three consecutive times, abnormal stop processing is performed, but if the light-receiving miscount is 2 or less, A track approaching process is performed to bring the vehicle body closer to the guidance light beam. On the other hand, if it is in the light receiving state, it is checked whether or not the light receiving position is the sensor center position after clearing the light receiving miscount. Here, when the vehicle is not in the center position, a predetermined steering control (FIG. 24) is performed so that the vehicle is centered, and then distance data is obtained (step 7), and in step 8, it is preset based on the distance data. It is judged whether or not the vehicle has overrun beyond the limit travel distance in the trajectory convergence processing, and if it is overrun, abnormal stop processing is performed and the processing ends, but if it is not overrun, predetermined speed control is performed. Then, the flow from step 5 is repeated. When it is at the center position, the transmission 11 is operated to the neutral state and the planting device 16 is lowered, and then the stop process is performed (step 9), and the process is ended.

In the steering control, as shown in FIG. 24, first, it is determined whether or not the state is the four-wheel steering (4WS) state. In the case of the four-wheel steering, based on the light reception data of the steering control optical sensor S1. The inclination φ of the vehicle body 5 detected as described above and the lateral displacement x '(the deviation after the inclination correction)
Then, the turning angles of the rear wheels 4 and the front wheels 3 are calculated, and the rear wheels 4 and the front wheels 3 are set so as to reach the turning angles. However, when the steering is not four-wheel steering, that is, two-wheel steering, The turning angle of the front wheel 3 is calculated from the lateral displacement x ', and the front wheel 4 is set so that the turning angle becomes the turning angle, and the rear wheel 4 is set to the neutral state.

[Other Embodiment] In the above embodiment, the work vehicle V is used.
So as to automatically travel in parallel with each of two adjacent sides M1 and M2 of the rectangular work site K, that is, two traveling strokes intersecting at right angles, that is, at 90 degrees to each other (the above-mentioned two sides M1 , M2, the intersections of the work strokes R1 and R2) parallel to each other have been described for the case where the vehicle body is turned while changing the direction of the vehicle body by 90 degrees. The present invention can also be applied to the case where the vehicle body direction is changed while the vehicle is turning at the intersection of two traveling strokes that intersect each other at a predetermined angle other than the orthogonal state so that the vehicle automatically travels in parallel to each of the two sides. . In this case, the two beam light projection means B
1 and B2 are projected along the longitudinal direction of each of the two traveling strokes while forming the predetermined angle.

Further, in the above-mentioned embodiment, the case where the work vehicle V automatically travels while performing work (seedling planting work on the field) along the work strokes R1 and R2 as the travel stroke has been described. As shown in FIG. 4, a guide route for traveling the work vehicle is set while appropriately intersecting the plurality of guide beam lights An, and the work vehicle V is guided to the guide beam light An along each traveling path Rn of the guide route. In the state described above, the vehicle automatically travels without any work, and the travel stroke R
At the intersection of n, the received guide beam light A
The present invention can also be applied to the case where the vehicle is turned to the next adjacent traveling path Rn while performing the above-described determination operation for n.

Further, in the above-described embodiment, each work stroke R as a travel stroke for the reciprocating work and headland work of the work vehicle V is performed.
In R1 and R2, the case where the vehicle travels in the forward state while making the turning movement from the end portion of each traveling stroke to the starting end portion of the adjacent traveling stroke has been described, but all traveling strokes R1 and R2 are traveling in the forward traveling state. There is no need, and for example, in headland work, a part of the stroke may be made to travel in a reverse state.

Further, in the above embodiment, each beam light projecting means B1 for projecting each beam light A1, A2, A3 for guidance.
Although B2 and B3 are configured by laser light generators, beam light generators other than laser light generators may be used.

Further, in the above embodiment, the steering control optical sensors S1 are arranged side by side in the vehicle front-rear direction with a space therebetween to detect the light receiving positions of the guiding beam lights A1, A2 in the vehicle lateral direction, respectively. It is composed of a pair of optical sensors S1a and S1b, and one of the pair of optical sensors S1a and S1b (S1
The position deviation x in the lateral direction of the vehicle body based on the light receiving position X1 of a) is determined based on the difference between the light receiving positions X1 and X2 in the lateral direction of the vehicle body of the pair of optical sensors S1a and S1b and the distance information d in the vehicle longitudinal direction. Of the steering angle, and the positional deviation x and the inclination φ are used as deviation information in the vehicle body lateral direction with respect to the guiding beam lights A1 and A2. However, the configuration of the steering control optical sensor S1 is not limited to this. is not. For example, instead of the pair of optical sensors S1a and S1b, a single optical sensor is used. The shift information may be used.

Further, in the above embodiment, the steering of the work vehicle V is configured to be capable of four-wheel steering, and the steering means 7 to
10 is composed of a hydraulic cylinder and its control valve for steering the front wheel 3 and the rear wheel 4 separately.
-10 are not limited to this, and various means are possible.

Further, in the above-mentioned embodiment, the body direction detecting means is constituted by the direction sensor S4 utilizing the geomagnetism, but the present invention is not limited to this, and may be constituted by a laser gyro or the like.

Further, in the above-mentioned embodiment, the projection angle detecting means is arranged such that the pair of front and rear optical sensors S1a and S1b provided on the steering control optical sensor S1 have a difference in the light receiving position in the lateral direction of the vehicle body and the longitudinal direction of the vehicle body. The configuration is shown in which the projection angle of the guiding light beams A1, A2 with respect to the vehicle body direction of the work vehicle V, that is, the inclination φ is detected based on the distance information, but the configuration of the projection angle detection means is not limited to this. is not. For example, as described above, the steering control optical sensor S1 is not a pair of optical sensors S1a and S1b but one optical sensor (for example, S
1a), the guiding light beam A
Since the projection angles of 1 and A2 cannot be detected as the inclination φ, for example, as shown in FIG. 26, in front of the light receiving surface of the one optical sensor S1a, while maintaining a parallel state to each other, the vehicle body The plurality of light-shielding bands 17a juxtaposed in the lateral direction at relatively small intervals change the swing angle θ formed with respect to the normal direction (corresponding to the vehicle body front-rear direction) of the light-receiving surface of the optical sensor S1a. , The push-pull arm 17b commonly connected to the plurality of light-shielding bands 17a has a driving device 18
The blind 17 configured to be pushed and pulled at a predetermined speed in the lateral direction of the vehicle body is arranged by the optical sensor S1a in the light receiving state of the projection angle of the guidance beam lights A1, A2 with respect to the vehicle body direction J of the work vehicle V. Alternatively, the blind 17 may be detected as the swing angle θ.

In the above embodiment, the pair of front and rear trigger optical sensors S2 are provided at predetermined positions in the center of the vehicle body left and right, but the invention is not limited to this. It may be provided.

Further, in the above-mentioned embodiment, the present invention is applied to the work vehicle for rice planting as the beam light guide type work vehicle. However, the work vehicle for agricultural work other than rice planting and various kinds other than agricultural work It can also be applied to work vehicles,
The specific configuration of each part at that time is variously changed according to the purpose of the work vehicle, work conditions, and the like.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[0079]

[Brief description of drawings]

FIG. 1 is a plan view showing an entire traveling route and a projection position of a guidance light beam.

FIG. 2 is a schematic side view of a work vehicle and a beam light projection means for guidance.

FIG. 3 is a schematic plan view showing a work vehicle and a guidance beam light detection sensor.

FIG. 4 is a block diagram of a control configuration.

FIG. 5 is an explanatory diagram of a light receiving position of a steering control optical sensor.

FIG. 6 is an explanatory view for correcting inclination of a deviation detection value in a vehicle body lateral direction.

FIG. 7 is a plan view for explaining the discrimination of the guiding light beam.

FIG. 8 is a flowchart of control operation.

FIG. 9 is a flowchart of control operation.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

FIG. 13 is a flowchart of control operation.

FIG. 14 is a flowchart of control operation.

FIG. 15 is a flowchart of control operation.

FIG. 16 is a flowchart of control operation.

FIG. 17 is a flowchart of control operation.

FIG. 18 is a flowchart of control operation.

FIG. 19 is a flowchart of control operation.

FIG. 20 is a flowchart of control operation.

FIG. 21 is a flowchart of control operation.

FIG. 22 is a flowchart of control operation.

FIG. 23 is a flowchart of control operation.

FIG. 24 is a flowchart of control operation.

FIG. 25 is a plan view illustrating a travel process of another embodiment.

FIG. 26 is a plan view illustrating a projection angle detecting means of another embodiment.

FIG. 27 is a plan view illustrating traveling control of a beam light guide type working vehicle of a conventional example.

[Explanation of symbols]

 V work vehicle B1 beam light projecting means B2 beam light projecting means S1 steering control optical sensor S1a optical sensor S1b optical sensor 7-10 steering means 100 control means S4 vehicle body direction detecting means 101 projection angle detecting means S2 trigger optical sensor K Work area M1 side M2 side K1, K2 Headland part Ks Work target part

Claims (5)

[Claims] 1. A work vehicle (V) provided in a state of intersecting with each other.
Two beam light projecting means (B1), (B2) for projecting the guiding beam light along the longitudinal direction of each of the two traveling strokes so as to automatically travel along each of the two traveling strokes.
Is provided on the ground side, and the guide beam light is detected in order to detect the deviation in the vehicle body lateral direction with respect to the guide beam lights projected by the two beam light projecting means (B1) and (B2). Steering control optical sensor (S1) that receives light, and steering means (7 to 10) that controls the steering of the work vehicle (V).
And the work vehicle (V) automatically travels along each of the two travel strokes based on the light reception information of the steering control optical sensor (S1), and at the intersection of the two travel strokes. Control means (1) for controlling the operation of the steering means (7 to 10) so that the work vehicle (V) turns from a state along one traveling stroke to a state along another traveling stroke.
00) is a traveling control device for a beam light guide type work vehicle provided in the work vehicle (V), and detects the body direction of the work vehicle (V) in the work vehicle (V). A vehicle body direction detection means (S4) and a projection angle detection means (101) for detecting the projection angle of the guidance light beam received by the steering control optical sensor (S1) with respect to the vehicle body direction of the work vehicle (V). ) Are provided, the control means (100) is configured to detect the vehicle body azimuth detecting means (S4) and the projection angle detecting means during a turning operation from one traveling stroke to another traveling stroke at the intersection. The projection direction of the guidance light beam received by the steering control optical sensor (S1) is calculated based on the detection information of (101), and the calculated projection direction and the guidance in the other traveling path. Beam light projection direction Is within a predetermined angle, the guiding beam light received by the steering control optical sensor (S1) is discriminated as the guiding beam light in the other one traveling stroke. Travel control device for a beam light guided work vehicle. 2. A pair of front and rear optical sensors, wherein the steering control optical sensors (S1) are juxtaposed in the vehicle front-rear direction with a space therebetween to detect light-receiving positions of the guiding beam light in the vehicle lateral direction. (S1a, S1b), the projection angle detecting means (101) is used to detect the difference between the light receiving positions of the pair of front and rear optical sensors (S1a, S1b) in the lateral direction of the vehicle body and the distance information in the vehicle longitudinal direction. The traveling control device for a beam light guided work vehicle according to claim 1, wherein the projection angle of the guidance light beam with respect to the vehicle body direction of the work vehicle (V) is detected based on the projection angle. 3. The work vehicle (V), the work vehicle (V)
Of the two beam light projecting means (B1) and (B2) while automatically traveling along the guiding beam light from one of the beam light projecting means (B1) and (B2). An optical sensor for trigger (S2) that receives the beam light for guidance from the other beam light projection means (B1) and (B2) intersecting the beam light for use is provided, and the control means (100) is The start position of the turning motion from one traveling stroke to the other traveling stroke at the intersection is set based on the light reception information of the optical sensor for trigger (S2). A traveling control device for the beam light guided work vehicle described. 4. The two light beams so that the work vehicle (V) automatically travels in a state of being parallel to each of two adjacent sides (M1), (M2) of a rectangular work site (K). 3. The guide beam light from the projection means (B1), (B2) is projected in a state of being orthogonal to each other along each of the two sides (M1), (M2) in the longitudinal direction. 3. A travel control device for a beam light guide type work vehicle according to 3. 5. The control means (100) controls the work site (M2) in the longitudinal direction of one side (M2) of two adjacent sides (M1) and (M2) of the rectangular work site (K). K)
In the state where the both end sides are headland parts (K1) and (K2) and the central part is the work target part (Ks),
After performing the reciprocating work in which the work vehicle (V) travels back and forth along the longitudinal direction of the side (M2), the work target portion (Ks) is reciprocated, and then the two sides (M1) and (M2).
Of the two headlands (K1) while reciprocating the work vehicle (V) along the longitudinal direction of the other side (M1).
1) and (K2) are used for headland work, and at the time of turning movement from the end part of the final traveling stroke of the reciprocating work to the start end of the first traveling stroke of the headland work. ,
The traveling control device for a beam light guide type working vehicle according to claim 4, wherein the travel control device is configured to determine the guide beam light.