JP2506146B2 - Work vehicle guidance system using beam light - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention uses various kinds of work vehicles such as a work vehicle for cleaning a passage in a building and a work vehicle for rice planting, and uses a beam light for guiding. In addition, the present invention relates to a work vehicle guiding apparatus using beam light for automatically traveling along a set traveling locus.

[Conventional technology]

In this type of work vehicle, when performing work while automatically traveling in a predetermined work range, set a plurality of work strokes lined up at intervals corresponding to the work width within the planned work range, In each of those work steps, the guidance beam light is scanned along the length direction of the set traveling locus for traveling the vehicle body to guide the vehicle body.

Therefore, in the related art, in order to scan the guiding light beam in each of the plurality of work strokes, each time the work vehicle finishes traveling in one work stroke and moves to the next work stroke,
The beam light projection means is moved and installed in the direction in which the work steps are arranged, or the beam light projection means is installed for each work step.

[Problems to be Solved by the Invention]

In the above-mentioned conventional configuration, since the guide beam light is projected in correspondence with each of the plurality of work steps, the movement and installation work of the beam light projection means are troublesome, and
If the beam light projecting means is automatically moved and installed, not only a moving means for moving the beam light projecting means is required, but also the fact that the vehicle body has moved to the next work stroke with respect to the moving means is required. Since it is necessary to provide a means for communicating, there is a disadvantage that the device configuration becomes complicated and expensive.

The present invention has been made in view of the above circumstances,
An object of the invention is to enable the work vehicle to be guided over a plurality of work strokes while using the guidance light beam projected from one light beam projection means in a set direction.

[Means for solving the problem]

A first characteristic configuration of a work vehicle guidance system using beam light according to the present invention is that a guidance beam light is directed from a lateral side portion of a vehicle body to a virtual plane that is parallel to a traveling surface of the vehicle body and passes through a beam light projection position. While projecting a set angle smaller than 45 degrees in a tilted direction, a beam light projection means for scanning along the length direction of the set traveling locus for traveling the vehicle body is provided on the ground side, On the vehicle body, a light receiver for detecting a light receiving position in the vertical direction with respect to the guiding light beam, and a position for detecting a position in the vehicle lateral direction with respect to the set traveling locus based on light receiving position information of the light receiver. The detection means and the steering control means for controlling the steering so that the vehicle body automatically travels along the set traveling locus based on the detection information of the position detection means are provided.

In addition, the second characteristic configuration is that the two guiding beam lights are arranged from a lateral side portion of the vehicle body at an angle of more than 45 degrees with respect to an imaginary plane parallel to the traveling surface of the vehicle body and passing through the beam light projection position. A beam light projection means for scanning along the length direction of the set traveling locus along which the vehicle body travels is provided on the ground side while projecting in different directions at different angles in the vertical direction at small angles. On the vehicle body, a light receiver for detecting a light receiving position in the vertical direction with respect to the guiding light beam, and based on an interval between the light receiving positions at which the light receiving device receives each of the plurality of guiding light beams, Position detection means for detecting a position in the lateral direction of the vehicle body with respect to the set traveling locus, and steering operation for controlling the steering so that the vehicle body automatically travels along the set traveling locus based on the detection information of the position detection means. Direction control means Lies in the fact that.

[Action]

Basically, the guiding beam light is directed from a lateral side part of the vehicle body to a direction inclined at a setting angle smaller than 45 degrees with respect to a virtual plane parallel to the traveling surface of the vehicle body and passing through the beam light projection position. By projecting the beam toward the vehicle, and by receiving the guiding beam light projected from a diagonal lateral position on the vehicle body side, the positional deviation of the vehicle body in the lateral direction of the vehicle body with respect to the set traveling locus can be achieved in the vertical direction of the light receiver. It is detected as the deviation of the light receiving position of.

However, if the vehicle body moves up and down due to the unevenness of the running surface, the light receiving position of the light receiver will fluctuate up and down even if there is no deviation in the vehicle lateral direction, and the position in the vehicle lateral direction with respect to the set traveling locus will be changed. An error may occur in the detection. Therefore, in the second characteristic configuration corresponding to claim 3, two guide beam lights having different projection angles are used, and the setting is performed based on the interval between the light receiving positions of the two guide beam lights. The position in the lateral direction of the vehicle body with respect to the traveling locus is detected.

In addition, the vertical distance between the two guiding beam lights becomes wider as the distance from the projection position increases. Therefore, when the vehicle body is displaced laterally with respect to the set traveling locus, The distance between the light receiving positions of the two guiding light beams varies depending on the deviation amount. However,
The distance between the two guide light beams is constant if the distance from the projection position is the same. Therefore, the distance between the light receiving positions in the light receiver is not uniform in the lateral direction even when the vehicle body moves up and down. If the rank does not occur, it will not change.

That is, if the position in the lateral width direction of the vehicle body with respect to the set traveling locus is detected based on the distance between the light receiving positions where the two guiding beam lights are respectively received, the vehicle body with respect to the set traveling locus is irrespective of the vertical movement of the vehicle body. The position can be detected accurately in the width direction.

As described in claims 2 and 4, in each of the first and second characteristic configurations, a plurality of light receivers are provided at a set interval in the vehicle body traveling direction, and the setting is performed. If the inclination of the guiding light beam with respect to the scanning direction is also detected based on the distance and the light receiving position information of each of the plurality of light receivers or the information on the distance between the light receiving positions, the vehicle body lateral direction with respect to the set traveling locus can be detected. Since both the position and the tilt at the position can be corrected accurately, the control accuracy of the steering control can be improved.

〔The invention's effect〕

Therefore, according to the present invention, the beam light projecting means provided on the ground side directs the guiding beam light to a virtual plane which is parallel to the traveling surface of the vehicle body from a lateral side portion of the vehicle body and which passes through the beam light projecting position. It is only necessary to scan along the set traveling locus while projecting in a direction having an angle smaller than a degree, and the device configuration can be simplified. Further, on the vehicle body side, the position in the lateral direction of the vehicle body with respect to the set traveling locus is detected as the light receiving position or the interval between the light receiving positions in the vertical direction of the light receiver, so that it corresponds to the set traveling locus in each of a plurality of work strokes. Therefore, only by changing the setting of the reference light receiving position or the reference light receiving position interval, the beam light projecting means is not moved, and the projection direction of the guiding light beam projected therefrom is not changed. The vehicle body can be automatically driven as desired in each of a plurality of work strokes while using the guiding light beam projected from the location.

As a result, it has become possible to automatically drive the vehicle body along the set traveling locus in each of the plurality of work strokes while simplifying the device configuration.

〔Example〕

Hereinafter, an embodiment in the case where the present invention is applied to a cleaning work vehicle that cleans a passage or the like of a building while automatically traveling will be described with reference to the drawings.

As shown in FIG. 1 and FIG. 4, while scanning a passage or the like within the working range with the guiding beam light (A) along the longitudinal direction of the passage, the width direction of the passage and the direction inclined upwards. A laser light projection device (B) as a beam light projection means for projecting toward the vehicle is attached to a wall surface portion that is a substantially middle portion in the longitudinal direction of the passage, and is provided at each of front, rear, left and right ends of the vehicle body (V). Each of the light receivers (Sa) for detecting the light receiving position in the vertical direction with respect to the guiding light beam (A) is provided.

Although not described in detail, the light receiving surface (Sa) uses a CCD type one-dimensional image sensor or a PSD element so that the light receiving surface can be detected in the vertical direction of the vehicle body in order to detect the light receiving position. It will be configured to be long.

That is, as will be described later, the vehicle body (V) is set along the longitudinal direction of the passage, and in each of a plurality of work strokes set in the lateral width direction of the passage so as to be arranged in the working width. , A pair of front and rear light receivers located on the wall surface side of the plurality of light receivers (Sa) to which the laser beam projection device (B) is attached so as to automatically travel along a set travel locus (L) (Sa) The position (X) from the wall surface on which the laser beam projector (B) is attached and the set travel locus (L) in each work stroke based on the respective light receiving position information.
And the steering angle is controlled based on the detected information, and as it reaches the both ends in the longitudinal direction of the passage, the width of one stroke is increased in the lateral direction of the passage. It will be moved close to the vehicle and automatically moved to the next work stroke.

However, since the vehicle body (V) is steering-controlled based on the light receiving position information of each of the pair of front and rear light receivers (Sa) located on the wall surface side provided with the laser light projection device (B), The light-receiving device (Sa) located on the laser beam projection device (B) side is used to automatically travel by repeating forward and backward movements for each stroke.

The principle for detecting the position (X) from the wall surface based on the light receiving position information of the light receiver (Sa) will be explained. As shown in FIG. 1, the guiding beam (A)
Is from the direction in which the set angle (θ) is inclined with respect to the virtual plane (F) which is parallel to the traveling surface of the vehicle body (V) and which passes through the projection position of the guiding light beam (A). ) Will be projected toward the lateral side.

Therefore, the installation position of the laser beam projection device (B), that is, the position (X) of the vehicle body (V) with respect to the wall surface of the passage.
Is the optical receiver (Sa) with reference to the virtual surface (F).
Can be calculated from the following formula (i) based on the light receiving position (l) in the vertical direction at which the guiding beam light (A) is received and the set angle (θ).

X = l / tan θ (i) However, since the light receiving position information of the light receiving device (Sa) cannot detect the inclination (ψ) with respect to the set traveling locus (L) in each work stroke, The inclination (ψ) is detected from a pair of front and rear light receiving position information of the light receiver (Sa) located on the installation side of the laser beam projector (B).

In the following description, for convenience of explanation, the light receiver on the front side of the vehicle body will be referred to as a light receiver (S ₁ ), and the light receiver on the rear side of the vehicle body will be referred to as a light receiver (S ₂ ). Device (B)
The receiver on the front side of the vehicle body, which is the opposite side to the installation side of the vehicle, is referred to as a receiver (S ₃ ), and the receiver on the rear side of the vehicle is referred to as a receiver (S ₄ ).

That is, as shown in FIGS. 2 and 3, from the light receiving positions (lf) and (lb) in the vertical direction of the pair of front and rear light receivers (S ₁ ) and (S ₂ ), the above (i) The positions (X ₁ ) and (X ₂ ) with respect to the wall surface on both front and rear sides of the vehicle body are calculated by the formula, and the values of those positions (X ₁ ) and (X ₂ ) and the pair of front and rear light receivers (S ₁ ) , (S ₂ ) mounting interval (La),
The inclination (ψ) with respect to the set traveling locus (L) is obtained based on the following equation (ii).

ψ = sin ⁻¹ ((lf−lb) / tan θ) / La) (ii) However, the value of the distance (X) from the wall surface is that the pair of front and rear photodetectors (S ₁ ) and (S ₂ The value of the position obtained based on one of the light receiving position information may be used. However, in order to remove the influence of the inclination (ψ), both positions (X ₁ ),
It may be used an average value of the values of (X _2).

That is, the process of obtaining the position (X) and the inclination (ψ) with respect to the wall surface based on the above equations (i) and (ii) corresponds to the position detecting means (100A).

Although not described in detail, the obtained value of the position (X) is the distance from the wall surface, and is not a value that directly indicates the position in the lateral width direction with respect to the set traveling locus (L) in each work stroke. In order to automatically drive the vehicle body (V) along the set traveling locus (L), it is converted into a value corresponding to the position of the set traveling locus (L) in each work stroke and used.

 Hereinafter, the configuration of each unit will be described in detail.

Explaining the structure of the vehicle body (V), as shown in FIG. 5, the traveling motor (M ₁ ) can separately drive and stop the vehicle at the lower front, rear, left and right of the vehicle body (V). Wheels (1) are provided.

However, the traveling wheels (1) are configured to be steered separately by front and rear by a steering motor (M ₂ ) with each pair of left and right.

The steering operation configuration by the steering motor (M ₂ ) will be described. As shown in FIG. 6, the traveling wheels (1)
Each of the support members (19) for supporting the vehicle is swingably supported around the axis of the vertical axis, and the upper end of the support member (19) swings the traveling wheel (1) around the axis of the vertical axis. Rotating bodies (20) that rotate in tandem with each other are attached, and a link mechanism (21) that connects the rotating bodies (20) to each other on the left and right is provided, and the traveling wheels (1) form a pair of left and right. It is supposed to change direction.

A gear portion that meshes with a steering gear (22) driven by the steering motor (M ₂ ) is formed on one outer circumference of the left and right rotating bodies (20).

In the figure, (23) is a gear-type transmission unit for connecting the steering motor (M ₂ ) and the steering gear (22),
(Se) is a steering angle detection potentiometer for detecting the current steering angle of the traveling wheel (1).

Then, in each of the work strokes, a two-wheel steering type that steers only a pair of left and right traveling wheels (1) on the front side in the vehicle traveling direction is used, and when moving to the next work stroke, When all of the traveling wheels (1) are shunted in a parallel steering type in which they are steered in the same phase and at the same angle and are moved to the next passage, the parallel steering type and the pair of left and right traveling wheels ( A four-wheel steering system is used in which the front and rear of 1) are steered so as to have opposite phases and the same angle.

Therefore, in each work stroke, the position (X) with respect to the wall surface and its position detected by the position detecting means (100A) are set so that the vehicle body (V) automatically travels along the set traveling locus (L). The target steering angle (θf) is set based on the value of the inclination (ψ) with respect to the set traveling locus (L) parallel to the wall surface, and steering control is performed in the two-wheel steering system.

The target steering angle (θf) is set to a larger value as the value of the position (X) and the value of the inclination (ψ) are larger by using the following formula (iii). .

θf = α ₁ χ + α ₂ ψ + α ₃ ß (iii) However, in the above formula (iii), χ is calculated based on the value of the position (X) and the position of the work stroke currently traveling. It is a position in the vehicle body lateral width with respect to the set traveling locus (L). Further, β is the current steering angle of the traveling wheel (1), and α ₁ , α ₂ and α ₃ are constants set according to the steering characteristics.

In other words, the target steering angle (θ
The process of operating the pair of left and right traveling wheels (1) on the front side with respect to the traveling direction of the vehicle body by setting f) corresponds to the steering control means (101).

An ultrasonic sensor (Sb) for non-contact detection of obstacles around the vehicle body (V) is provided on each of front, rear, left and right side surfaces of the vehicle body (V), and another object is attached to the vehicle body (V). There is provided a bumper type contact sensor (Sc) for making an emergency stop with the contact of. Further, in order to prevent the vehicle body (V) from falling at a stepped portion such as a staircase, a floor is provided at each of the vehicle body outer sides of the traveling wheels (1) below the vehicle body (V). A step acid sensor (Sd) using an ultrasonic sensor for non-contactly detecting whether or not the distance to the surface is within a set value is provided.

However, among the ultrasonic sensors (Sb) for detecting obstacles provided around the vehicle body (V), the sensors provided before and after the vehicle body are, as will be described later, the work stroke end positions on both end sides in the passage longitudinal direction. Is also used as a means for detecting.

In the figure, (2) is a rotating brush for cleaning, (3) is a water absorbing device provided in front of and behind the vehicle body, (4) is a warning light that blinks when the vehicle body (V) is in a traveling state, (5) is an alarm buzzer, and (6) is a power cord (7) for supplying electric power to the traveling motor (M ₁ ) and the steering motor (M ₂ ) from the outside. It is a cord reel that can be paid out freely according to the distance from a power outlet (not shown).

Explaining the laser beam projection apparatus (B), as shown in FIGS. 7 and 8, a semiconductor laser (9) as a light source is provided inside a case (8) which also serves as a member for attaching to the wall surface. ) And the laser beam projected from the semiconductor laser (9) as the guiding beam light (A), through the beam light projecting window (10) formed on the side surface of the case (8), (V) Aiming in a direction inclining the set angle (θ) set to a value smaller than 45 degrees with respect to an imaginary plane that is parallel to the floor surface of the passage as the traveling surface and passes through the beam light projection position. A polygon mirror (11) for scanning along the length direction of the set traveling locus for traveling the vehicle body (V), that is, the longitudinal direction of the passage, and a scanning motor for rotationally driving the polygon mirror (11). (12) and the semiconductor laser (9 And drive (13) are provided in the scanning motor (12). In the figure, (14) is a switch for operating and stopping the laser beam projection device (B).

A control configuration for automatically traveling the vehicle body (V) based on the light receiving position information of the guiding light beam (A) by the light receiver (Sa) will be described. As shown in FIG. A control device (15) using a microcomputer is provided for controlling the traveling motor (M ₁ ) and the steering motor (M ₂ ) based on detection information from an optical receiver (Sa) for directivity and various sensors. Has been.

That is, the position detection means (100A) and the steering control means (101) are configured by using the control device (15).

In FIG. 9, (16) is a drive device for the rotary brush (2), (17) is a rotary encoder for detecting the rotation of each of the traveling motors (M ₁ ), and (18) is the vehicle body (V )
It is an operation panel for setting and inputting various traveling control information such as the number of work strokes in each of the passages through which the vehicle automatically travels, the inclination angle (θ), and the passage width.

Incidentally, although not described in detail, when the vehicle body (V) is manually operated, various operation levers and switches provided on the operation panel (18) are manually operated.

Next, the operation of the control device (15) will be described based on the flowchart shown in FIG. 10 while referring to the vehicle body (V).
The automatic driving of will be described in detail.

First, as shown in FIG. 4, before the start of traveling, with the vehicle body (V) positioned in the passage which is the working range,
Using the operation panel (18), travel control information such as the number of work strokes and the width of each passage and the value of the inclination angle (θ) of the guiding light beam (A) for each passage is used. I will enter it.

Next, after a start switch (not shown) is turned on to start traveling, which of the light receivers (Sa) receives light of the guiding beam (A) based on all four light receiving states of the light receivers (Sa). ) Is received, and the front and rear two light receivers receiving the guiding beam light (A), that is, the pair of front and rear light receivers (S) located on the side of the beam light projection device (B). Set the set of receivers to be used so that ₁ ) and (S ₂ ) are used.

Then, as described above, the pair of front and rear light receivers (S ₁ ),
(S ₂ ) The position (X) with respect to the wall surface and the inclination (ψ) with respect to the longitudinal direction of the passage are obtained based on the respective light receiving position information, and the vehicle body (V) of the passage is determined based on the information. It will guide to the start point set at one corner.

Whether or not the vehicle body (V) has arrived at the start point is determined using the distance measurement information by the ultrasonic sensor (Sb) on the start point side.

After the vehicle body (V) reaches the start point, the rotating brush (2) and the water absorbing device (3) are actuated to start cleaning, and at the same time, the pair of front and rear light receivers (S ₁ ), (S ₂ ) Based on the information of the position (X) with respect to the wall surface and the inclination (ψ) with respect to the passage longitudinal direction detected based on the respective light receiving position information,
The steering control is performed so that the vehicle automatically travels in the wall surface direction facing the start point along the set travel locus (L) in the work stroke.

However, when the vehicle body (V) is caused to travel in the wall surface direction facing the start point after the start of travel, the vehicle body (V) is installed in the next passage that intersects with the passage currently in operation. Guide beam light (A) projected from the beam light projection device (B), and the steering light receiver located on the projection side of the guide beam light (A) and on the rear side of the vehicle body. Based on the light receiving position information of (S ₃ ), it is determined whether or not the end of the work process is reached,
On the other hand, in the work process toward the start point side,
The ultrasonic sensor (Sb) for detecting the obstacle detects the distance to the wall surface located on the end side of the work stroke, and whether or not the end portion of the work stroke is reached based on the value of the detected distance. It is made to distinguish whether or not.

That is, for each stroke, the distance to the end of the work stroke is measured by the light receiving position information of the steering receiver (S ₃ ) and the distance to the end of the work stroke is detected by the ultrasonic sensor (Sb) for obstacle detection. While switching between measurement and measurement, it is determined whether or not the end of the work process has been reached.

Then, along with determining that the end of the work process has been reached, the traveling and cleaning are stopped, and it is determined whether or not the entire work process has been completed. If the entire work process has not been completed, , It will be moved to the next work stroke by parallel steering.

To add a further explanation, as the end of the work stroke is reached, the forward and backward movements are switched and a parallel steering type is used to move the work width inward toward the next work stroke side and move forward and backward again. By switching, based on the light receiving position information of the steering light receiver (S ₃ ) or the distance measurement information by the obstacle detecting ultrasonic sensor (Sb), the work stroke to be the start end of the next work stroke After moving to the end portion, the forward and backward movements are switched again to start traveling and cleaning work in the next work stroke.

On the other hand, when the entire work process is completed, the first light beam in the next passage is first detected based on the light receiving position information of the guiding light beam (A) in the next light passage by the steering light receiver (S ₃ ). After moving backward to a position corresponding to the position of the work stroke along the set traveling locus in the currently traveling work stroke, it is switched to the four-wheel steering type and moved in the next passage direction.

However, when the work is completed at the start end side of the next passage, the four wheels are moved as the end of the work stroke is reached without retreating along the set travel locus in the work stroke currently being traveled. It will be switched to the steering type and moved to the next passage direction.

After moving to the next passage, various traveling control information in the next passage is set, and the pair of front and rear light receivers (S ₁ ) and (S ₂ ) for receiving the guiding beam light (A) are received. After guiding to the work start position based on the position information, the cleaning work in the passage is started.

[Another embodiment]

In the above-mentioned embodiment, the position detecting means (100A) uses the one guiding light beam (A) to set the position (X) in the lateral direction of the vehicle body with respect to the set traveling locus (L) and the inclination (ψ) with respect to the length direction. ) And are detected by the example, as shown in FIG.
Setting angles (θ ₁ ) and (θ ₂ ) that are smaller than degrees and are different from each other
Two of the above-mentioned guiding beams (A) inclined (A ₁ ),
The position (X) and the inclination (ψ) may be detected using (A ₂ ).

In addition, if the vehicle body (V) moves up and down due to the unevenness of the traveling surface, even if the position in the vehicle body lateral direction with respect to the set traveling locus (L) is the same, the light receiver (Sa) The light receiving positions of the two guiding beam lights (A ₁ ) and (A ₂ ) are different from each other, but the light receiving positions (l ₁ ) and (l ₂ ) with respect to the virtual plane (F) are Interval (l)
Is a state that does not fluctuate at a value corresponding to the position (X) with respect to the wall surface regardless of the vertical movement of the vehicle body (V).

Therefore, the position (X) of the vehicle body (V) with respect to the wall surface is calculated by using the formula (i), and the two guide beam lights (A ₁ ) and (A ₁ ) are received by the light receiver (Sa). ₂ ) From the relationship with the values of the light receiving positions (l ₁ ) and (l ₂ ) with respect to the respective virtual surfaces (F), based on the following equations (iii) and (iv),
Interval (l) between two light receiving positions above and below the light receiver (Sa)
From this, the position (X) is calculated.

l ₁ = X · tan θ ₁ , l ₂ = X · tan θ ₂ l = l ₂ −l ₁ (iii) ∴X = l · (tan θ ₂ −tan θ ₁ ) (iv) That is, the above (iv) The process of calculating the position (X) based on the equation corresponds to the position detecting means (100B).

Further, in the above-described embodiment, the so-called 2 is used so that only the traveling wheel (1) on the front side with respect to the traveling direction of the vehicle body is steered.
The case where the vehicle is configured to travel in the wheel steering form has been exemplified, but for example, the position (X) in the lateral direction of the vehicle body may be used.
Of the front and rear traveling wheels (1) in the same phase by the parallel steering type steering, and the inclination (ψ) of the front and rear traveling wheels (1) in the opposite phase. The steering may be performed by a four-wheel steering system that steers the same angle, and the specific configuration of the steering control means (101) can be variously changed.

Further, the present invention can be similarly applied to various work vehicles other than the work vehicle for cleaning, and the specific configurations of the respective parts can be variously changed.

By the way, to briefly explain the case of guiding the rice planting work vehicle, as shown in FIG. 12, at the outer side of the position which is the middle part of each of the four sides of the outer circumference of the square field, The beam light projection apparatus (B) in the embodiment is installed so that the guidance beam light (A) projected from the beam light projection apparatus (B) is scanned in the field inner direction and in the direction along each side, and the vehicle body (V) is installed. ), Front and rear, and left and right ends of the steering light receiver (Sa), respectively. Then, in a state where the field is divided into left and right, a plurality of work steps parallel to each other are set in a state of being aligned in the left-right direction in FIG. 12, and each time the end of each work step is reached, the next adjacent The planting work will be performed while turning 180 degrees in the work process.

In addition, in each of the left and right areas obtained by dividing the plurality of work steps into two in the field, the guidance beam light (A) projected from the beam light projection device (B) located on the area side is used. Therefore, the determination that the end of the work stroke has been reached and the turning to the next work stroke are performed by the front and rear beam light projection devices (B) located at the respective end sides of the work stroke. ) Is used for the guidance light beam (A).

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

BRIEF DESCRIPTION OF THE DRAWINGS The drawings show an embodiment of a work vehicle guiding apparatus using beam light according to the present invention. FIG. 1 is a front view showing the relationship between a guiding beam light and a light receiver, and FIG. The same perspective view, FIG. 3 is the same plan view,
FIG. 4 is a schematic plan view of a work stroke, FIG. 5 is a schematic perspective view of a work vehicle, FIG. 6 is a perspective view of essential parts showing a steering operation configuration, and FIG.
FIG. 8 is a cutaway side view of a beam light projection device, FIG. 8 is a front view of the same, FIG. 9 is a block diagram of a control configuration, FIG. 10 is a flow chart of control operation, and FIG. 11 is a guide beam light in another embodiment. And FIG. 12 is a front view showing the relationship between the light receiving device and the light receiver, and FIG. 12 is a schematic plan view of a working process in still another embodiment. (A) ... Guiding light beam, (B) ... Beam light projecting means, (V) ... Vehicle body, (.theta.) ... Set angle, (Sa) ...
Receiver, (La) …… Receiver spacing, (l), (lf),
(Lb) …… Spacing of light receiving position, (X) …… Position, (ψ)…
… Inclination, (100A), (100B) …… Position detection means, (10
1) …… Steering control means.

Claims (4)

(57) [Claims] 1. The guiding light beam (A) is directed to a side surface of the vehicle body (V) at an angle of 45 degrees with respect to an imaginary plane parallel to the traveling surface of the vehicle body (V) and passing through the light beam projection position. While projecting a smaller set angle (θ) toward the inclined direction,
A beam light projection means (B) for scanning along the length direction of a set traveling locus for traveling the vehicle body (V) is provided on the ground side, and the vehicle body (V) is provided with the guiding beam light (A). ) For detecting the light receiving position in the up-down direction with respect to), and a position for detecting the position (X) in the vehicle lateral direction with respect to the set traveling locus based on the light receiving position information of the light receiving device (Sa). The vehicle body (V) based on the detection information of the detection means (100A) and the position detection means (100A).
A work vehicle guide device using beam light, which is provided with a steering control means (101) for steering control so that the vehicle automatically travels along the set traveling locus. 2. A plurality of the light receivers (Sa) are provided in a state in which they are located at a set interval (La) in the vehicle body traveling direction,
The position detecting means (100A) includes a plurality of light receivers (S
a) The inclination (ψ) of the vehicle body (V) with respect to the length direction of the set traveling locus is also detected based on the information of each light receiving position and the set interval (La), and the operation is performed. The work vehicle using beam light according to claim 1, wherein the direction control means (101) is configured to maintain both the position (X) and the inclination (ψ) in the lateral direction of the vehicle body within a set dead zone. Guidance device. 3. Two guide light beams (A) are provided from a lateral side portion of the vehicle body (V) to a virtual plane which is parallel to the traveling surface of the vehicle body (V) and passes through the light beam projection position. Beam light projecting means for scanning along the length direction of the set traveling locus along which the vehicle body (V) travels while projecting at different angles in the vertical direction at angles smaller than 45 degrees. (B) is provided on the ground side, and on the vehicle body (V), a light receiver (Sa) for detecting a light receiving position in the vertical direction with respect to the guiding light beam (A), and the light receiver (Sa). Is a position detecting means (100B) for detecting the position (X) in the vehicle body lateral width direction with respect to the set traveling locus, based on the interval (l) between the light receiving positions at which the plurality of guiding light beams (A) are received. ), And the vehicle body (V) based on the detection information of the position detecting means (100B). To automatically travel along the set travel locus, steering control means for steering control (10
1) Work vehicle guidance system using beam light provided with and. 4. A plurality of the light receivers (Sa) are provided in a state in which they are positioned at a set interval (La) in the vehicle body traveling direction,
The position detecting means (100B) sets the intervals (lf) and (lb) of the light receiving positions at which the plurality of light receiving devices (Sa) respectively receive the plurality of guiding light beams (A) and the setting. The steering control means (101) is configured to detect the inclination (ψ) of the vehicle body (V) with respect to the length direction of the set traveling locus based on the information on the interval (La). 4. The work vehicle guidance system using beam light according to claim 3, wherein both the position (X) in the lateral direction of the vehicle body and the inclination ([psi]) are maintained within a set dead zone.