JP3005152B2 - Traveling control device for beam-guided work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention projects a guiding light beam from one end to the other end of each traveling stroke so that a work vehicle automatically travels along each of a plurality of traveling strokes. A plurality of guide beam light projecting means are installed on the ground side corresponding to each of the traveling steps, and the work vehicle is provided with a guide light sensor for receiving the guide beam light. The present invention relates to a travel control device for a light beam guided work vehicle provided with steering control means for performing steering control based on light reception information of a sensor so that the work vehicle automatically travels along the guide beam light.

[0002]

2. Description of the Related Art The traveling control apparatus for a beam-guided work vehicle has a plurality of guiding beam-light projecting means installed on the ground side in correspondence with the respective traveling steps. In comparison with the case of sequentially moving the light beam projecting means for a position corresponding to each traveling process, for example, by previously installing the guiding light beam projecting means on the ground side so as to project the light beam in a certain direction, The guiding light beam can be accurately projected so that an error in the projection direction does not occur. By the way, conventionally, as described above, each of the plurality of guiding beam light projecting means installed on the ground side is configured to always project the beam light.

[0003]

However, in the above-mentioned conventional structure, when the number of traveling strokes is large, the number of the guiding light beam projecting means is large, but all the guiding light beam projecting means are always in the state. Since it is configured to project a light beam, there is a disadvantage that power consumption becomes excessive, and there is still room for improvement. The present invention makes use of the advantages of the conventional configuration in which the guiding light beam can be accurately projected in a state in which an error in the projection direction hardly occurs, corresponding to each traveling stroke, while rationally improving power consumption. It is an object of the present invention to provide a traveling control device for a beam light-guided work vehicle, which can suppress the occurrence of light as much as possible.

[0004]

The features of the first invention are as follows.
As the work vehicle automatically travels along each of the plurality of traveling steps, a plurality of guiding beam light projecting means for projecting the guiding beam light from one end side to the other end side of each traveling step,
The work vehicle is provided with a guiding light sensor for receiving the guiding light beam, corresponding to each of the traveling steps, and the work vehicle is provided on the basis of light receiving information of the guiding light sensor. In a travel control device for a beam-guided work vehicle provided with steering control means for performing steering control so that the vehicle automatically travels along the guide beam light, the travel vehicle currently travels on any travel path. Current position discriminating means for discriminating whether or not the work vehicle is traveling on the ground side, based on the discrimination result of the current position discriminating means, among the plurality of guiding light beam projecting means. The present invention is characterized in that a light beam operation control means for projecting only the guiding light beam projection means corresponding to a traveling process is provided.

[0005] The characteristic structure of the second invention is to specify a structure suitable for implementing the first invention, and the steering control means is configured to control the traveling vehicle in a predetermined traveling order by the work vehicle. Is configured to execute steering control to perform traveling in the vehicle, the current position determination means is provided in the work vehicle,
The current position discriminating means is configured to obtain current traveling position information based on steering control information from the steering control means, and the work vehicle is configured to transmit the traveling position information to the beam light operation controlling means. Transmitting means for transmitting toward, is provided, the light beam operation control means, comprising a receiving means for receiving the travel position information transmitted from the transmitting means,
The point is that control is performed based on the information received by the receiving means.

A feature of the third aspect of the present invention is to specify a configuration suitable for implementing the first aspect of the present invention, wherein the current position determining means is provided at a predetermined position on the ground side, Azimuth detecting means for detecting the azimuth of the working vehicle, and distance measuring means for measuring a distance in the working vehicle from the predetermined position, the azimuth detected by the azimuth detecting means and the distance measuring means The present invention is characterized in that the present position of the work vehicle is determined based on the detected distance.

[0007]

According to the characteristic structure of the first aspect of the invention, the current position determining means determines which traveling course the work vehicle is currently traveling. Then, based on the determination result,
The light beam operation control means causes only the guidance light beam projecting means corresponding to the traveling process of the work vehicle to perform the projection operation. Therefore, the guiding light beam projection means other than the guiding light beam projection means operated by the light beam operation control means performs the light beam projection while the work vehicle is traveling on the current travel path. Will not be.

[0008] According to the characteristic configuration of the second invention, the working vehicle is
By a steering control means provided in the work vehicle, so as to perform traveling in each traveling stroke in a predetermined traveling order,
Since the steering control is executed, it becomes possible for the work vehicle to determine which traveling process the vehicle is currently traveling. Therefore, based on the steering control information from the steering control means, the current position discriminating means provided in the work vehicle determines travel position information of the work vehicle, and the travel position information is transmitted to the beam light operation control means by the transmission means. Send it. Then, the traveling position information is received by the receiving means provided in the light beam operation control means, and based on the received information, the light beam operation control means determines the guidance corresponding to the traveling process in which the work vehicle is currently traveling. Only the projection light beam projection means is operated for projection. Therefore, the guiding light beam projection means other than the guiding light beam projection means operated by the light beam operation control means performs the light beam projection while the work vehicle is traveling on the current travel path. Will not be.

According to the characteristic structure of the third aspect of the present invention, the current traveling position of the work vehicle is determined by the current position determining means provided at the predetermined position on the ground side.
That is, the direction of the work vehicle with respect to the predetermined position is detected by the direction detection means, and the distance from the predetermined position to the work vehicle is measured by the distance measurement means. Since the relative positional relationship between the predetermined position and each travel has a predetermined relationship, the relative position of the work vehicle with respect to the predetermined position is determined based on the information of the detected azimuth and the measured distance as described above. The position is determined, and the current position of the work vehicle can be determined.

[0010] Then, based on the result of the discrimination by the current position discriminating means, the beam light actuating control means causes only the guiding beam light projecting means corresponding to the traveling process of the work vehicle to perform the projecting operation. . Therefore, the guiding light beam projection means other than the guiding light beam projection means operated by the light beam operation control means performs the light beam projection while the work vehicle is traveling on the current travel path. Will not be.

[0011]

According to the characteristic structure of the first aspect of the present invention, a plurality of guiding light beam projecting means are respectively installed on the ground side in advance, and the beam light projecting direction can be accurately set in a certain direction, thereby enabling the work vehicle to be set. While having the advantage of being able to accurately guide the vehicle along the traveling path, even if the number of the guiding light beam projecting means is large, the guiding beam corresponding to the traveling path where the work vehicle is currently traveling is provided. Since the light projecting means performs the projecting operation, and the other guiding beam light projecting means does not perform the projecting operation, the traveling control device of the beam light guiding type working vehicle which can suppress power consumption as much as possible. We can provide it.

According to the characteristic configuration of the second invention, the following effect is obtained in addition to the effect of the characteristic configuration of the first invention. Since the current traveling position information of the work vehicle is determined on the side of the work vehicle receiving the light beam for guidance, more accurate current position information can be obtained by taking into account the light reception information of the light beam. It becomes possible.

According to the characteristic configuration of the third invention, the following effect is obtained in addition to the effect of the characteristic configuration of the first invention. Regardless of the traveling order of the work vehicle, the current position information of the work vehicle can be obtained, and even if the traveling order of the work vehicle is different, the current position information of the work vehicle can be reliably obtained even in a plurality of different work situations. There are advantages that can be obtained.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a rice planting work vehicle as a light beam guided work vehicle will be described below with reference to the drawings.

As shown in FIG. 1, one end (upper left end of the drawing) 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 through which the work vehicle V enters and exits by traveling along the longitudinal direction of the sides M2 and M3 is provided, and the adjacent side M
In the longitudinal direction of M2 and M3, work is performed along the longitudinal direction of the adjacent sides M2 and M3, with both end sides of the work site K being headland portions K1 and K2 and the center portion being a work target portion Ks. A reciprocating operation for working on the work target portion Ks is performed while the vehicle V reciprocates, and then the work vehicle V is reciprocated along the longitudinal direction of the reference side M1 in both headland portions K1 and K2. Headland work is performed on the headland portions K1 and K2. The work target portion Ks and the headland portions K1 and K2 are two right and left sides provided along the reference side M1 at both end positions of the work target portion Ks in the longitudinal direction of the adjacent sides M2 and M3. Are separated by boundary lines Y, Y.

In the work target portion Ks, the reference side M1
Work process R1 as a plurality of traveling processes arranged in the longitudinal direction of the vehicle
The first beam light projection device B1 as the guidance light beam projection means for projecting the guidance light beam A1 along the longitudinal direction of the work process R1 in order to guide the work vehicle V along each of the above.
Are provided corresponding to the respective work steps R1, and a first headland portion K1 adjacent to the reference side M1 of the pair of headland portions K1 and K2 and an opposite side M4 facing the reference side M1.
In each of the second headland portions K2 adjacent to the
2, a second beam for projecting the guiding light beam A2 along the longitudinal direction of the work process R2 so as to guide the work vehicle V along each of a plurality of work processes R2 as a plurality of travel processes arranged in the longitudinal direction of the work process R2. A light projection device B2 is provided. That is,
The vehicle V automatically travels along each of the two traveling steps R1 and R2 provided in an intersecting (orthogonal) state.
The two guiding light beams A are orthogonal to each other along the longitudinal directions of the two traveling processes R1 and R2, that is, along the longitudinal directions of the reference side M1 and the adjacent side M2.
Two light beam projection devices B1 and B2 as light beam projection means for projecting the light beams A1 and A2 are provided on the ground side.

The first light beam projecting device B1 is basically installed at a boundary position between two adjacent work steps of the plurality of work steps R1 at a ratio of one to the two work steps. However, the figure shows a case where the number of work steps R1 is an odd number, and one first light beam projection device B1 is arranged only for the uppermost work step R1. Further, the second light beam projection device B2 is installed at the boundary position of the work process because the plurality of work processes R2 are two. or,
In the figure, the light beam A3 is projected inside the projection position of the light beam A2 for guidance from the second light beam projection device B2 in the longitudinal direction of the adjacent sides M2 and M3 in parallel with the light beam A2 for guidance. A third light beam projection device B3 is provided. Although not described in detail, each beam light projection device B
Reference numerals 1, B2, and B3 are configured by a laser device or the like, and the light beams A1, A2, and A3 are scanned in a predetermined angle range in the vertical direction (see FIG. 2).

Next, the traveling route of the work vehicle V will be described with reference to FIG. First, a final work area portion R1a connected to the entrance Mi along the longitudinal direction of the adjacent sides M2 and M3,
In addition, the reciprocating operation is performed while leaving the relay work site portion R1b adjacent to the adjacent side M3 that is located away from the entrance Mi. Here, the final work place portion R1a is the reference side M1
Of the plurality of work steps R1 arranged in the longitudinal direction of the work area, the work place part corresponding to the uppermost work step, and the relay work place part R1b is the lower work side of the plurality of work steps R1. This is the work area corresponding to the process.

Specifically, the reciprocating operation is performed by setting the work process R1 farthest from the entrance / exit Mi except for the relay work site portion R1b to the right boundary line Y indicating the work start position at the start end thereof. It starts from the upper Pst point toward the left in the figure. Therefore, along the route shown in FIG.
While the vehicle is stopped at the point h and the first seedling replenishment is performed, the vehicle travels forward to the Pst point in a non-working state. After this, the work vehicle V
Is stopped at the start end of each of the work steps R1 and R2 on the reference side M1 side, seedling replenishment is appropriately performed according to the consumption state of the seedlings. Upon reaching the Pst point, the planting device 6 is driven to start planting work, and thereafter, the left and right headland portions K1, K2
Reciprocating in each work process R1 while turning 180 degrees,
In the final work process R1 (the second process from the top in the drawing) of the work target portion Ks, the right boundary line Y is guided by the guide light beam A1 based on the detection information of the right steering control optical sensor S1. The vehicle travels to the upper end position Pen.

Thereafter, a first headland portion K1 adjacent to the reference side M1 of the pair of headland portions K1 and K2, and
The headland work of working the second headland portion K2 adjacent to the opposite side M4 facing the reference side M1 is performed, and in the headland work, the headland work is performed between the first headland portion K1 and the second headland portion K2. In the case of the transition, the work area R1b for relay is operated while traveling the work area R1b for relay, and finally, the final work area R1a is run from the second headland portion K2 toward the entrance Mi. It is set so as to work on the final work place portion R1a. Specifically, first, two work steps R2 of the second headland portion K2 from the end position Pen.
The end position Pen is guided by the guiding light beam A1 based on the detection information of the right steering control optical sensor S1 so as to move to the start end of the inner work process R2.
From the right side of the figure to the position where the front-side sensor S2a receives the guide light beam A2, switch to the forward state, turn right by 90 degrees, and further turn the light-receiving steering control optical sensor S1 on. Switch to the steering control optical sensor S1 on the left,
The guiding light beam A1 projected from the side is guided by the guiding light beam A2 based on the light receiving information of the steering control light sensor S1 on the left side, and the guiding rear light sensor S1 is used as a trigger.
The vehicle travels in a reverse state from the position where 2b receives the light to the position at a predetermined distance to reach the planting start position. And the work process R
2 automatically travels in the forward state while being guided by the guiding light beam A2 based on the detection information of the left steering control optical sensor S1.

Thereafter, the work stroke R2 inside the second headland portion K2, the stroke R1b inside the relay work land portion R1b, the work stroke R2 inside the first headland portion K1, and the first headland portion K
1, the outer process R2, the outer process R1b outside the relay work site portion R1b, and the outer process R2 outside the second headland portion K2, in that order, at the end of each process at the beginning of the next process. The vehicle automatically travels while turning and moving to the section. Finally, the vehicle travels straight ahead in the final work place portion R1a in the forward state and exits the work place from the entrance Mi.

In order to perform each of the work steps in the reciprocating work and the headland work in an advancing state, the work vehicle V is moved forward by one stroke and then moved 180 degrees or 90 degrees.
A turn is made to move to an adjacent stroke while changing the direction. That is, in the turning for movement between the respective work processes R1 in the reciprocating work and between the respective work processes R2 in the headland work, the direction is changed by 180 degrees, and the work of the headland work is performed from the work process R1 of the reciprocating work. In the turning for the movement to the process R2, the work process R2 of the headland work and the relay work site portion R1b, and the turning for moving from the work process R2 of the headland work to the final work site portion R1a, 90
The direction is changed.

Next, the configuration of the work vehicle V will be described. As shown in FIGS. 2 and 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 having a pair of left and right front wheels 3 and a rear wheel 4 so as to be able to move up and down and The drive is provided so as to be freely stopped. That is, when the vehicle is driven in the lowered state, it is the ground work state, and other states are the non-work state. As shown in FIG. 4, the front and rear wheels 3 and 4 are paired on the left and right sides so as to be steerable independently of each other, and hydraulic cylinders 7 and 8 for steering and an electromagnetically operated control valve 9 for them are provided. , 10 are provided. That is, a two-wheel steering system in which only one of the front wheel 3 or the rear wheel 4 is steered, a four-wheel steering system in which the front and rear wheels 3, 4 are steered in the opposite phase and at the same angle, and the front and rear wheels 3, 4 in the same phase In addition, three types of steering systems, that is, a parallel steering system that is steered at the same angle, can be selectively used. As described above, the two hydraulic cylinders 7 and 8 and the two control valves 9 and 10 constitute steering means 7 to 10 for steering the work vehicle V.

In FIG. 4, reference numeral 11 denotes a hydraulic stepless transmission for shifting the output from the engine E to simultaneously drive each of the front and rear wheels 3 and 4, 12 an electric motor for the shift operation, and 13 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, and 16 a work vehicle V
A control device using a microcomputer for controlling the running of the plant and the operation of the planting device 6, based on information detected by various sensors described later and work data stored in advance, the shift motor 12, the control valves 9 , 10,1
4, and each of the planting clutches 15 is configured to be controlled.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 4, steering angle detection sensors R1, R2 using potentiometers for detecting the steering angles of the front and rear wheels 3, 4 respectively. A vehicle speed sensor R3 using a potentiometer for indirectly detecting the forward / backward traveling state and the vehicle speed based on the shift state of the transmission 11, and an encoder S3 for counting the number of revolutions of the output shaft of the transmission 11 and detecting the traveling distance.
An orientation sensor S4 for detecting the body direction of the work vehicle V, a tilt sensor S6 installed on the planting device 6 to detect a tilt angle in the lateral direction of the vehicle body, A potentiometer S5 installed at the connection point is provided.

As shown in FIGS. 2 and 3, the work vehicle V is provided with the 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 a shift in the lateral direction of the vehicle body with respect to the vehicle, the steering control optical sensor S1 that receives the guiding light beams A1 and A2, and the work vehicle V includes the first beam light projecting device B1 or the second
Guiding light beams A1, A2 from the light beam projecting device B2
When the vehicle is automatically traveling along, the guiding light beams A2, A from the second light beam projecting device B2 or the first light beam projecting device B1 intersecting the guiding light beams A1, A2.
1 and the light beam A3 from the third light beam projection device B3
And a trigger optical sensor S2 for receiving light. Note that the steering control optical sensor S1 can receive the guiding light beams A1 and A2 on either side of the vehicle body.
A pair of left and right optical sensors for trigger S2 are provided on both left and right sides of the front part of the vehicle body on a line connecting both axes of the front wheel 3 in plan view. Sensors S2a and S2b,
The front sensor S2a is located a predetermined distance ahead of a line connecting both axes of the front wheel 3, and the rear sensor S2b is located on a line connecting both axes of the rear wheel 4. Incidentally, the trigger optical sensor S2 is provided with light beams A1, A
Only the presence or absence of light reception for A2 and A3 is detected, and the light reception position cannot be detected.

The steering control optical sensor S1 will be described in further detail. As shown in FIG. 5, a pair of front and rear optical sensors S1 are arranged side by side at an interval d in the vehicle longitudinal direction and at an interval in the vertical direction. Optical sensors S1a and S1b as light receiving units
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 vehicle width direction, and determines the position of the light receiving element D0 located at the sensor center in the width direction. As a reference, the guiding light beams A1, A2
Light receiving position in the vehicle body width direction, that is, the position X of the light receiving element D
1 and X2 can be detected. or,
In order to be able to receive the light beams A1 and A2 for guiding without any difference even when the light beams A1 and A2 are incident from any direction of the front and rear of the vehicle body, the light sensors S1a and S1b respectively receive the incident light from each of the front and rear directions of the vehicle body. Mirror 1 that reflects toward the light receiving surface
8 is provided.

The control structure 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.
On the basis of the positions X1 and X2 of the light receiving elements 1a and S1b and the distance d in the longitudinal direction of the vehicle body, the inclination φ of the vehicle body 5 with respect to the projection direction of the guiding light beams A1 and A2 and the lateral width direction are obtained from the following equations. And the deviation x of the position at.

[0029]

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

Then, the working vehicle V is steered by setting a target steering angle so that both the inclination φ and the deviation x ′ become zero. However, in this embodiment,
During straight running in each work process, steering control is performed in a two-wheel steering mode in which only the front wheels 3 are steered.

The control device 16 controls the steering based on the detection information of various sensors such as the steering control optical sensor S1 and the work schedule information set in advance to perform the work in the running order as described above. It is configured to control the operation of various devices such as the directional means 7 to 10 and the planting section 6. Then, using the control device 16, the work vehicle V automatically travels in a predetermined travel order along each of the work processes R1 and R2 based on the light reception information of the steering control optical sensor S1. The steering control means 100 for controlling the operation of the steering means 7 to 10 is configured as described above.

The control device 16 moves the work vehicle V forward by one stroke so that the work vehicle V performs each of the work steps in the reciprocating work and the headland work in a forward state. The work vehicle V receives the guiding light beams A1, from the first light beam projector B1 or the second light beam projector B2.
When the vehicle is automatically traveling along A2, the guiding beam light A from the second beam light projecting device B2 or the first beam light projecting device B1 crossing the guiding light beams A1 and A2.
2, a start position of a 180-degree or 90-degree turning operation from the end of each stroke to the start of the next adjacent stroke is set based on the light receiving information of the trigger optical sensor S2 that receives A1. It is configured as follows.

Next, the operation of the control unit 16 will be described with reference to the flowcharts shown in FIGS.
As shown in FIG. 6, the entire processing flow is represented by R (not shown).
After performing an initialization process for the communication unit such as S232C and the actuators (the speed change motor 12, the control valves 9, 10, 14 and the planting clutch 15, etc.), a work plan setting process for setting a work plan is performed. Do. Next, corresponding control data is read based on the work plan set in the work plan set processing, and
Car body control processing for actually executing car body control is performed based on the control data. The execution state of the work plan by the vehicle body control processing is checked by the work plan check processing, and when the end of one work plan is confirmed, necessary communication processing to the ground side or the like is performed, and then the work end instruction is issued. If there is, end processing is performed, otherwise, the flow from the work plan set processing is repeated. In order to control the progress of the flow, when a new work plan is set in the work plan set processing, a plan flag is set, and when the end of the work plan is confirmed in the work plan check processing, The plan flag is reset.

In the vehicle body control processing, as shown in FIG. 7, first, it is checked whether or not the plan flag is set, and when the plan flag is reset, no processing is performed.
When the plan flag is in the set state, the control contents set in the work plan set processing are read out, and it is checked whether or not the corresponding processing actually exists. As shown in the figure, the processing corresponding to the above-described control contents includes a stop processing for stopping the work vehicle V, and a straight-ahead processing for moving the work vehicle V straight ahead for a set distance based on the distance measurement information by the encoder S3 in the forward or backward state. (End with distance measurement), straight-forward processing (end with light source measurement) in which the trigger sensor S2 goes straight to the position where the trigger sensor S2 detects the set number of times of light beams while the work vehicle V is moving forward or backward, and the respective work steps R1 , R2 from the end of R2 to the beginning of the next stroke, a trajectory convergence process for making the steering control sensor S1 receive the guiding light beams A1 and A2 properly, and a seedling. Each processing of the seedling supply apparatus processing for instructing replenishment and driving control of the planting apparatus 6 is prepared.
In the turning process and the trajectory converging process, the steering of the vehicle body is controlled by four-wheel steering.

Next, in the straight traveling process and the trajectory convergence process, etc., based on the light receiving information of the steering control sensor S1,
A description will be given of steering control for automatically running along the work steps R1 and R2 in a state where the work vehicle V is guided by the guide light beams A1 and A2. First, as shown in FIG.
It is checked whether or not the steering control sensor S1 is receiving the guiding light beams A1 and A2, and if so, the inclination φ of the vehicle body 5 and the deviation x in the width direction detected from the received light information. The steering angle is set and the steering operation is performed in accordance with the deviation information in the width direction of the vehicle body consisting of '. Specifically, in the case of four-wheel steering, the turning angles of the rear wheels 4 and the front wheels 3 are determined from the inclination φ of the vehicle body 5 and the deviation x ′ in the lateral width direction according to whether or not the vehicle is in the four-wheel steering (4WS) state. Is calculated, and the rear wheel 4 and the front wheel 3 are set so as to have the cutting angle.
In the case of two-wheel steering, the turning angle of the front wheel 3 is calculated from the inclination φ and the deviation x ′ in the width direction, and the front wheel 4 is set so as to have the turning angle, and the rear wheel 4 is set to a neutral state. I do.

The steering control sensor S1 receives the guiding light beam A.
If 1, A2 is not received, stop running and then
The light receiving state is checked while moving the steering control sensor S1 in the vehicle width direction. Then, when the light receiving state is reached, the movement of the steering control sensor S1 is stopped, and according to the inclination φ of the vehicle body 5 and the deviation x ′ in the lateral width direction detected in the light receiving state, as described above. Set the steering angle and steer. If the steering control sensor S1 does not enter the light receiving state even after being moved to the entire range of the sensor movement range in the vehicle width direction, abnormal processing such as engine stop is performed as abnormal and control is terminated.

A light beam operation control device 19 as a light beam operation control means for controlling the operation of the first light beam projection device B1 installed for each work process is installed outside the work place K. Using the control device 16 provided in the work vehicle V, based on the steering control information as described above,
A current position determining means 101 for determining which traveling process the vehicle is currently traveling is configured. Further, the work vehicle V is provided with a transmitter 20 as transmission means for transmitting the determination information by the current position determination means 101 to the outside.

The light beam operation control device 19 has the configuration shown in FIG.
As shown in FIG. 3, a receiver 21 is provided as a receiving means for receiving the discrimination information transmitted from the transmitter 20, a plurality of driving units 22 for individually driving the first beam light projection devices B1, And a control unit 23 for selectively controlling the plurality of driving units 22 to a driving state based on information received by the unit 21. This beam light operation control device 19
Based on the current position information of the work vehicle V received by the receiver 21, the control unit controls only the first light beam projection device B1 corresponding to the traveling process of the work vehicle V to perform the projection operation. The control is executed so that the corresponding drive unit 22 is selected and driven. The power supply to each first light beam projection device B1 is performed from the light beam operation control device 19 side. Therefore, while the work vehicle V is traveling in the work place, the plurality of first light beam projection devices B1
Among them, only the first beam light projection device B1 corresponding to the traveling process in which the work vehicle V is traveling performs the projection operation, and the other first beam light projection devices B1 do not perform the projection operation.

[Another Embodiment] (1) In the above embodiment, each of the first light beam projecting devices B
Although the power supply and the drive control for the first light beam control device 1 are performed from the light beam operation control device 19 side, as shown in FIG. 10, each of the first light beam projection devices B1 has a drive control for controlling the light beam projection operation. And a drive control unit 24 based on the received information.
Is provided on the side of the beam light operation control device 19 for controlling the projection of only the first beam light projection device B1 corresponding to the traveling process in which the work vehicle V is currently traveling. A transmitter 26 for transmitting information to the receiver 25 may be provided. (2) In the above embodiment, the current position determining means for determining which traveling process the work vehicle V is currently traveling is provided on the work vehicle V side. It may be provided. That is, as shown in FIGS. 11 and 12, the rotary imaging means Q is provided on the pedestal 27 of the beam light operation control device 19. That is, a turntable 29 that is driven to rotate around a vertical axis by an electric motor 28 with a speed reduction mechanism is provided, and the electric motor 28 is provided with a rotary encoder 30. A video camera 31 as an image pickup means and a laser beam type distance measuring device 32 are provided on the turntable 29.
(An example of a distance measuring means).
And a control unit 33 for processing the detection information of the rotary encoder 30, the imaging information of the video camera 31, and the measurement information of the distance measuring device 32. Further, the work vehicle C is provided with a light bulb 34 serving as an imaging reference for azimuth detection.

The control unit 33 rotates the electric motor 28 from a reference position where the optical axis of the video camera 31 is directed to a preset reference direction, and captures an image of the bulb 34 provided in the work vehicle V. Then, an area corresponding to the light bulb 34 on the imaging screen of the video camera 31 is extracted, and the center G of the light bulb 34 determined from the extracted area is extracted as shown in FIG.
Is controlled so that is located at the center of the imaging screen. According to the detection information of the rotary encoder 30,
The displacement angle α of the video camera 31 from the reference orientation to the center of the light bulb 34, that is, the orientation of the work vehicle V with respect to the reference orientation is determined. At the same time, the distance L to the work vehicle V is measured by the distance measuring device 32. And the control unit 3
3 is based on the displacement angle α, the distance L, and the data on the relative positional relationship between the predetermined work place V and the light beam operation control device 19, and the work vehicle V Is calculated by calculation. Therefore, the azimuth detecting means 102 for detecting the azimuth of the work vehicle V using the control unit 33 and the current position determining means 101
Is configured. (3) The current position determination means 101 may be provided at a predetermined position on the ground side different from the light beam operation control device 19. (4) The current position determining means 101 may be configured as follows. As shown in FIG. 14, another embodiment (2)
Two sets of rotary imaging means Q, each of which has a turntable, a video camera, an electric motor, a rotary encoder, and a control unit for controlling them, which are the same as those used in the above, are installed at a set distance away from the work place. Based on the image processing control as described above, when the center of the electric bulb 34 on the side of the work vehicle V matches the center of each of the imaging screens, the detection information of each of the rotary encoders indicates that the light bulb from the reference azimuth comes to the center. Video camera displacement angle (α in the figure
₁ , α ₂ ). In this case, the reference azimuth is a state where the reference azimuths face each other along a straight line W connecting the rotary imaging means Q. Then, from these displacement angles, and data on the relative positional relationship between the predetermined work place and the installation position of each rotary imaging unit, it is calculated which work process the work vehicle V is currently traveling. It is determined by:

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

[Brief description of the drawings]

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

FIG. 2 is a schematic side view of a work vehicle and a guiding light beam projecting unit.

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

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 a flowchart of a control operation.

FIG. 7 is a flowchart of a control operation.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a schematic configuration diagram of a beam light operation control device.

FIG. 10 is a schematic configuration diagram of a beam light operation control device according to another embodiment.

FIG. 11 is a schematic plan view of a current position determining unit according to another embodiment.

FIG. 12 is a schematic configuration diagram of a current position determination unit according to another embodiment.

FIG. 13 is a diagram showing image information.

FIG. 14 is a schematic layout plan view of a current position determination unit according to another embodiment.

[Explanation of symbols]

 Reference Signs List 19 beam light operation control means 20 transmission means 21 reception means 32 distance measurement means 100 steering control means 101 current position determination means 102 azimuth detection means A1 guidance light beam B1 guidance light beam projection means S1 guidance light sensor V work vehicle

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-3-71313 (JP, A) JP-A-52-53332 (JP, A) JP-A-1-188906 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) G05D 1/02 A01B 69/00 303

Claims (3)

(57) [Claims] 1. A guide beam light (A1) is projected from one end to the other end of each traveling process so that the work vehicle (V) automatically travels along each of a plurality of traveling processes. A plurality of guiding beam light projecting means (B1) are installed on the ground side corresponding to each of the traveling steps, and the work vehicle (V) receives the guiding beam light (A1) for guiding light. A sensor (S1) is provided, and based on the received light information of the guidance light sensor (S1), steering control is performed so that the work vehicle (V) automatically travels along the guidance light beam (A1). What is claimed is: 1. A travel control device for a beam-guided work vehicle provided with a steering control means (100), wherein a current position determination means (D) for determining which travel path the work vehicle (V) is currently traveling. 101), and the current position determining means (101) is provided on the ground side. ) Based on the determination result, the plurality of guiding light beam projecting means (B
In 1), the beam is provided with beam light operation control means (19) for projecting only the guiding light beam projection means (B1) corresponding to the traveling process of the work vehicle (V). A traveling control device for a light-guided work vehicle. 2. The steering control means (100) is configured to execute a steering control so that the work vehicle (V) travels in each traveling process in a predetermined traveling order, The present position discriminating means (101) is provided in the work vehicle (V), and the current position discriminating means (101) includes information on current traveling position based on steering control information from the steering control means (100). And transmission means (20) for transmitting the traveling position information to the light beam operation control means (19) is provided to the work vehicle (V). The means (19) includes a receiving means (21) for receiving the traveling position information transmitted from the transmitting means (20), and is configured to execute control based on the received information of the receiving means (21). Claim 1. Travel control device for the beam light-guided work vehicle. 3. A current position determining means (101) is provided at a predetermined position on the ground side, and the current position determining means (101) includes an azimuth detecting means (10) for detecting an azimuth of the work vehicle (V).
2) and a distance measuring means (32) for measuring a distance from the predetermined position in the work vehicle (V), and an azimuth detected by the azimuth detecting means (102) and the distance measuring means (32). The travel control device for a light-beam-guided work vehicle according to claim 1, wherein the current position of the work vehicle (V) is determined based on the distance detected by (1).