JP3046718B2 - Beam light guiding device for work vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a light beam projecting means for projecting a light beam for guiding a work vehicle to a moving body which sequentially moves to a light beam projecting position set at intervals along a set moving path. The present invention relates to a beam guiding device for a work vehicle, which is provided with a projecting direction adjustable so as to project the beam in a parallel state at each of the beam projecting positions.

[0002]

2. Description of the Related Art A beam light guiding device for a work vehicle having the above-described structure is configured to sequentially move a beam light projecting means to a plurality of beam light projecting positions. Compared with a case where a plurality of beam light projecting means are installed in a fixed position separately, the configuration can be simplified, and the labor for construction such as installing the plurality of beam light projecting means with high accuracy can be reduced. It is intended to be.

Meanwhile, in the conventional beam light guiding device for a working vehicle, for example, Japanese Patent Application No. 61-16713 is disclosed.
As shown in No. 6, the beam light projecting means is provided so as to be rotatable and adjustable about the vertical axis with respect to the moving body and to be movable and adjustable in a direction intersecting the set moving path, and the start end of the set moving path A light reflector such as a corner cube is installed on each of the side and terminal sides, and the angle of reflected light from each light reflector is set to 180 °, that is, the beam light projecting means is positioned on the set movement path. After moving the beam light projecting means in the direction intersecting the set movement path by the electric motor, reflected light from the light reflector disposed at a predetermined position on the end side of the beam light projection direction from that state. A displacement angle that reaches a state to be detected is detected and stored, and at each beam light projection position, a beam light projection unit is configured to always adjust the rotation so as to have the stored displacement angle. Is set Dimensional errors even when produced, always in every beam projection position had to be able to project the parallel light beam when moving along.

[0004]

However, in the above prior art, when the light beam projecting means is not located on the set movement path, it is moved by an electric motor or the like in a direction intersecting the set movement path. Since it is located on the set movement path, an actuator such as an electric motor is required, which complicates the equipment configuration. There was a problem that the setting of the beam light at the position could not be performed quickly. The present invention has been made in view of the above circumstances, and an object thereof is to move a light beam projecting unit in a direction intersecting a set movement path even when the light beam projection unit is not located on the set movement path. In addition, it is an object of the present invention to quickly set a light beam at each light beam projection position to eliminate the above-mentioned disadvantages of the related art.

[0005]

According to the present invention, there is provided a beam guiding apparatus for a work vehicle, which guides a work vehicle to a moving body which sequentially moves to a beam light projection position set at intervals along a set movement path. A beam light projecting means for projecting a light beam for use in a beam light guiding device for a working vehicle provided with an adjustable projection direction so as to project the light beams in parallel with each other at each of the light beam projection positions. The first characteristic configuration is that a pair of light reflectors are installed on the ground side, respectively positioned on the front side and the rear side of the moving body,
Stop the mobile unit at the beam light projection position.
An auxiliary beam light projecting means for projecting the auxiliary beam light for position detection while changing the projection direction in a state where the auxiliary beam light is reflected from the light reflector; and a light receiver for detecting the auxiliary beam light reflected from the light reflector. Based on the projection angle information of the means and the light reception information of the light receiver, a pair of reference projection angles at which the auxiliary beam light is projected to each of the pair of light reflectors is calculated from a reference phase on the moving body. Reference projection angle detection means for detecting the difference between the two, a position detection means for detecting the movement position of the moving body on the set movement path, based on the reference projection angle detection information and the movement position detection information A light beam projection direction determining means for determining a projection direction of the work vehicle guiding light beam as an adjustment angle from the reference projection angle or the reference phase, and the light beam projection means is provided. In that it is configured to project a light beam for the work vehicle induced to the determined projection direction by said discriminating means.

[0006] Also, the second feature structure, the light beam projection direction determining means, seeking intersection angle of a pair of a straight line connecting each <br/> s of the movable body and the pair of the light reflector, From the movement position and the intersection angle, the amount of lateral displacement of the moving body from a reference position in the lateral width direction is determined, and the amount of lateral displacement, the moving position, the distance between the moving body and the light reflector, and The point is that the adjustment angle is obtained based on the reference projection angle.

A third characteristic configuration is that the light beam projecting means is also used as the auxiliary light beam projecting means.

A fourth characteristic configuration is that the moving body is configured to move along a guide rail provided along the set moving path.

A fifth characteristic configuration is that the pair of light reflectors are configured to be movable along the guide rail, and the pair of light reflectors are moved with the movement of the movable body. The point is that control means is provided.

[0010]

According to the first feature of the present invention, the moving body moves to any one of the light beam projecting positions and projects the light beam.
In the state of stopping at the position, the auxiliary beam light for position detection changes the projection direction from the moving body side toward the pair of light reflectors located on the front side and the rear side of the moving body in the direction of the set moving path. When the auxiliary light beam reflected by the light reflector is detected by the light receiver, the auxiliary light beam is projected based on the projection angle information of the auxiliary light beam and the received light information of the reflected auxiliary light beam. A pair of reference projection angles projected on each of the pair of light reflectors is detected as a difference from a reference phase on the moving body. Then, based on both the detected information of the reference projection angle and the movement position of the moving body on the set movement path, the projection direction of the work vehicle guiding light beam is adjusted from the reference projection angle or the reference phase. And the projection direction of the work vehicle guiding light beam is adjusted to the determined projection direction. as a result,
At each beam light projection position, a guiding beam is set based on a pair of light reflectors provided at a fixed position on a set moving path on the ground side, that is, at a predetermined angle with respect to the set moving path. Light can be projected in parallel.

According to the second characteristic configuration, an intersection angle of a pair of straight lines connecting the moving body and each of the pair of light reflectors is obtained, and the intersection angle and a moving position of the moving body on a set movement path are determined. From this information, the amount of lateral displacement of the moving body from the reference position in the lateral width direction is obtained. Then, the lateral displacement amount, the moving position, the distance between the moving body and the pair of light reflectors,
And, based on each information of the reference projection angle, the projection direction of the work vehicle guiding light beam is determined as the reference projection angle or the adjustment angle from the reference phase, and the work vehicle is set in the determined projection direction. A light beam for guidance is projected.

According to the third characteristic configuration, first, the projection direction of the light beam projecting means for projecting the light beam for guiding the work vehicle is changed in angle so as to be directed to the pair of light reflectors, and is used as the auxiliary light beam. When the projection direction of the beam light for work vehicle guidance is determined from the projection angle of the auxiliary beam light and the light receiving information of the light receiver, the projection direction of the beam light projection unit is changed to the determined projection direction. The angle is adjusted, and the light is projected as a light beam for guiding the work vehicle at each light beam projection position.

According to the fourth characteristic configuration, the moving body moves along the guide rail arranged along the set movement path, moves to each light beam projection position, and is determined at each light beam projection position. A light beam for guiding the work vehicle is projected in the light beam projection direction.

According to the fifth characteristic configuration, as the moving body moves to each light beam projection position, the pair of light reflectors also moves, and the distance between the moving body and the pair of light reflectors, ie, the distance between the moving body and the pair of light reflectors, Since the projection distance of the auxiliary beam light projected from the moving body toward the light reflector is not extremely shortened, the detection accuracy when detecting the reference projection angle based on the projection angle and the received light information, and thus, Thus, the accuracy of discriminating the projection direction of the work vehicle guiding beam light is ensured.

[0015]

According to the first characteristic configuration, when the moving body is moved to each light beam projecting position, the moving body, that is, the light beam projecting means is not located on the set moving path. However, in that state, since the projection direction of the guiding light beam at each light beam projection position can be determined and the angle can be adjusted in the determined direction to set the guiding light beam, as in the related art, Compared with the case where the beam light projecting means is moved by an actuator such as an electric motor in a direction intersecting with the direction of the set movement path, the setting of the light beam for guidance is prevented, and the complexity of the equipment configuration is avoided. The setting of the guide beam light can be done quickly.

According to the second characteristic configuration, since the projection direction of the guiding light beam at each beam light projection position is determined through a series of calculation procedures, a controller for performing this calculation is provided on the moving body side. By providing the above-mentioned configuration, it is possible to easily perform the above-described determination, and thus, it is possible to obtain suitable means for realizing the effect of the first characteristic configuration.

According to the third characteristic configuration, no special auxiliary light beam projecting means is required, and the facility configuration is further simplified, so that the above first and second characteristic configurations can be implemented. Is obtained.

According to the fourth characteristic configuration, since the moving body moves on the guide rail, when moving to each beam light projection position, the moving body can move smoothly and in a low-noise state without rattling. More suitable means for implementing the first, second and third features are obtained.

According to the fifth aspect, the setting accuracy of the projecting direction of the light beam for guiding the work vehicle is ensured to be equal to or higher than a predetermined accuracy, and thus, the above-mentioned fourth aspect is more suitable for implementation. Means are obtained.

[0020]

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 field (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
In order to guide the work vehicle V along each of the above, there is provided a first beam light projection device B1 as guidance light beam projection means for projecting the guidance light beam A1 along the longitudinal direction of the work process R1, In each of the first headland portion K1 adjacent to the reference side M1 of the pair of headland portions K1 and K2 and the second headland portion K2 adjacent to the opposing side M4 opposing the reference side M1, the adjacent side M2 , M3, the second light 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 a plurality of work processes R2 as a plurality of travel processes arranged in the longitudinal direction of the work process R2. A projection device B2 is provided. That is, along the longitudinal direction of each of the two traveling processes R1 and R2, the vehicle V automatically travels along each of the two traveling processes R1 and R2 provided in an intersecting (orthogonal) state. That is, the two light beam projection devices B1 and B2 as light beam projection means for projecting the two guiding light beams A1 and A2 in a state orthogonal to each other along the longitudinal direction of the reference side M1 and the adjacent side M2, respectively, It is provided on the ground side.

The first light beam projecting device B1 is set so as to be sequentially positioned at the light beam projecting position for projecting light beams for two adjacent work steps of the plurality of work steps R1. , As described later, it is configured to sequentially move along the opposing side M4. In the figure,
A third light beam that projects the light beam A3 in parallel with the guiding light beam A2 inside the projection position of the guiding light beam A2 from the second light beam projector B2 in the longitudinal direction of the adjacent sides M2 and M3. A projection device B3 is provided.
Each of the light beam projectors B1, B2, and B3 is constituted by a laser device or the like, and each of the light beams A1, A2, and A3 is scanned within a predetermined vertical angle range (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.

In the reciprocating operation, specifically, the work path R1 farthest from the entrance Mi except for the relay work area portion R1b is defined by 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, which is adjacent to the reference side M1 of the pair of headland portions K1, 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, at the rear of a vehicle body 5 having a pair of right and left front wheels 3 and rear wheels 4, a seedling planting device 6 that can be switched between a ground working state and a non-working state is provided with a four-link mechanism. , And can be freely moved up and down and 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. still,
The seedling planting device 6 is rotatably held around an axis Z along the vehicle front-rear direction with respect to the vehicle body 5, that is, the quadruple link mechanism, and detects a tilt angle in the vehicle left-right direction by a tilt sensor S6 described later. The drive means (not shown) is operated based on the information, and the attitude is controlled so that the attitude to the ground in the lateral direction of the vehicle body is horizontal. Also, as shown in FIG.
The front and rear wheels 3 and 4 are paired on the left and right sides, and are configured to be steerable independently. Hydraulic cylinders 7 and 8 for steering and electromagnetically operated control valves 9 and 10 for them 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. From the above, both hydraulic cylinders 7, 8 and both control valves 9,
10, steering means 7 to 10 for steering the work vehicle V
Is configured.

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, 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. Also, as will be described later,
A communication control unit 19 that communicates the running situation to the outside is provided.

Referring to the sensors mounted on the work vehicle V, 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 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 further described with reference to FIG. 5. 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 intervals 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.

[0035]

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

However, when the vehicle body 5 is inclined in the lateral direction of the vehicle body, the inclination φ and the positional deviation x obtained above include an error due to the inclination. Hereinafter, the inclination correction for eliminating this error will be described. . The angle of inclination of the planting device 6 with respect to the ground detected by the inclination sensor S6 and the angle of rotation of the vehicle body 5 around the axis Z with respect to the planting device 6 detected by the potentiometer S5 are added and subtracted. Thus, the rolling angle of the vehicle body 5 is obtained. Then, as shown in FIG. 6, the difference between the height of the connection point and the steering control optical sensor S1 on the vehicle body is L1, and the light reception of the steering control optical sensor S1 from the connection point (left and right center of the vehicle body). Assuming that the lateral distance on the vehicle body to the center of the vehicle body is L2 and the rolling angle of the vehicle body is θ, the lateral direction from the connection point in the state where the vehicle body is inclined to the center of the light receiving unit of the steering control optical sensor S1 Is obtained, and an amount ΔL obtained by subtracting a lateral distance L2 when the vehicle body is not tilted from L3 is a 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.

[0037]

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

Then, the work 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 work in the above-described running order. 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 device 16 will be described with reference to the flowcharts shown in FIGS.
As shown in FIG. 7, the entire processing flow includes the communication control unit 19 and various actuators (the speed change motor 1).
2. After performing an initialization process for each of the control valves 9, 10, 14, and the planting clutch 15, etc., a work plan setting process for setting a work plan is performed. Next, corresponding control data is read based on the work plan set in the work plan setting process, and a body control process for actually executing the 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 process, as shown in FIG. 8, 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 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. As shown in FIG. 9, deviation information in the vehicle width direction including the inclination φ of the vehicle body 5 detected from the light reception information of the steering control sensor S1 and the deviation x ′ in the vehicle width direction after the inclination correction. The steering angle is set according to and the steering operation is performed. 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 turning 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. Then, the front wheel 4 is set so that the turning angle is obtained, and the rear wheel 4 is set in a neutral state.

Next, the first light beam projecting device B1 is sequentially moved to the light beam projecting positions set at intervals along the set moving path, and the first light beam projecting devices B1 are in parallel with each other at each of the light beam projecting positions. A configuration for projecting a light beam will be described below. As shown in FIG. 1, a movable carriage 22 as a movable body is moved by an electric traveling motor 21 on a guide rail 20 installed along a set movement path IK set in a state parallel to the opposite side M4. The first light beam projection device B1 is provided so as to travel and move to each corresponding light beam projection position and then stop. The first light beam projection device B1 has an angle of projection about the vertical axis center on the movable carriage 22. Adjustably provided. On the other hand, corner cubes CC1 and CC2 serving as a pair of light reflectors are respectively positioned on the front side and the rear side of the movable carriage 22, that is, on both ends of the guide rail 20, and their respective optical axes are connected to the guide rail 20.
It is installed in a state facing the direction of.

As shown in FIG. 10,
The first beam light used also as auxiliary beam light projection means for projecting an auxiliary beam light for position detection onto a rotary stage 24 which is driven to rotate around a vertical axis by a stepping motor 23 while changing the projection direction. A photodiode PD as a light receiver for detecting an auxiliary light beam projected from the projection device B1 and reflected from the corner cubes CC1 and CC2; and the first light beam projection device B1
Are provided so that the light detection direction of the photodiode PD coincides with the light beam projection direction. or,
Stage controller 29 for driving and controlling stepping motor 23, stage driver 30, traveling motor 41
A motor control circuit 31 for controlling the operation of the control circuit, giving a control command to each of the control circuits, and determining a light beam projection direction based on information on the light beam projection direction and light receiving information of the photodiode PD, as described later. A unit 32 and a communication control unit 37 for communicating various information with an external device are provided.

In the figure, reference numeral 33 denotes a laser light generator for generating a light beam; 34, a galvanometer for scanning the light beam projection device B1 in the vertical direction; 35, a light beam projection control circuit; The rotary encoder 36 detects that the carriage 22 has traveled a set distance from the previous light beam projection position to the next light beam projection position, based on the rotation speed of wheels or a motor. As described above, the rotary encoder 36 is connected to the set movement path I
It functions as a position detecting means for detecting the moving position of the movable carriage 22 on K. 43 and 44 are movable carts 22;
And a motor control circuit for driving the brake truck for stopping the carriage at a predetermined position. Reference numeral 42 denotes a movable carriage that operates by contacting with locking pieces (not shown) provided at both ends of the guide rail 20. Reference numeral 22 denotes a limit switch for setting a movement limit position.

The main control unit 32
The auxiliary light beam is projected onto each of the pair of corner cubes CC1 and CC2 based on the projection angle information of the auxiliary light beam projection means, that is, the light beam projection device B1, and the light receiving information of the photodiode PD. A reference projection angle detecting means 101 for detecting the pair of reference projection angles obtained as a difference from a reference phase (for example, the front-back direction J or J ′ of the carriage shown in FIG. 11) on the movable carriage 22, and the reference projection Beam light projection direction determining means 102 for determining the projection direction of the work vehicle guiding light beam A1 as the reference projection angle or the adjustment angle from the reference phase based on the angle detection information and the movement position detection information. Are configured. The light beam projection device B1 is configured to project the light beam A1 for guiding the work vehicle in the projection direction determined by the light beam projection direction determination means 102.

The light beam projection direction determining means 102
Specifically, as shown in FIG. 11, an intersection angle θk of a pair of straight lines a1 and a2 connecting the movable carriage 22 and the pair of corner cubes CC1 and CC2 is obtained, and the movement position and the intersection angle are determined. θk, the moving carriage 22
Is determined from the reference position on the set movement path IK in the lateral width direction, and the lateral displacement Δ
Y, the adjustment position is determined based on the movement position, the distance between the movable carriage 22 and the corner cubes CC1 and CC2, and the reference projection angle.

Hereinafter, this will be described in detail with reference to FIG.
The line connecting the two corner cubes CC1 and CC2 is considered as the set movement path IK, that is, the virtual rail trajectory when there is no bend, and the projection direction of the work vehicle guiding light beam A1 is made orthogonal to the virtual rail trajectory. The parallelism of each guiding light beam A1 is ensured. First, the distance between the two corner cubes CC1 and CC2 is set to 2 · L,
That is, assuming that the light beam projecting device B1 is located at the position of the coordinate X obtained from the movement position with the middle point between the two corner cubes CC1 and CC2 as the origin, the two corner cubes CC1 and CC2 and the light beam Projection device B1
The center of the circle passing through the three points is given by (Xc, Yc) in the following equation.

[0050]

(Xc, Yc) = (0, L / tan (θk))

Next, the lateral shift amount ΔY is given by the following equation according to the value of the above-mentioned intersection angle θk.

[0052]

When θk <180 ° ΔY = L / tan (θk) + SQR ((L / SIN (θk)) ² −X ² ) When θk = 180 ° ΔY = 0 When θk> 180 ° ΔY ＝ L / tan (θk) -SQR ((L / SIN (θk)) ² −X ² ))

The projection direction of the guiding light beam A1 is given by the following equation as angles φ1 and φ2 from one of the pair of straight lines a1 and a2. Therefore,
In this example, as shown in FIG. 11, the angle φ3 of the straight line a2 , which is the second term in the equation, is φ3 = tan ⁻¹ (ΔY / (L−X)).
Corresponds to the reference projection angle with respect to the reference phase J when the reference phase is set in the forward direction J of the bogie, and the angle φ4 of the straight line a1 = tan ⁻¹ (ΔY / (L
+ X)) corresponds to the reference projection angle with respect to the reference phase J 'when the reference phase is set in the bogie backward direction J'.

[0054]

## EQU5 ## φ1 = π / 2 + tan ⁻¹ (ΔY / (L−X)) or φ2 = π / 2 + tan ⁻¹ (ΔY / (L + X))

Next, the control operation of the movable carriage 22 will be described with reference to the flowchart shown in FIG. First, initialization processing such as control states and control constants of the respective units is performed, and then communication control processing with the work vehicle V is performed. When the track setting request transmitted from the communication control unit 19 of the work vehicle V is received when the work vehicle V reaches the end position of the work process in which the work vehicle V guides and travels along the light beam A1, the detection by the rotary encoder 36 is performed. Travel motor 4 until the distance reaches the set value
1 is performed to perform a carriage position control process for moving the movable carriage 22 toward the next light beam projection position. When the moving carriage 22 stops at the next projection position, the rotating stage 2
Direction control processing for rotating the laser beam 4 around the vertical axis, laser control processing for driving the laser device, the galvanometer 34, and the like, and projecting the auxiliary beam light toward the corner cubes CC1 and CC2 while scanning the auxiliary beam light within a predetermined vertical angle range. ,
And, a laser light receiving process for receiving the reflected light from the corner cubes CC1 and CC2 is performed, and the guiding light beam A
The angle φ1 or φ2 representing the projection direction of No. 1 is obtained, and the rotational position of the rotary stage 24 is fixed so that the guiding light beam A1 is directed in the direction indicated by the angle φ1 or φ2. still,
When the trajectory setting of the guiding light beam A1 is completed, the completion information is communicated to the work vehicle V side, and the watchdog routine is used to check for a runaway control flow.

The auxiliary light beam is supplied to the corner cube CC.
The angular velocity condition about the vertical axis of the light beam for obtaining reflected light from the light beam CC1, CC2 will be described with reference to FIG. Here, corner cube CC1,
The effective diameter Δφ of CC2 is 0.030 m, and the distance L from the beam projector B1 to the corner cubes CC1 and CC2.
Is 30 m, the scanning frequency f of the light beam is 50 Hz,
When the angular velocity of the light beam is represented by ω (rad / sec), L · ω is the distance that the light beam moves laterally at the positions of the corner cubes CC1 and CC2 for 1 second, and the light beam is 2 ×・ F times corner cube C
Since it crosses C1 and CC2 in the vertical direction, in order to apply the auxiliary beam light to the corner cubes CC1 and CC2,
It suffices to satisfy (L · ω) / (2 · f) <Δφ, and eventually ω <(2 · f · φ) /L=0.1 (rad
/ Sec) is the required condition.

Next, conditions for setting the trajectory of the light beam A1 within a predetermined time after the movable carriage 22 stops at the next light beam projection position will be described with reference to FIGS. Here, in order to simplify the explanation, the above-mentioned trajectory setting time is defined as a time during which the auxiliary light beam is rotated once around the vertical axis and the reflected light from the pair of corner cubes CC1 and CC2 can be reliably received. In practice, the crossing angle θk is detected from the received light information, and the direction of the projection light beam is determined through the above-described equations (3), (4), and (5), and the projection of the guiding light beam A1 is performed in that direction. The angle is adjusted, but the time is negligible. As shown in FIG. 15, the corner cube search area is set in a range of an angle E on both sides of the bogie 22 centered on the vehicle longitudinal direction J. In this range of the angle E, the angular velocity of the auxiliary light beam is relatively small. The above-mentioned ω = 0.1 (rad) for setting a low angular velocity
/Sec)=5.7 (deg / sec), and in other angle ranges, the stepping motor 23
And the maximum angular velocity ω1 = 35 (rpm
m) = 210 (deg / sec), to make the time required for one rotation of the auxiliary light beam to be within 3 sec, for example, (4 · E) / ω + (36)
0-4 · E) / ω1 <3 (sec). Therefore, E <1.8 (deg). Here, as shown in FIG. 14, assuming that the bending of the rail 20 is ± 1 cm per 1 m (total 2 cm), the angle is 1.14.
5 (deg), and the allowable angle of the direction shift of the bogie 22 with respect to the direction of the rail 20 is expressed by
, The remaining angle minus the bend, ie 1.8-1.1
It is required that 45 = 0.655 (deg).

[Alternative Embodiment] In the above embodiment, a pair of light reflectors (corner cubes CC1 and CC2) are fixedly installed on the ground side. Are movable along the guide rail 20 via wheels or the like in the same manner as, for example, a movable body (the movable carriage 22 for the light source). Movement control means for moving the moving body (moving carriage 22 for the light source) with the movement of the moving body may be provided. Specifically, FIG.
As shown in the figure, the movable carriage 22 and each of the carriages on which the light reflectors are installed are connected by a rod-shaped elongated body 45 which does not expand and contract while maintaining the distance L at a fixed distance (30 m or the like). It is designed to move. In this example,
The guide rail 20 is formed so that both ends thereof are extended, and the movement control means is constituted by a main control unit 32 on the side of the movable carriage 22. However, instead of being connected by the rod-shaped elongated body 45, the movement control of each carriage provided with the light reflector may be performed by the movement control means provided therein. In this case, since the carriage 22 (beam light projecting means B1) is always located at the middle point of the distance 2 · L between the pair of light reflectors, the coordinate X of the moving position is 0, and Angle θk and adjustment angles φ1, φ2
(Equation 4 and Equation 5) are simplified as follows, and the calculation time is shorter.

[0059]

When θk <180 ° ΔY = L / tan (θk) + L / SIN (θk) When θk = 180 ° ΔY = 0 When θk> 180 ° ΔY = L / tan (θk) -L / SIN (θk), φ1 = π / 2 + tan ⁻¹ (ΔY / L) or φ2 = π / 2 + tan ⁻¹ (ΔY / L)

In the above embodiment, at each beam light projection position, the lateral displacement amount ΔY from the reference position (set moving path IK) in the lateral width direction of the moving body (moving carriage 22) is obtained, and information such as the lateral displacement amount is obtained. , The projection direction of the guiding light beam A1 is obtained by the calculation formulas shown in Expressions 3 to 5 , but it is not always necessary to perform the procedure for obtaining the lateral shift amount ΔY. Further, since each beam light projection position is a fixed position, the above-described calculation formula or the like corresponding to the projection position is stored in advance, so that the calculation time can be further reduced.

In the above embodiment, the beam light projecting means B1 for projecting the guiding light beam A1 is also used as the auxiliary light beam projecting means.
Apart from this, auxiliary beam light projection means may be provided.

In the above embodiment, the moving body is connected to the guide rail 20.
The moving body 22 is configured to move along the rails, but may be a moving body that travels on the ground by wheels instead of moving on such a rail.

In the above embodiment, the light beam projecting means B1 is constituted by a laser device or the like, but other means for generating light beams may be used.

In the above embodiment, the light reflector is constituted by the corner cubes CC1 and CC2. However, the light reflector is not limited to this and may be any reflector that reflects the light beam.

In the above embodiment, the light receiver is constituted by the photodiode PD. However, the present invention is not limited to this, and another light receiver such as a phototransistor can be used.

In the above-mentioned embodiment, the position detecting means is constituted by the rotary encoder 36 for detecting the number of rotations of the wheels or the motor of the movable carriage 22. However, the present invention is not limited to this. The position indicator may be detected by reading the magnetic pointing tool provided along the line with the reading head of the movable carriage 22.

In the above embodiment, the rotary encoder 3
6, the distance detection mark is formed at set intervals on the guide rail 20, and the moving carriage 22 is moved based on the sensor for detecting the distance indication mark and the information of the sensor. A calculation unit for calculating the position may be provided.

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

[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 front view illustrating inclination correction of a positional shift amount in a vehicle width direction;

FIG. 7 is a flowchart of a control operation.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is a schematic configuration diagram of the movable trolley

FIG. 11 is a schematic plan view for explaining how to obtain a light beam projection direction.

FIG. 12 is a control flowchart on the movable cart side.

FIG. 13 is a side view illustrating conditions for applying the auxiliary beam light to the light reflector.

FIG. 14 is a plan view illustrating conditions for applying the auxiliary beam light to the light reflector.

FIG. 15 is a partial plan view illustrating conditions for applying the auxiliary beam light to the light reflector.

FIG. 16 is a plan view showing another embodiment.

[Explanation of symbols]

 IK setting moving path 22 Moving body B1 Beam light projecting means CC1 Light reflector CC2 Light reflector B1 Auxiliary beam light projecting means PD light receiver 101 Reference projection angle detecting means 36 Position detecting means 102 Beam light projecting direction determining means 20 Guide rail 32 Movement control means

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-64-10308 (JP, A) JP-A-63-24308 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02 A01B 69/00 303

Claims (5)

(57) [Claims] 1. A light beam projecting means for projecting a light beam for guiding a work vehicle to a moving body (22) which sequentially moves to a light beam projecting position set at an interval along a set movement path (IK). (B1) is a beam guiding device for a work vehicle provided with a projecting direction adjustable so as to project beam light in parallel with each other at each of the beam projecting positions, wherein the moving body (22) ), A pair of light reflectors (CC1) and (CC2) are installed on the ground side, respectively, located on the front side and the rear side of the moving body (22), and stopped at the moving body (22) at the beam light projection position. Smell
Te, detected auxiliary light beam projection means for projecting while changing the projection direction of the auxiliary beam for position detection (B1), said light reflector (CC1), the auxiliary light beam reflected from the (CC2) receiving An auxiliary beam light, based on the projection angle information of the auxiliary beam light projecting means (B1) and the light receiving information of the light receiver (PD), the pair of light reflectors (CC1) and (CC2). A reference projection angle detecting means (101) for detecting a pair of reference projection angles projected to each of the above as a difference from a reference phase on the moving body (22), and on the set movement path (IK). Position detecting means (36) for detecting a moving position of the moving body (22) in the above, and projecting the light beam for guiding the work vehicle based on the detection information of the reference projection angle and the detection information of the moving position. The direction And a light beam projection direction determining means (102) for obtaining as a launch angle or an adjustment angle from the reference phase, wherein the light beam projecting means (B1) is provided with the determining means (10).
A beam guide device for a work vehicle configured to project the beam light for work vehicle guidance in the projection direction determined in 2). 2. The light beam projection direction determining means (10)
2) the moving body (22) and the pair of light reflectors (C
C1) and (CC2) are determined to determine the intersection angle between a pair of straight lines, and the movement position and the intersection angle are used to determine the amount of lateral displacement of the moving body (22) from a reference position in the width direction. , Its lateral displacement, the moving position, the moving body (22) and the light reflectors (CC1), (CC2).
The beam light guiding device for a work vehicle according to claim 1, wherein the adjustment angle is obtained based on an interval between the light beam and the reference projection angle. 3. The beam guiding device for a working vehicle according to claim 1, wherein said beam projecting means (B1) is also used as said auxiliary beam projecting means (B1). 4. The moving body (22) is configured to move along a guide rail (20) installed along the set movement path (IK).
A beam light guiding device for a working vehicle as described in the above. 5. The pair of light reflectors (CC1), (CC1)
2) is configured to be movable along the guide rail (20), and to move the pair of light reflectors (CC1) and (CC2) with the movement of the moving body (22). 3
The beam light guiding device for a working vehicle according to claim 4, wherein (2) is provided.