JPH01188906A - Travel controller for beam light guided work vehicle - Google Patents

Abstract

PURPOSE:To automatically stop a work vehicle in the desired final process by setting the scan cycle of a beam light projecting device corresponding to the final process at the value different from the scan cycles of other work processes. CONSTITUTION:A controller 18 operates a transmission 14 to travel a work vehicle V at a set speed and at the same time detects the position deviation and the tilt of the vehicle in its width direction against the guide beam light based on the light reception information of a steering control light sensor 19. Furthermore the controller 18 performs the steering control after detection of a scan frequency (f) so that the vehicle V travels automatically along the guide beam light. Then the controller 18 stops the travel of the vehicle V after detecting that the frequency (f) detected via the sensor 19 is equal to a scan frequency that shows the final process.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides guidance beam light that is applied to one end side of each of a plurality of work strokes lined up in the width direction of a vehicle body while scanning the guiding beam light in the vertical direction at a set period. A beam light projection device that projects in the length direction of the working stroke is provided, and the work vehicle includes five optical sensors for steering control that receive the guiding beam light, and a light receiving sensor for the steering control optical sensor. a steering control means for controlling the steering so that the working vehicle automatically travels along the guiding beam light in each working stroke based on the information; The present invention relates to a travel control device for a beam-guided work vehicle, which is provided with turn control means for moving the work vehicle to the starting end of the next work stroke.

[Conventional technology]

The travel control device for this type of beam-guided work vehicle mentioned above is:
This system enables a work vehicle to automatically travel continuously over multiple work strokes lined up in the width direction of the vehicle, but conventionally, the work vehicle has no control when the current work stroke ends. There was no means for detecting whether or not it was the final stroke. Therefore, for example, the number of work strokes is artificially set in advance before the start of travel, and each time the end of each work stroke is reached, it is determined whether to complete the work or turn.

[Problem to be solved by the invention]

According to the above-mentioned conventional configuration, it is necessary to set the number of work strokes in which the work vehicle is to travel before starting the work, which is troublesome.

Furthermore, if the user forgets to set the number of work strokes, there is a risk that the work vehicle will not be able to stop at the desired final stroke, and an improvement has been desired.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to automatically stop the work vehicle at the desired final stroke even if the work vehicle starts automatically traveling without setting the number of scheduled work strokes. The goal is to make it possible.

[Means to solve the problem]

The characteristic configuration of the travel control device for a beam guided work vehicle according to the present invention is as follows.

That is, the beam light projection device installed at a location corresponding to the final step of the plurality of work steps projects the guiding beam light at a scanning period different from that of the beam light projection devices in other work steps. The work vehicle is configured such that the work vehicle includes a scanning period detecting means for detecting a scanning period of the guiding beam light based on light reception information of the steering control optical sensor, and detection information of the scanning period detecting means. The present invention is further provided with a final stroke determining means for stopping running, which determines the final stroke based on the final stroke.

[For production]

That is, a beam light projection device that projects a guiding beam light is provided at one end side of each of the plurality of work processes, and
Since the beam light projection device is configured to scan the guiding beam light vertically at a set period,
The steering control optical sensor on the work vehicle side is in a state in which it intermittently receives the guiding beam light at the same period as the scanning period.

Therefore, the scanning period of the beam light projection device installed at the location corresponding to the final process is set to a different period from the scanning period of the beam light projection device in other work steps, and the light reception information of the steering control optical sensor is This is used to detect the scanning period and determine whether the current work process is the final process.

〔Effect of the invention〕

Therefore, while effectively utilizing the inherent equipment configuration,
Setting the scanning period of the beam light projection device corresponding to the final process to a period different from the scanning period in other work processes,
A simple modification that determines the scanning period of the guidance beam light from the light reception information of the steering control optical sensor can be used to detect the final stroke on the work vehicle side without having to install a dedicated sensor etc. It is now possible to automatically determine whether or not it is the final stroke.Thus, even if you start traveling without setting the number of work strokes before starting work, it will automatically stop at the desired final stroke. I was able to do it.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 4, the guiding beam light (A) is applied to one end side of a plurality of working strokes arranged in parallel with each other, and the guiding beam light (A) is applied to one end side of each working stroke. A plurality of beam light projection devices (1) are installed as beam light projection means for projecting beam light from one end to the other end. ) is configured to automatically travel along each work process.

However, in this embodiment, the working vehicle (V) is made to travel back and forth while turning 180 degrees at both ends of each working stroke, and while the working vehicle (V) is reciprocating, The projection position of the guidance beam (A) is set to a position corresponding to the middle between one work process and the next work process adjacent to it so that the guidance can be performed using the same guidance beam (A). It is set.

In other words, by switching the guiding beam (A) to be used each time the working vehicle (V) makes one round trip between adjacent working stages, planting in a predetermined range of fields can be performed automatically and continuously. That's how it is.

To explain the configuration of the beam light projection device (1), as shown in FIGS. 8 and 9, a semiconductor laser (3) that emits a laser beam upward is provided inside a case (2), and The laser light emitted from the semiconductor laser (3) is
A scanner (using a galvanometer, etc.) that projects in the length direction of the work process from a window (4) formed in a side hole of the case (2) while scanning at a set angle in the vertical direction at a set period. 5) is provided.

In the figure, (2A) is a rotary table that rotatably supports the case (2), and is adapted to adjust the projection direction of the guiding beam (A).

Further, (8) refers to the semiconductor laser (3) and the scanner (
(5) is a driving battery, (G) is a control device that drives the semiconductor laser (3) and the scanner (5), (SW, ) is a power switch, and (Slit2) is a scanning device for the scanner (5). This is a scanning frequency switching switch that switches the frequency (f) into three types.

To explain the switching of the scanning frequency (f),
As shown in FIG. 4, the scanning frequency (
f) in another work process, the guiding beam light (A
) is set to a scanning frequency (f) different from that of the beam light projection device (1a) that projects the working vehicle (V
) is running on its final stroke.

Since the work vehicle (V) is guided using the guiding beam light (A) projected from the same beam light projection device (1) while making one round trip in the adjacent work process, The work vehicle (V) may finish the work at one end of the work process where the beam light projection device (1b) installed in the final process is installed, or finish the work at the other end of the work process. It turns out that there is.

Therefore, it is possible to determine whether the final stroke is the process of traveling while approaching the beam light projection device (1b), or the final process is the work process of traveling while moving away from the beam light projection device (1b). When the work is to be completed at one end of the working process where the beam light projection device (1b) is installed, the scanning frequency (f) is set to 75 Hz and the work is completed at the other end of the working process. In this case, 1
257, and the scanning frequency (f) of the beam light projection device (1a) installed in each work process other than the final process is set to 100 I(z).

To explain the structure of the working vehicle (V), as shown in FIGS. 2 and 3, a pair of left and right front and rear wheels (6), (
Seedling planting device (8) is installed at the rear of the traveling aircraft equipped with (7).
is provided so that it can be raised and lowered and its drive can be stopped.

However, as shown in FIG. 1, the front and rear wheels (6) and (7) are constructed so that they can be freely steered, and are equipped with hydraulic cylinders (9) and (10) for steering. Control valves (11) and (12) are provided for each.

In other words, a two-wheel steering type that steers only the front wheels (6), a four-wheel steering type that steers the front and rear wheels (6) and (7) in opposite phases, and a four-wheel steering type that steers the front and rear wheels (6) and (7) in the same phase. The vehicle is configured so that three types of steering types can be selected, including a parallel steering type in which the vehicle is steered by the steering wheel.

In Fig. 1, (13) is a hydraulic continuously variable transmission that changes the output from the engine (E) to drive the front and rear wheels (6) and (7), and (14) is a motor for changing the speed. , (15)
is a hydraulic cylinder for raising and lowering the planting device (8), and (16) is its control valve. Further, (17) is a clutch for the electromagnetically operated planting which intermittents the drive of the device (8) for the planting by the engine (E), and (18) is for the driving of the work vehicle (V) and the planting. is a control device using a microcomputer that controls the operation of the device (8), and controls the speed change motor (14), each control valve (11), (
12), (16), said planting is a clutch (17),
And, it is configured to control each of the projectors (B).

Further, (19) is a steering control optical sensor that receives the guiding beam light (A>), and is composed of a pair of upper and lower optical sensors (Sl), (Sl), as will be described later. As shown in FIG. 3, it is provided on the front side on the right side of the fuselage.

That is, by using the control device (18), the work vehicle (V) automatically travels along the guidance beam light (A) based on the detection information of the steering control optical sensor (19). a steering control means (100) for controlling the steering so that the working vehicle (V) moves to the starting end of the next working stroke as the working vehicle (V) reaches the end of the working stroke;
1), a scanning period detection means (102) for detecting the scanning period of the guiding beam light (A) based on the light reception information of the steering control optical sensor (19); Each final stroke determination means (103) is configured to determine the final stroke based on the detection information of (102).

To explain the various sensors installed in the working vehicle (V), as shown in FIG. 1, the front and rear wheels (6),
(7) Steering angle detection potentiometers (R1) and (R2) that detect each steering angle, and a vehicle speed that indirectly detects forward/reverse movement and vehicle speed by detecting the operating state of the transmission (13). A detection potentiometer (R3) is provided.

As shown in FIGS. 1 to 3, a pair of front and rear ultrasonic sensors (SO) that measure the distance to the reflector plates (C) (see FIG. 4) installed at both ends of the working process are connected to the They are provided at the front and rear of the work vehicle (V).

However, as also shown in FIG. A reflector plate (C
) is attached to the upper end of the support pole (2B).

In other words, by measuring the distance to the reflecting plate (C) based on the detection information of the pair of front and rear ultrasonic sensors (SO), the work vehicle (V) is positioned at the starting position for planting in each work process. Alternatively, the planting determines whether or not the stop position has been reached, and the planting controls the start and stop of work, and is used as information for starting a turn to move to the next work process.

To explain the steering control optical sensor (19),
As shown in FIGS. 2 and 5, a pair of upper and lower optical sensors (SO, (S
l) are also provided at a set interval (j2) in the longitudinal direction of the aircraft. In order to receive the guiding beam light (A) without any difference even when the guiding beam light (A) is incident from either the front or rear direction of the aircraft body, the light sensor (St), (Sl) receives the incident light from the front or rear direction of the aircraft body. It is equipped with a reflecting mirror (20) that reflects light toward each light receiving surface.

To explain the light receiving position determination of the steering control optical sensor (19), as shown in FIG. 5, each of the two optical sensors (s+) and (Sl) has a plurality of light receiving elements (D) are arranged side by side in the width direction of the aircraft,
The two optical sensors (Sl).

(Sl) The position (L) of the light receiving element (0) that received the beam light (A) with respect to the center of each sensor (Do).

From (x2), the slope (ψ) with respect to the beam light (A) is determined based on the following equation (i).

Note that the positional deviation (χ) in the width direction is the light receiving position (×1
) is used as is.

However, each of the positional deviation (χ) and the inclination (ψ) is when the beam light (A) is shifted to the right with respect to the state in which it is received at the sensor center (Do). It is designed to be a positive value, and a negative value if it is shifted to the left.

Then, the work vehicle (V) adjusts the determined inclination (ψ), positional deviation (χ), and Based on the steering angle (θ) detected by the front wheel steering angle detection potentiometer (R,), a target steering angle (θ') is set from the following equation (11), and the steering is controlled in a two-wheel steering format. will be done.

θf=α,・χ+α2・ψ+α3・θ ・・・・・・(
ii) However, α1. α2. α3 is a constant preset according to control characteristics.

Further, the steering angle (θ) is the steering angle (θ) of the working vehicle (V).
is set to 0 in a steering neutral state where the steering wheel is traveling straight, a positive value when steering to the right, and a negative value when steering to the left.

Accordingly, the above (
From equation ii), the process of setting the target steering angle (θ'') and controlling the steering corresponds to the steering control means (100).

Note that the steering control optical sensor (19) is connected to the working vehicle (
In addition to using it as a means for detecting steering control information for automatically traveling along the guidance beam light (A),
Based on the received light information, it is configured to also serve as information detection means for determining the final stroke.

To explain, since the guiding beam (A) is scanned vertically at a set angle and at a set period, the light reception signal output from the light receiving element that receives the guiding beam (A) is , the signal is intermittent at the same frequency as the scanning period (f) of the scanner (5) of the beam light projection device (1).
18), the scanning frequency (f) is detected based on the intermittent period of the light reception signal.

Then, as will be described later, it is determined whether the working stroke in which the working vehicle (V> is traveling) is the final stroke based on the value of the detected scanning frequency (f).

That is, the process of detecting the scanning frequency (f) based on the intermittent cycle of the light reception signal of the optical sensor (S or S2) using the control device (18) is performed by the scanning cycle detection means (102). It will correspond to

Next, based on the flowchart shown in FIG. 7, the operation of the control device (18) for automatically driving the work vehicle (V) along each work process will be described.

That is, as the control is activated, the transmission (
14) to start traveling the work vehicle (V) at a set speed, and also to control the vehicle (V) in the width direction with respect to the guidance beam light (A) based on the light reception information of the steering control optical sensor (19). After detecting the positional deviation (χ) and inclination (ψ) of and detecting the scanning frequency (f), as described above, so as to automatically travel along the guiding beam light (A), It will control the steering.

Then, based on the distance information measured by the ultrasonic sensor (S), it is determined whether or not the planting has reached the starting position, and if the planting has reached the starting position, the planting has reached the starting position. lowers the device (8) and engages and operates the planting clutch (17) to start the planting work.

Next, it is determined whether or not the planting has reached the stop position, and if the planting has reached the stop position, the scanning detected using the steering control optical sensor (19) frequency(
f) Based on the above, it is determined whether or not it is the final stroke, and if it is the final stroke, the vehicle stops running and the planting operation is completed.

However, as described above, when the detected scanning frequency (f) is 75 Hz, the planting reaches the stop position, that is, the beam light projection device (1b) installed in the final step. If the scanning frequency (f) is 1257, it is determined whether the currently running work stroke is the final stroke or the next work stroke is the final stroke. It is determined whether or not a final stroke flag is set, and if the final stroke flag is not set, the final stroke flag is set and then the vehicle is turned again.

Therefore, when the planting at the end of the working stroke reaches the stop position and the scanning frequency (f) is detected to be 1257 again, the planting will stop at the other end of the working stroke. Become.

In other words, the process of determining whether the scanning frequency (f) is 100 Hz or not and determining that it is the final stroke if it is not 1007 corresponds to the final stroke determining means (103).

If the feeding has not reached the stop position or is not in the final stroke, after executing turn control to turn the work vehicle (V) 180 degrees toward the next adjacent work stroke, Detection of the scanning frequency (f) based on light reception information of the steering control optical sensor (19), and positional deviation (χ) and inclination (ψ) with respect to the guiding beam light (8)
By repeating each process after the detection process, the work vehicle (
V) is controlled so that it automatically travels along the guiding beam light (8) during each work process while performing the planting work.

Next, turn control for turning the working vehicle (V) toward the next working stroke will be explained based on the flowchart shown in FIG.

Although not shown, when the turn control is activated, a state is set in which the front and rear wheels (6) and (7) are steered toward the next work stroke in a four-wheel steering format and at the maximum turning angle. By maintaining this until the time elapses, the working vehicle (V) is turned toward the lateral position of the next working stroke.

Next, the steering type is switched to the parallel steering type, and the steering type is moved in parallel toward the next working stroke at the maximum turning angle.

Then, as the steering control optical sensor (19) receives the guidance beam light (A>), the steering type is switched to a two-wheel steering type in which only the front wheels (6) are steered. Control will be terminated.

In other words, this turn control process corresponds to the turn control means (101) that moves the work vehicle (V) to the starting end of the next work stroke when it reaches the end of one work stroke. .

[Another example]

In the above embodiment, the steering control optical sensor (19) is configured using a pair of upper and lower optical sensors (Sl) and (S2),
Positional deviation in the width direction with respect to the guiding beam light (A)
χ) and inclination (ψ) are both corrected using a two-wheel steering system. In addition, the inclination (ψ) may be corrected using a four-wheel steering system. Further, the steering control optical sensor (19) may be configured with one optical sensor to correct only the positional deviation (χ),
The specific configuration of the steering control optical sensor (19) and the specific configuration of the steering control means (100) can be changed in various ways.

Further, in the above embodiment, the present invention is applied to a rice-planting work vehicle, but the present invention can be applied to various kinds of work vehicles, and the specific configuration of each part can be modified in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the traveling control device for a beam-guided working vehicle according to the present invention, in which FIG. 1 is a block diagram showing the control configuration, FIG. 2 is an overall side view of the working vehicle, and FIG. 3 is a plan view of the same. Figure 4 is an explanatory diagram of the work process, Figure 5 is an explanatory diagram of tilt detection,
FIG. 6 is a flowchart of control operation, FIG. 7 is a flowchart of turn control, FIG. 8 is a cutaway side view of the beam light projection device, and FIG. 9 is a front view thereof. (V)...Work vehicle, (A)...Guiding beam light, (1), (la), (lb)-beam light projection means, (19)...・・Optical sensor for steering control, (100) ・・・Direction control means, (101)・
... Turn control means, (102) ... Scanning period detection means, (103) ... Final stroke determination means.

Claims (1)

[Claims] A beam light projection device that projects a guiding beam (A) toward one end side of each of a plurality of work strokes lined up in the width direction of the vehicle body in the longitudinal direction of the work stroke while scanning the guiding beam (A) in the vertical direction at a set period. (1) is provided, and the work vehicle (V) is equipped with
Based on the steering control optical sensor (19) that receives the guidance beam light (A) and the light reception information of the steering control optical sensor (19), the work vehicle (V) is controlled in each work process.
a steering control means (100) for controlling the steering so that the vehicle (V) automatically travels along the guiding beam light (A); turn control means (101
), the beam light projection device (1b) is installed at a location corresponding to the final stroke of the plurality of work strokes.
is configured to project the guidance beam light (A) at a scanning period different from that of the beam light projection device (1a) in other work processes, and the steering control A scanning period detection means (102) for detecting the scanning period of the guiding beam light (A) based on the light reception information of the optical sensor (19), and based on the detection information of the scanning period detection means (102), A traveling control device for a beam light guided work vehicle, comprising a final stroke determining means (103) for stopping traveling, which determines the final stroke.