JPH01246606A - Working vehicle guide device using beam light - Google Patents

Abstract

PURPOSE:To improve the precision of steering control by receiving the guide beam light emitted from sideways by the vehicle side to detect the positional deviation in the breadthwise direction of the vehicle body. CONSTITUTION:A laser light projecting device B as a beam light projecting means which emits guide beam light A is provided on a wall surface part in each passage of a work range, and photodetectors Sa which detect the light reception position in the vertical direction of the beam light A are provided in front, rear, left, and right end parts of a vehicle body V of a working vehicle. A position X of the vehicle body V from the wall surface where said light projecting device B is provided and an inclination 4 of the vehicle body V to a set running locus L in each work process are detected to control steering of the vehicle body V so that the vehicle body V is automatically run along the set running locus L in each work process. Thus, it is sufficient if the beam light is scanned along the set running locus while being projected to the running face of the vehicle V from sideways in parallel or the like.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention utilizes a guiding beam light for various work vehicles such as cleaning work vehicles for cleaning passages in buildings and work vehicles for rice planting. The present invention relates to a work vehicle guidance device that uses beam light to automatically travel along a set travel trajectory.

[Conventional technology]

When using this type of work vehicle as described above to perform work while automatically traveling within a predetermined work range, a plurality of work strokes are set within the scheduled work range at intervals corresponding to the work width. In each of these work steps, the guiding beam light is scanned along the length of the set travel trajectory along which the vehicle body travels to guide the vehicle.

Therefore, conventionally, in order to scan the guiding beam light in each of a plurality of work strokes, each time the work vehicle finishes running one work stroke and moves to the next work stroke,
The beam light projection means is moved and installed in the direction in which the work processes are lined up, or the beam light projection means is installed for each work process.

[Problem to be solved by the invention]

In the above-mentioned conventional configuration, since the guiding beam light is projected in correspondence with each of a plurality of work processes, it is troublesome to move and install the beam light projecting means. If you automatically move and install the beam light projection means, you will not only need a moving means to move the beam light projection means, but also a means to notify the moving means that the vehicle body has moved to the next work process. This has the disadvantage of making the device configuration complicated and expensive.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to direct a plurality of work vehicles to a plurality of working vehicles while using a guiding beam projected in a set direction from a single beam projecting means. The purpose is to be able to guide the user through the work process.

[Means to solve the problem]

A first characteristic configuration of the working vehicle guiding device using beam light according to the present invention is that the guiding beam light is transmitted from a lateral side of the vehicle body.
The length direction of a set traveling trajectory in which the vehicle body is driven while projecting a set angle smaller than 45 degrees in an inclined direction with respect to a virtual plane parallel to the traveling surface of the vehicle body and passing through the beam light projection position. A beam light projection means for scanning along the guidance beam is provided on the ground side, and the vehicle body includes a light receiver for detecting a light receiving position in the vertical direction with respect to the guiding beam light, and a light beam projecting means for scanning along the guiding beam light is provided on the vehicle body. a position detection means for detecting a position in the width direction of the vehicle body with respect to the set travel trajectory, and the vehicle body automatically travels along the set travel trajectory based on the detection information of the position detection means;
The present invention is characterized in that a steering control means for controlling the steering is provided.

The second feature is that the two guiding beams are directed from the lateral side of the vehicle body at an angle of more than 45 degrees to an imaginary plane that is parallel to the running surface of the vehicle body and passes through the beam projection position. A beam light projection means is provided on the ground side that scans along the length direction of a set travel trajectory on which the vehicle body travels while projecting light at small angles in the vertical direction at different angles in inclined directions, The vehicle body includes a light receiver that detects a light receiving position in the vertical direction with respect to the guidance beam light, and a light receiver that detects the light receiving position in the vertical direction with respect to the guidance beam light, and the a position detection means for detecting a position in the width direction of the vehicle body with respect to a set travel trajectory; and an operation for controlling steering so that the vehicle body automatically travels along the set travel trajectory based on the detection information of the position detection means. The point is that a direction control means is provided.

[For production]

Basically, the guiding beam light is directed from a lateral side of the car body in a direction that is parallel to the running surface of the car body and inclined at a set angle smaller than 45 degrees with respect to a virtual plane passing through the beam light projection position. By projecting the guiding beam toward the vehicle body and receiving the guidance beam projected from the diagonally lateral side of the vehicle, the positional deviation of the vehicle body in the width direction of the vehicle relative to the set travel trajectory can be detected in the vertical direction of the receiver. It is detected as the deviation of the light receiving position.

However, if the vehicle body moves up and down due to unevenness on the running surface, etc.
Even if there is no deviation in the width direction of the vehicle body, the light receiving position of the light receiver may fluctuate up and down, which may cause an error in position detection in the width direction of the vehicle body relative to the set travel trajectory. Therefore, in the second characteristic configuration corresponding to claim 3, two guiding beams having different projection angles are used, and the setting is made based on the interval between the light receiving positions of the two guiding beams. This is to detect the position in the width direction of the vehicle relative to the travel trajectory.

To explain, the distance between the two guidance beams in the vertical direction increases as the distance from the projection position increases, so if the vehicle deviates in the width direction with respect to the set travel trajectory, The interval between the light receiving positions of the two guiding beams changes depending on the amount of deviation. However, 2
Since the distance between the guiding beams of the book is constant as long as the distance from the projection position is the same, the distance between the light receiving positions on the receiver will vary even if the vehicle body moves up and down. If this does not occur, there will be no change.

In other words, if the position in the width direction of the vehicle body relative to the set traveling trajectory is detected based on the interval between the light receiving positions where the two guiding beam ends are received, the vehicle body relative to the set traveling trajectory can be detected regardless of the vertical movement of the vehicle body. This allows accurate position detection in the width direction.

Incidentally, as described in claims 2 and 3, the first
In each of the characteristic configuration and the second characteristic configuration, a plurality of light receivers are provided at set intervals in the vehicle traveling direction, and the interval between the set intervals and the light receiving position information or light receiving position of each of the plurality of light receivers 8. If the inclination of the guiding beam light with respect to the scanning direction is also detected based on the information of
Since both the position and inclination in the width direction of the vehicle body relative to the set travel trajectory can be accurately corrected, the control accuracy of steering control can be improved.

〔Effect of the invention〕

Therefore, according to the present invention, the beam light projection means provided on the ground side transmits the guiding beam light from the lateral side of the vehicle body to a virtual plane parallel to the integral running surface and passing through the beam light projection position. It is only necessary to scan along a set traveling locus while projecting in a direction that is at an angle smaller than 100 degrees, which simplifies the device configuration. In addition, on the vehicle body side, the position in the width direction of the vehicle body relative to the set traveling trajectory is detected as the light receiving position or the interval between the light receiving positions in the vertical direction of the light receiver, so that the position corresponding to the set traveling trajectory in each of the plurality of work strokes is detected. By simply changing the settings of the reference light receiving position or the reference light receiving position interval, the light beam can be projected at once without moving the light beam projection means or changing the projection direction of the guiding beam light. The vehicle body can be automatically driven as desired in each of a plurality of work steps while using the guiding beam light projected from the location.

As a result, while simplifying the device configuration, it has become possible to automatically run the vehicle body along a set travel trajectory in each of a plurality of work processes.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a cleaning work vehicle that automatically travels and cleans the passages of buildings will be described below with reference to the drawings.

As shown in FIGS. 1 and 4, while scanning the guiding beam (A) along the length of the passage for each passage serving as the work area, the guide beam (A) is scanned in the width direction of the passage and in an upwardly inclined direction. A laser beam projection device (B) serving as a beam projection means for projecting a beam toward is attached to a wall portion that is approximately the middle portion in the longitudinal direction of the passage, and is attached to each of the front, rear, left, and right ends of the vehicle body (V).
Each of the light receivers (Sa) is provided to detect the light receiving position in the vertical direction with respect to the guiding beam light (A).

Although not described in detail, the light receiver (Sa) uses a CCD type one-dimensional image sensor, PSD element, etc. in order to detect the light receiving position, and its light receiving surface is located in the vertical direction of the vehicle body. It will be structured so that it becomes longer.

That is, as will be described later, the vehicle body (V) is set along the longitudinal direction of the passageway, and in each of a plurality of work strokes that are arranged in the width direction of the passageway for each working width. , the laser beam projection bag of the plurality of light receivers (Sa) so as to automatically travel along the set travel trajectory (L)? ! Based on the light receiving position information of the front and rear pair of light receivers located on the wall side to which (B) is attached, (Sa), the position from the wall surface to which the laser beam projection device (B) is attached (X ) and the slope (ψ) with respect to the set travel trajectory (L) in each of the work strokes, and the steering is controlled based on the detected information, and
As the machine reaches both ends in the longitudinal direction of the passage, it moves one stroke in the width direction of the passage and automatically moves to the next working stroke.

However, the vehicle body (V) is connected to the laser beam projection device (B).
A pair of front and rear light receivers (Sa
) Since the steering control is performed based on the light receiving position information of each of the light receiving positions, the light receiving device (S) located on the side of the laser beam projection device (B)
Using method a), the vehicle is automatically driven by repeatedly moving forward and backward every -stroke.

Based on the light receiving position information of the light receiver (Sa), the position (X) from the wall surface is determined. To explain the principle of detection, as shown in FIG.
) is the vehicle body ( It will be projected towards the lateral side of V).

Therefore, the installation position (X) of the laser beam projection device (B), that is, the position (X) of the vehicle body (V) with respect to the wall surface of the passage, is based on the virtual plane (F), and
can be determined from the following equation (i) based on the light receiving position in the vertical direction at which the guiding beam light (A) is received and the set angle (θ).

X-f/lanθ ”-”-(i) However, the inclination (φ) with respect to the set travel trajectory (L) in each work process cannot be detected from the light receiving position information of one of the light receivers (Sa). Therefore, the inclination (ψ) is detected from the light receiving position information of a pair of front and rear light receivers (Sa) located on the installation side of the laser beam projection device (B).

In the following description, for convenience of explanation, the light receiver on the front side of the vehicle body will be referred to as a light receiver (S,), the light receiver on the rear side of the vehicle body will be referred to as a light receiver (S2), and the laser beam projection device (B
) The light receiver on the front side of the vehicle body, which is the opposite side to the installation side, is referred to as a light receiver (S, ), and the light receiver on the rear side of the vehicle body is referred to as a light receiver (S4).

That is, as shown in FIGS. 2 and 3, from the light receiving positions (ffif), (41!b) in the vertical direction of the pair of front and rear light receivers (Sl), (S2), the above (i) In the equation, the position f(x
+), (xz), and find both positions (Xt),
(Xt) and the pair of front and rear light receivers (S+), (
The installation of SZ) is based on the interval (La) as shown in (ii) below.
Based on the formula, the slope (
ψ).

ψ=sin−'((j!f−1b)/La) ・−・・
・(it) However, the value of the distance (X) from the wall surface is determined using the position value obtained based on the light receiving position information of one of the pair of front and rear light receivers (S+) and (SZ). However, in order to remove the influence of the inclination (ψ), the average value of the values of both the positions (Xt) and (xz) may be used.

In other words, the process of determining the position (X) and inclination (φ) with respect to the wall surface based on the above equation (IL(ii)) corresponds to the position detection means (100^).

Although not explained in detail, the value of the determined position (X) is the distance from the wall surface, and the set travel trajectory (
Since the value does not directly indicate the position in the width direction with respect to L), in order to cause the vehicle body (V) to automatically travel along the set travel trajectory (L), it is necessary to determine the set travel trajectory (L) in each work process. It will be converted into a value according to the position and used.

The configuration of each part will be explained in detail below.

To explain the structure of the vehicle body (V), as shown in FIG.
There are running wheels (1) that can be driven and stopped individually by a running motor (Ml).

However, the running wheels (1) are configured to be steered separately at the front and rear by a steering motor (M), forming a pair of left and right wheels.

To explain the steering operation configuration using the steering motor (Mz), as shown in FIG.
Each of the support members (19) supporting the is supported so as to be swingable around the vertical axis, and the upper end portion of the support member (19) has a
Each of the rotating bodies (20) that rotates in conjunction with the rocking of the traveling wheel (1) is attached around the vertical axis, and a link mechanism (21) connects each of the rotating bodies (20) on the left and right sides.
are provided, and the running wheels (1) are configured to change direction as a pair of left and right wheels.

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

In the figure, (23) is a gear type transmission part for linking the steering motor (Ml) and the steering gear (22), and (Se) is the current state of the running wheel (1). This is a steering angle detection potentiometer for detecting the steering angle of the vehicle.

In each of the above-mentioned work steps, only the pair of left and right running wheels (1) on the front side with respect to the vehicle traveling direction are steered (2).
In addition to using a wheel steering system, when moving to the next work process, all of the traveling wheels (1) are steered in the same phase and at the same angle, using a parallel steering system to move across the width of the vehicle and move to the next passage. When moving, the parallel steering type and the four-wheel steering type are used in which the front and rear wheels of the pair of left and right running wheels (1) are steered in opposite phases and at the same angle.

Therefore, in each work process, the position (X) relative to the wall detected by the position detection means (100A) and its The target steering angle (θf) is set based on the value of the inclination (ψ) with respect to the set travel trajectory (L) parallel to the wall surface, and the steering is controlled in a two-wheel steering format.

Note that the eye i steering angle (θf) is set to a larger value as the value of the position (X) and the value of the inclination (ψ) become larger, using the following formula (iii). be.

θf−α1・χ+α2・φ+α,・β ・・・・・・(
ii) However, in the above formula (in), χ is the position in terms of the vehicle body width with respect to the set traveling trajectory (L) calculated based on the value of the position (X) and the position of the currently traveling work stroke. be. Further, β is the current steering angle of the traveling wheel (1), α3. α2. α is a constant set according to the steering characteristics.

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

Furthermore, ultrasonic sensors (Sb) are provided on each of the front, rear, left, and right side surfaces of the vehicle body (V) to detect obstacles around the vehicle body ff) in a non-contact manner, and ultrasonic sensors (Sb) are provided to detect obstacles around the vehicle body (V) in a non-contact manner. A bumper-type contact sensor (Sc) is provided to cause an emergency stop upon contact. In addition, in order to prevent the vehicle body (V) from falling at a place with steps such as stairs,
An ultrasonic sensor is installed at each of the lower part of the vehicle body (V) on the outer side of the vehicle body than the running wheels (1) to non-contactly detect whether the distance to the floor is within a set value. A step sensor (Sd) is provided.

However, among the ultrasonic sensors (Sb) for detecting obstacles provided around the vehicle body (V), the sensors provided at the front and rear of the vehicle body are located at the end positions of the work stroke at both ends in the longitudinal direction of the passage. It is also used as a means to detect.

In the figure, (2) is a rotating brush for cleaning, (3) is a water absorption device provided at the front and rear of the car body, and (4) is a water absorption device installed on the car body (
(5) is a warning buzzer, (6) is a warning light that flashes when V) is in a running state, (6) is an external power source for operating the driving motor (Ml) and steering motor (Ml), etc. It is a cord reel that can freely feed out a power cord (7) according to the distance from a power supply outlet (not shown) so that the power supply can be supplied.

To explain the laser beam projection device (B), the seventh
As shown in FIG. 8, a semiconductor laser (9) as a light source and a light beam projected from the semiconductor laser (9) are placed inside the case (8) which also serves as a member for mounting on the wall surface. A beam light projection window (1) formed on the side surface of the case (8) uses the laser light as the guiding beam light (A).
0), the set angle (θ
) for scanning along the length direction of a set traveling locus on which the vehicle body (V) travels, that is, along the longitudinal direction of the passage; A scanning motor (
12), and a drive device (13) for the semiconductor laser (9) and the scanning motor (12). In the figure, (14) is a switch for operating and stopping the laser beam projection device (B).

To explain the control configuration for automatically driving the vehicle body (V) based on the light receiving position information of the guiding beam light (A) by the light receiver (Sa), as shown in FIG. A control device (15) using a microcomputer is provided to control the traveling motor (Ml) and the steering motor (Mz) based on information detected by a direction light receiver (Sa) and various sensors. There is.

In other words, the position detection means (100A) and the steering control means (101) are configured using the control device (15).

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

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

Next, while explaining the operation of the control device (15) based on the flowchart shown in FIG.
) automatic driving will be explained in detail.

First, as shown in FIG. 4, before starting traveling, with the vehicle body (V) positioned within the passageway serving as the work area, the number of work strokes for each passageway, the width of the passageway, and the width of each passageway are determined. Travel control information such as the value of the inclination angle (θ) of the guiding beam (A) for each time is input using the operation panel (18).

Next, after turning on a start switch (not shown) to start running, which light receiver receives the guiding beam light (Sa) based on the light receiving state of all four light receivers (Sa).
A) is received, and the guiding beam light (
The two front and rear light receivers receiving light A), that is, the pair of front and rear light receivers located on the beam light projection device (B) side.
SL).

The set of light receivers to be used is set so as to use (S2).

As mentioned above, the pair of front and rear light receivers (Sl),
(Based on the light receiving position information of each S, determine the position (X) with respect to the wall surface and the inclination (ψ) with respect to the longitudinal direction of the passage, and based on these information, move the vehicle body (V) to one side of the passage. The driver will be guided to the starting point set at the corner of

Note that whether or not the vehicle body (V) has arrived at the start point is determined by an ultrasonic sensor (S) located on the start point side.
The distance measurement information obtained in b) is used to make the determination.

After the vehicle body (V) reaches the starting point, the rotating brush (2) and the water absorption device (3) are activated to start cleaning, and the pair of front and rear light receivers (
Based on information about the position (X) with respect to the wall surface and the inclination (φ) with respect to the longitudinal direction of the passage, which are detected based on the light receiving position information of each of Sl) and (St), the vehicle body (V) is moved to the first work stroke. Steering control is performed so that the vehicle automatically travels along the set travel trajectory (L) in the direction of the wall facing the start point.

However, if the vehicle body (V) is to run toward the wall facing the start point after the start of travel, the vehicle body (V) must be installed in the next passage that intersects the passage currently being worked. beam light projection device (B)
The guidance beam light (A) projected from On the other hand, in the work process toward the start point, the ultrasonic sensor (Sb) for detecting an obstacle detects the end of the work process. The distance to the wall located on the side is detected, and based on the value of the detected distance, it is determined whether or not the end of the work stroke has been reached.

In other words, for each stroke, the distance to the end of the working stroke is measured by the light receiving position information of the steering light receiver (S3), and the distance to the end of the working stroke is measured by the ultrasonic sensor (Sb) for detecting obstacles. While switching between the two, it is determined whether or not the end of the work process has been reached.

When it is determined that the end of the work process has been reached, the vehicle stops traveling and cleaning, and also determines whether or not the entire work process has been completed. , it will be moved closer to the next work process using parallel steering.

To explain, as we reach the end of the process,
At the same time as switching between forward and backward travel, the driver uses parallel steering to move a distance equal to the working width toward the inside of the aisle toward the next work stroke, and then switches back and forth again to move the steering light receiver (
Based on the light reception position information of S3) or the distance measurement information by the ultrasonic sensor (Sb) for detecting obstacles, the robot moves to the end of the work stroke, which is the starting end of the next work stroke, and then moves forward and backward again. The vehicle is then switched to start traveling and cleaning work in the next work process.

On the other hand, when all the work processes have been completed, the first position in the next passage is determined based on the light receiving position information of the guiding beam light (A) in the next passage by the steering light receiver (S,). After the vehicle is moved backward along the travel trajectory set in the currently running work stroke to a location corresponding to the position of the work stroke, the vehicle is switched to four-wheel steering mode and moved in the direction of the next passage.

However, when finishing the work at the starting end of the next passage,
Instead of retreating along the set travel locus for the currently running work stroke, as the end of the work stroke is reached, the vehicle switches to the four-wheel steering mode and moves in the direction of the next passage.

After moving to the next passage, a pair of front and rear light receivers (S+) receives the guiding beam light (A) by setting various traveling control information for the next passage.

After guiding to the work start position based on the light receiving position information in (S2), the cleaning work in that passage is started.

Example C] In the above example, the position detecting means (100^) is used to detect the position (X) and length in the width direction of the vehicle body with respect to the set travel trajectory (L) using - guide beam light (A). Although the case is illustrated in which the inclination (ψ) with respect to the horizontal direction is detected, as shown in FIG. ), (θ
, ) of the guiding beams (A) (AI
), (A) may be used to detect the position (X) and the inclination (ψ).

To explain, when the vehicle body (V) moves up and down due to unevenness of the running surface, the light receiver (S
The light receiving position in a) will fluctuate up and down, but the above 2
The guide beam light (AI) of the book, the interval (I
l) remains unchanged at a value corresponding to the position (X) relative to the wall surface, regardless of the vertical movement of the vehicle body (V) (7).

Therefore, the position (X) of the vehicle body (V) with respect to the wall surface
is the two guiding beams (AI) received by the light receiver (Sa), (Ih) using the above equation (i).
Light receiving position (ffi,) for each virtual surface (F)
.

(From the relationship with the value of 1, the position (X) is calculated from the interval (2) between the two light receiving positions above and below the light receiver (Sa) based on formulas (iii) and (iv) below. Let it happen.

1! ,=X-tanθI+1z=X4anθ21=i,
z l+ ・・・・・・(iii)
,', X= j! −(tanθ, −tanθ+)
(iv) That is, the process of calculating the position (X) based on the above equation (iv) corresponds to the position detection means (100B).

Further, in the above embodiment, a case has been exemplified in which the vehicle is configured to travel in a so-called two-wheel steering type, in which only the traveling wheels (1) on the front side with respect to the traveling direction of the vehicle body are steered. The position (X) in the width direction of the vehicle body is corrected by parallel steering in which the front and rear running wheels (1) are steered in the same phase and at the same angle.
) may be modified by a four-wheel steering system in which the front and rear running wheels (1) are steered at the same angle in opposite phases, and the specific configuration of the steering control means (101) can be modified in various ways. .

Furthermore, the present invention can be similarly applied to various types of work vehicles other than cleaning work vehicles, and the specific configuration of each part can be modified in various ways.

By the way, to briefly explain the case of guiding a work vehicle for rice planting, as shown in Figure 12, it is necessary to guide the work vehicle for rice planting at the middle part of each of the four sides that are the outer periphery of a rectangular field. The beam light projection device (B) in the above embodiment is placed at the outside location.
, so that the guiding beam light (A) projected from it is scanned in the direction inside the field and in the direction along each side,
At the same time, at the front, rear, left and right ends of the vehicle body (V),
Each of the steering light receivers (Sa) is provided. Then, with the field divided into left and right halves, a plurality of mutually parallel working strokes are set up in a row in the left-right direction as shown in Figure 12, and each time the end of each working stroke is reached, the next adjacent work stroke is set. Planting will be carried out while turning the plant 180 degrees during the work process.

To explain, in each of the left and right areas where the plurality of work processes in the field are divided into two, the guiding beam light (A) projected from the beam light projection device (B) located on that area side is used. The front and rear beam light projection devices (B ) is projected from the guiding beam light (A
).

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 work vehicle guiding device using beam light according to the present invention, and FIG. 1 is a front view showing the relationship between the guiding beam light and the light receiver, FIG. 2 is a perspective view thereof, and FIG. is the same plan view,
Fig. 4 is a schematic plan view of the working process, Fig. 5 is a schematic perspective view of the working vehicle, Fig. 6 is a perspective view of main parts showing the steering operation configuration, and Fig. 7 is a schematic plan view of the working process.
8 is a front view of the beam projection device, FIG. 9 is a block diagram of the control configuration, FIG. 10 is a flowchart of control operation, and FIG. 11 is a guiding beam light in another embodiment. FIG. 12 is a schematic plan view of the working process in yet another embodiment. (A)...Guiding beam light, (B)...
... Beam light projection means, (V) ... Vehicle body, (θ
)...Setting angle, (Sa)...Receiver, (La)...Receiver spacing, (ffi), (
Ilf), (fb)... Interval between light receiving positions, (X
)...Position, (ψ)...Inclination, (1
00A), (100B)...position detection means, (101)...steering control means.

Claims (1)

[Claims] 1. Directing the guiding beam (A) from a lateral side of the vehicle body (V) to a virtual plane that is parallel to the running surface of the vehicle body (V) and passes through the beam projection position. beam light projection means (B) that scans along the length direction of a set traveling locus on which the vehicle body (V) travels while projecting a set angle (θ) smaller than 45 degrees in an inclined direction; , provided on the ground side, the vehicle body (V) includes a light receiver (Sa) for detecting a light receiving position in the vertical direction with respect to the guiding beam light (A), and light receiving position information of the light receiver (Sa). Based on the position detection means (100A) that detects the position (X) in the width direction of the vehicle body with respect to the set travel trajectory, and based on the detection information of the position detection means (100A), the vehicle body (V) is A work vehicle guidance device using beam light is provided with a steering control means (101) that performs steering control so that the vehicle automatically travels along a set travel trajectory. 2. A plurality of the light receivers (Sa) are provided so as to be spaced apart from each other by a set interval (La) in the vehicle traveling direction, and the position detection means (100A) is arranged so that the plurality of light receivers (Sa)
a) It is configured to also detect the inclination (ψ) of the vehicle body (V) with respect to the length direction of the set travel trajectory based on information about each light receiving position and the set interval (La), 2. The work vehicle using beam light according to claim 1, wherein the direction control means (101) is configured to maintain both the position (X) in the width direction of the vehicle body and the inclination (ψ) within a set dead zone. Guidance device. 3. Direct the two guiding beams (A) from the lateral side of the vehicle body (V) at 45 degrees to a virtual plane that is parallel to the running surface of the vehicle body (V) and passes through the beam projection position. Beam light projection means (B) that scans along the length direction of a set travel trajectory on which the vehicle body (V) travels while projecting the light beam in a direction inclined at different angles in the vertical direction.
) is provided on the ground side, and the vehicle body (V) includes a light receiver (Sa) for detecting the light receiving position in the vertical direction with respect to the guidance beam light (A), and the light receiver (Sa) is provided on the vehicle body (V). a position detection means (1) for detecting a position (X) in the width direction of the vehicle body with respect to the set traveling trajectory based on an interval (l) between light receiving positions where each of the plurality of guiding beam lights (A) is received;
00B) and the detection information of its position detection means (100B), a steering control means (1
01) A working vehicle guidance device using beam light. 4. A plurality of the light receivers (Sa) are provided so as to be spaced apart from each other by a set interval (La) in the traveling direction of the vehicle, and the position detection means (100B) is configured to detect a plurality of the light receivers (Sa). The length of the set traveling locus is determined based on information about the set interval (La) and the intervals (lf) and (lb) of the light receiving positions at which each of the plurality of guiding beam lights (A) is received. The steering control means (101) is configured to also detect the inclination (ψ) of the vehicle body (V) with respect to the direction, and the steering control means (101) detects both the position (X) in the width direction of the vehicle body and the inclination (ψ). 3. The work vehicle guidance system using beam light according to claim 2, wherein the work vehicle guidance system is configured to maintain the work vehicle within a set dead zone.