JPH01296317A - Work wagon guiding device utilizing beam light - Google Patents

Abstract

PURPOSE:To prevent occurrence of an error in the detecting and receiving position of guiding beam light caused by disturbance light by finding values of a pair of light receiving signals in a state where only the guiding beam light is received. CONSTITUTION:A received light intensity discriminating means 5 is caused to discriminate whether or not the sum of values of the pair of light receiving signals I1 and I2 outputted from a light receiving means Sa is larger than a set value. The moment when the sum becomes larger than the set value is discriminated as a moment when the guiding beam light A is made incident. Then the values of the pair of light receiving signals I1 and I2 when their sum becomes smaller than the set value are respectively subtracted from the value of the signals I1 and I2 when their sum becomes larger than the set value. As a result, the values of the pair of light receiving signals in the state where only the guiding beam light A is received are found. A light receiving position discriminating means 100 discriminates the beam light A receiving position based on the pair of light receiving signals corresponding to the state where only the beam light A is received.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a beam projection means for scanning and projecting a guidance beam on the ground side, and a beam projection means for scanning and projecting the guidance beam on the work vehicle side. A light-receiving means is provided which outputs a pair of light-receiving signals having an intensity corresponding to the amount of incident light and a ratio corresponding to the position of the incident light. a light receiving position determining means for determining a light receiving position of the guiding beam light based on a pair of light receiving signals outputted from the means; and a light receiving position determining means for determining a light receiving position of the guiding beam light so that the work vehicle automatically travels along a set travel trajectory. The present invention relates to a work vehicle guidance system using a beam light, which is provided with a steering control means for controlling the steering based on the information of the vehicle.

[Conventional technology]

This type of work vehicle guidance device using beam light is configured to automatically drive the work vehicle along a set traveling trajectory based on the light receiving position in a direction intersecting the scanning direction of the guiding beam light. It is something.

By the way, it has been considered to use, for example, a PSD element as a light receiving means that outputs a pair of light receiving signals with an intensity corresponding to the amount of incident light and a ratio corresponding to the position of the incident light.

When using a light receiving means such as this PSD element, for example, CC
Compared to the case of using a one-dimensional image sensor using a D element, processing of the light reception signal is simpler, and the resolution of the light reception position is higher than that of the CCD element or the like. Furthermore, since the position of the incident light can be detected based on the ratio of a pair of light reception signals, there is an advantage that the detection accuracy of the light reception position is not easily influenced by the intensity of the incident light. Therefore, as a light receiving means for detecting the light receiving position of the guiding beam light, the above P
It is desired to use a light receiving means such as an SD element that outputs a pair of light receiving signals with an intensity corresponding to the amount of incident light and a ratio corresponding to the position of the incident light.

[Problem to be solved by the invention]

However, since the light receiving means such as the PSD element is configured to output a pair of light receiving signals having a ratio corresponding to the position of the incident light, the intensity distribution of the light incident on the light receiving surface of the light receiving means is If it is biased, there is a disadvantage that an error occurs in the ratio of a pair of light reception signals, and an error occurs in the detected light reception position.

For example, when this type of device is used indoors, the intensity distribution of incident light on the light receiving surface may be biased due to illumination and disturbance light such as reflected light and shadows caused by the illumination.

Furthermore, when used outdoors, the intensity distribution of light incident on the light-receiving surface may similarly be biased due to disturbance light such as natural light, its reflected light, and shadows.

In other words, when the intensity distribution of the incident light is biased,
When the guiding beam light is received, the ratio of the pair of light receiving signals corresponding to the receiving position of the guiding beam light corresponds to a position shifted from the true light receiving position due to disturbance light that biases the incident light intensity distribution. There is a risk of comparison.

Note that if external light other than the guiding beam light is uniformly incident on the light receiving surface, the ratio of the pair of received light signals will not change depending on the external light, so the receiving surface of the guiding beam light will not change. There is no detection error in position.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to prevent errors in the detection and reception position of the guiding beam light from occurring due to disturbance light.

[Means to solve the problem]

The work vehicle guidance device using a beam light according to the present invention is provided with a beam light projection means for scanning and projecting a guiding beam light on the ground side, and a beam light projecting means that projects the guiding beam light while scanning, and a beam light projecting means that projects the guiding beam light while scanning it, and a beam light projecting means that projects the guiding beam light while scanning it, and a beam light projecting means that projects the guiding beam light while scanning is provided on the ground side. and a light-receiving surface along the direction of
A light receiving means is provided for outputting a pair of light receiving signals having an intensity corresponding to the amount of incident light and a ratio corresponding to the position of the incident light, and the guiding light is detected based on the pair of light receiving signals output from the light receiving means. A light receiving position determining means for determining a light receiving position of the beam light, and a steering control means for controlling steering based on information of the light receiving position determining means so that the work vehicle automatically travels along a set travel trajectory. The device is provided with a signal strength determining means for determining whether the sum of the pair of light receiving signals is greater than a set value, and the light receiving position determining means is , based on the detection information of the signal strength determining means, when the sum value of the pair of light reception signals is larger than the set value, the sum value is not larger than the set value from each of the pair of light reception signals. The light receiving position of the guiding beam light is determined based on the value obtained by subtracting the pair of light receiving signals at the time.

[For production]

When the guiding beam light is incident, the sum of the pair of light reception signals outputted from the light receiving means increases compared to when the guiding beam light is not incident, depending on the intensity of the guiding beam light. It turns out.

Therefore, it is determined whether the sum of the pair of light reception signals output from the light receiving means is greater than a set value, and when it is greater than the set value, it is determined that the guiding beam light is incident. be. Then, when the sum of the pair of received light signals is greater than the set value and the pair of emergency received light signals is received, in other words, both the guiding beam light and the disturbance light that causes an error in the light receiving position are received. By subtracting the pair of light reception signals when the sum value is smaller than the set value, that is, the pair of light reception signals in a state where only disturbance light is being received, from each of the pair of light reception signals, the guiding beam The values of the pair of light reception signals in the state where only the light is being received are determined, and the light reception position of the guiding beam light is determined based on the pair of light reception signals corresponding to the state where only the guiding beam light is being received. Let them judge.

〔Effect of the invention〕

Therefore, since the light reception position of the guiding beam light is determined based on the pair of light reception signals from which the influence of the disturbance light has been removed, it is possible to prevent errors from occurring due to the disturbance light. As a result, it has become possible to improve the detection accuracy of the light receiving position.

〔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. 3 to 5, while scanning the guiding beam light (A) along the longitudinal direction 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 end of the front, rear, left, and right sides of the vehicle body of the work vehicle (V). Each of the light receivers (Sa) serving as light receiving means for detecting a light receiving position in the vertical direction of the vehicle body, which is a direction intersecting the scanning direction of the guiding beam light (A), It is provided in a state where it is formed for a long time.

As will be described later, the work vehicle (V) A pair of front and rear light receivers located on the wall surface side to which the laser beam projection device (B) is attached among the plurality of light receivers (Sa) so that the laser beam automatically travels along a set travel trajectory (ffl). Based on the light receiving position information of each of the laser beam projection devices (Sa), the position (1) from the wall surface to which the laser beam projection device (B) is attached and the inclination (ψ) with respect to the set travel trajectory (ffl) in each of the work steps are determined. and the steering will be 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 work vehicle (V) is equipped with the laser beam projection device (B).
) located on the wall side with a pair of front and rear receivers (S
a) Since the steering is controlled based on the respective light receiving position information, the light receiver (
Sa), the vehicle is automatically driven by repeatedly moving forward and backward every -stroke.

To explain the configuration for determining the light receiving position of the light receiver (Sa), as shown in FIG.
Sa) is provided using a PSD element with the length direction of its light-receiving surface facing in the vertical direction of the vehicle body, which is a direction intersecting the scanning direction of the guiding beam light (A).

The PSD element receives a pair of light-receiving signals (1+) and (Iz) from both longitudinal ends of its light-receiving surface, respectively, with an intensity corresponding to the amount of incident light and a ratio corresponding to the position of the incident light.
It is configured to output .

Then, the sum signal (I:1=Il+12) and the difference signal (ΔI=I, -1) of the pair of light reception signals, <11.12), respectively.
2) and a signal processing circuit (1) that calculates their sum signal (
El).

and a difference signal (Δ1), an A/D converter (3) that converts the signals stored and held in the sample and hold circuit (2) into digital values, and the A control device (4) using a microcomputer that constitutes a light receiving position detection means (100) for detecting a light receiving position (X) of the light receiver (Sa) based on the output of the /D converter (3), and the sum signal (ΣI) is larger than a set value set corresponding to a value of a received light signal that increases when the guiding beam light (A) enters the light receiver (Sa). A comparator (5) as a signal strength determination means is set by the output signal of the comparator (5), and the sample and hold circuit (
2) is provided with a flip-flop (6) that outputs a hold signal. However, the hold signal output from this flip-flop (6) is manually generated as a signal indicating to the control device (4) that the guiding beam (A) has been received. Further, this flip-flop (6) is reset by a clear signal output from the control device (4).

Note that although the drawing only shows the configuration of signal processing for one photoreceiver (Sa), these
One set will be provided for each of a).

Further, as will be described in detail later, the work vehicle (V) automatically travels along a set travel trajectory (m) based on the light receiving position information of the light receiver <Sa> using the control device (4). Various means, such as a steering control means (101), are configured to control the vehicle so as to perform the following actions.

Next, the light receiving position determining means (100) for determining the light receiving position (X) of the light receiver (Sa) will be described in detail based on the flowchart shown in FIG.

However, in the following explanation, only the processing for − number of light receivers (Sa) will be explained, but by performing the same processing on each of the light receivers at the front and rear of the vehicle body, the light receiving positions at the front and rear of the vehicle body can be changed. , each will be determined separately.

That is, when the guiding beam light (A) is incident on the light receiver (Sa), the hold signal is output from the flip-flop (6), and the guiding beam light (A) is outputted from the flip-flop (6).
The values of the sum signal (Σ1) and the difference signal (Δl) that correspond to the incident position of the signal A) are held, and the control device (4) is activated to control the A/D converter (3). ), and the A7D converted value will be read.

However, the actual values of the pair of light reception signals (II) and (La) at the time of receiving the guiding beam light (A) are the values when only the guiding beam light (A) is received. (II), (12) and the guiding beam light (A
) when receiving only disturbance light (I
r') and (12°).

Therefore, after the hold signal is output and the respective values of the sum signal (Σ■) and the difference signal (ΔI) in the state of receiving the guiding beam light (A) are read, the flip-flop (6) Clear the above receiver (Sa)
After waiting until the set time required for the guiding beam light (A) to be in the non-receiving state, the sum signal (ΣI
') and the difference signal (ΔI').

Then, from each of the sum signal (ΣI) and the difference signal (Δ■) when the guiding beam (A) is in the receiving state, the sum when the guiding beam (A) is not receiving is calculated. Signal (Σ1°)
and the difference signal (ΔI'), respectively, to obtain the light receiver (S
A sum signal and a difference signal corresponding to the state in which a) receives only the guiding beam light (A) are determined.

Next, the light receiving position (X) of the light receiver (Sa) is set as follows (
i) Determine from the formula.

X=L(1+ΔI/ΣI) =(i) However, the value of the light receiving position (X) is determined by assuming that the length in the vertical direction of the light receiving surface of the light receiver (Sa) is 2L, and the lower end of the light receiving surface is 2L. The value is determined based on the value of the reference position.

Next, a description will be given of means for detecting the position (Il') from the wall surface based on the information on the light receiving position (X) of the light receiver (Sa).

As shown in FIG. 4, the guiding beam (8) is directed toward a virtual plane (F) that is parallel to the traveling surface of the working vehicle (V) and passes through the projection position of the guiding beam (A). The light is projected toward the side surface of the work vehicle (V) from the direction in which the set angle (θ) is inclined.

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

j2=X/lanθ ・−=−(ii) However, from the light receiving position information of one of the light receivers (Sa), the inclination (ψ) with respect to the set travel trajectory (m) in each work process cannot be detected. So said laser light projection device! (B)
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.

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 (St), and the laser beam projection device will be referred to as a light receiver (St). (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 (S, ).

That is, as shown in FIG. 5, from the light receiving positions in the vertical direction of the front and rear pair of light receivers (Sl) and (St), the position relative to the wall surface on both the front and rear sides of the vehicle body is determined by the above equation (ii). (I!+), (I12) are calculated, and the values of both positions (ll) and (j!2) and the mounting distance of the front and rear pair of light receivers (St) and (St) are determined by the distance (La). From this, the slope (ψ) with respect to the set traveling trajectory (m) is determined based on the following equation (iii).

ψ=sin−' ((1, −I! 2) /La)
-... (iii) However, the value of the position (1) from the wall surface is the value of the position determined based on the light receiving position information of one of the pair of front and rear light receivers (St), (St). However, in order to remove the influence of the inclination (ψ), the average value of the values of both positions (I!l) and (f2) may be used.

Although not explained in detail, the value of the determined position (l is the distance from the wall surface, and the set travel trajectory (m) in each work process is
) is not a value that directly indicates the position in the width direction with respect to 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 work vehicle (V), as shown in FIG. 6, there are running wheels (7) on the front, rear, left and right sides of the lower part of the vehicle body that can be driven and stopped individually by a running motor (M). is provided.

However, the running wheels (7) are configured to be steered separately at the front and rear by a steering motor (M2), forming a pair of left and right wheels.

To explain the steering operation configuration using the steering motor (M2), as shown in FIG.
Each of the support members (8) supporting the wheels (8) is supported so as to be swingable around the vertical axis, and the upper end of the support member (8) supports the rocking movement of the running wheel (7) around the vertical axis. Rotating bodies (9) that rotate in conjunction with are attached, and a link mechanism (lO) is provided that connects the left and right sides of each of the rotating bodies (9), and the running wheels (7) connect the left and right sides as a pair. It is designed to change direction as follows.

A gear portion that meshes with a steering gear (11) driven by the steering motor (M2) is formed on the outer periphery of one of the left and right rotating bodies (9).

In the figure, (12) is a gear type transmission unit for linking the steering motor (M2) and the steering gear (11), and (Se) is the current state of the running wheels (7). This is a steering angle detection potentiometer for detecting the steering angle of the vehicle.

In each of the work steps, only the pair of left and right running wheels (7) on the front side with respect to the vehicle traveling direction are steered.
In addition to using a wheel steering system, when moving to the next work process, all of the traveling wheels (7) 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 then proceed to the next passage. When moving, the parallel steering type and the four-wheel steering type are used in which the pair of left and right running wheels (7) are steered so that the front and rear wheels are in opposite phases and at the same angle.

Therefore, in each work process, the detected position <1> with respect to the wall surface and the set travel trajectory (Ill) parallel to the wall surface are set so that the work vehicle (V) automatically travels along the set travel trajectory (Ill). Based on the value of the inclination (ψ) with respect to Ill), the steering angle (θf) is set, and the steering is controlled in a two-wheel steering format.

The target steering angle (of) is set to a larger value as the value of the position (Il) and the value of the inclination (ψ) increase, using the following formula (iv). .

θr=α1・χ+α2・ψ1α,・β ・・・・・・(
iv) However, in the above formula (iv), χ is the position in the vehicle body width direction with respect to the set traveling trajectory (Ill) calculated based on the value of the position <i> and the position of the currently traveling work stroke. It is. Moreover, β is the running wheel (7)
The current steering angle of α1. α2. α3 is a constant set according to the steering characteristics.

In other words, based on the above formula (iv), the target steering angle (θf)
The process of setting and steering the pair of left and right running wheels (7) on the front side with respect to the vehicle traveling direction corresponds to the steering control means (101).

Further, as shown in FIG. 6, ultrasonic sensors (sb) for non-contact detection of obstacles around the vehicle body are installed on each side of the front, rear, left and right sides of the work vehicle (V). A bumper-type contact sensor (SC) is provided to cause an emergency stop when an object comes into contact with the vehicle. In addition, the work vehicle (
In order to prevent V) from falling on a place with steps such as stairs, the distance to the floor is within a set value at each location on the outside of the vehicle body from the running wheels (7) at the bottom of the vehicle body. A step sensor (Sd) using an ultrasonic sensor is provided to non-contactly detect whether or not it is.

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

In Fig. 6, (13) is a rotating brush for cleaning, and (14) is a rotating brush for cleaning.
) is a water absorption device installed at the front and rear of the vehicle body, (15) is a warning light that flashes when the work vehicle (V) is running, (16) is a warning buzzer, and (17) is the drive motor. (M), the steering motor (M), etc., so that the power cord (18) can be supplied with operating power from outside.
This is a cord reel that can be freely fed out depending on the distance from the power supply outlet (not shown).

To explain the laser beam projection device (8), the eighth
As shown in FIG. 9 and FIG. 9, a semiconductor laser (20) as a light source and a light beam projected from the semiconductor laser (20) are installed inside the case (19) which also serves as a member for mounting on the wall surface. Using the laser light as the guiding beam light (A),
From the beam light projection window (21) formed on the side surface of the case (19), a virtual plane that is parallel to the floor surface of the passageway, which is the traveling surface of the work vehicle (V), and passes through the beam light projection position. The working vehicle (V) is oriented in a direction in which the set angle (θ) is set to a value smaller than 45 degrees with respect to
a polygon mirror (22) for scanning along the length direction of a set travel trajectory (m), that is, the longitudinal direction of the passage; and a scanning motor (23) for rotationally driving the polygon mirror (22). , the semiconductor laser (20)
and a drive device (24) for the scanning motor (23). In the figure, (25) is a switch for operating and stopping the laser beam projection device (B).

The control configuration for automatically driving the work vehicle (V) based on the light receiving position information of the guiding beam light (A) by the light receiver (Sa) will be explained as shown in FIG. The control device (4) controls the driving motor (Ml) and the steering motor (M2) based on information detected by the steering light receiver (Sa) and various sensors.
is configured to control.

In FIG. 1, (26) is a drive device for the rotating brush (13), (27) is a rotary encoder that detects the rotation of each of the traveling motors (Ml), and (28) is a drive device for the working vehicle (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 automatically travels.

Incidentally, although not described in detail, when the work vehicle (V) is manually operated, various operation levers and switches provided on the operation panel (28) are manually operated.

Next, while explaining the operation of the control device (4) based on the flowchart shown in FIG.
v) Automatic driving will be explained in detail.

First, as shown in FIG. 4, before starting traveling, with the work vehicle (V) positioned within the passageway that is the work area,
Travel control information such as the number of work strokes for each passage, the passage width, and the value of the inclination angle (θ) of the guiding beam light (A) for each passage can be obtained using the operation panel (28). You will have to enter it.

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 detected, and the guiding beam t is detected.
The two front and rear light receivers receiving light (A), that is, the pair of front and rear light receivers (S,) located on the beam light projection device (B) side.

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),
(S2) Based on the respective light receiving position information, determine the position <i> 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 work vehicle (V) along the passage. The driver will be guided to the starting point set at one corner.

It should be noted that whether or not the work vehicle (V) has arrived at the start point is determined by the ultrasonic sensor (
The distance measurement information obtained by Sb) is used to make the determination.

After the working vehicle (V) reaches the starting point, the rotating brush (13) and the water absorption device (14)
is activated to start cleaning, and the pair of front and rear light receivers (Sl), (S2) are detected based on the light receiving position information of each of the positions <1> with respect to the wall surface and the inclination (ψ) with respect to the longitudinal direction of the passage. Based on the information, the steering control is performed so that the work vehicle (V) automatically travels in the direction of the wall facing the start point along the travel trajectory (m) set in the first work stroke. It turns out.

However, when the work vehicle (V) is driven toward the wall facing the start point after starting traveling, the work vehicle (V) is moved to the next passage that intersects with the passage currently being worked on. A beam light projection device (B
) and the light receiving position information of the steering light receiver (S, ) located on the projection side of the guidance beam (A) and on the rear side of the vehicle body. 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. - Then, when it is determined that the end of the work process has been reached, it stops traveling and cleaning, and also determines whether or not the entire work process has been completed, and if the entire work process has not been completed, will be moved closer to the next work stroke using parallel steering.

To explain, as we reach the end of the process,
At the same time as switching between forward and backward motion, the steering wheel is moved inward of the aisle by a distance equivalent to the working width to the next working stroke using parallel steering, and then the steering light receiver is switched back and forth again.
Based on the light reception position information of S,) or the distance measurement information from the ultrasonic sensor (Sb) for detecting obstacles, the vehicle is moved to the end of the work process, which is the starting point of the next work process, and then it moves forward and backward again. The next step is to switch to start the 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, various travel control information for the next passage is set, and a pair of front and rear light receivers (S,) receive the guiding beam light (A).

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

[Another example]

In the above embodiment, the light receiving means includes - PSDs.
Although the case where the light receiver (Sa) using a PSD element is attached so that its light receiving surface becomes long in the vertical direction of the vehicle body is illustrated, it is also possible to arrange multiple PSD elements in series in the vertical direction of the vehicle body, or The light-receiving element may be used by moving it in the vertical direction depending on the light-receiving position range in each work process, and the specific configuration of the light-receiving means can be changed in various ways.

In addition, in the above embodiment, the case where the guidance beam light (A) is projected from the side of the vehicle body and the light receiving position in the vertical direction of the vehicle body is determined, but for example, the guidance beam light (A) is projected from the ceiling side. The beam light (A) is projected while scanning in the longitudinal direction of the vehicle body along a set traveling locus, and is projected onto the light receiver (Sa).
) on the top of the vehicle body with the length direction of its light-receiving surface facing in the width direction of the vehicle body, and the light receiving position in the width direction of the vehicle body can be determined. The guidance beam light (A
) The specific configuration of the scanning direction and projection direction and the specific configuration of the arrangement of the light receiving means can be changed in various ways.

In addition, in the above embodiment, so-called two
Although the case where the vehicle is configured to run with wheel steering is illustrated, for example, the position (χ) in the width direction of the vehicle body
The correction of the inclination (ψ) is performed by steering the front and rear wheels (7) in the same phase and at the same angle using a parallel steering method, and the correction of the inclination (ψ) is performed by steering the front and rear wheels (7) in opposite phases. It may be possible to use a four-wheel steering system that steers at the same angle. Furthermore, the steering may be controlled in a two-wheel steering format so that only the position (χ) in the vehicle width direction is corrected based on the light receiving position information of - number of light receivers (Sa). The specific configuration of the direction 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.

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 block diagram showing the control configuration, and FIG. 2 is a block diagram showing the control configuration.
The figure is a flowchart of the light receiving position determination process, Figure 3 is a schematic plan view of the work process, Figure 4 is a front view showing the relationship between the guiding beam light and the light receiver, Figure 5 is the same plan view, and Figure 6 is a schematic perspective view of the working vehicle, FIG. 7 is a perspective view of main parts showing the steering operation configuration, FIG. 8 is a cutaway side view of the beam light projection device, FIG. 9 is a front view of the same, and FIG. 10 is a control operation. This is a flowchart. (A)...Guiding beam light, (B)...
・Beam light projection means, (V)... Work vehicle, (S
a)... Light receiving means, (II), ([2)...
. . . a pair of light reception signals, (5) . . . light reception intensity determination means, (100) . . . light reception position determination means,
(101) Steering control means.

Claims (1)

[Claims] A beam light projection means (B) that scans and projects the guidance beam light (A) is provided on the ground side, and a beam light projection means (B) that projects the guidance beam light (A) while scanning is provided on the work vehicle side along a direction intersecting the scanning direction of the guidance beam light (A). A pair of light-receiving signals (having a light-receiving surface and having an intensity corresponding to the amount of incident light and a ratio corresponding to the position of the incident light)
A light receiving means (Sa) for outputting signals I_1) and (I_2) is provided, and the guidance beam light (A) is light receiving position determination means (
100), and the light receiving position determining means (100) so that the work vehicle (V) automatically travels along a set travel trajectory.
Steering control means (101) that performs steering control based on the information of
A work vehicle guidance device using beam light is provided with a signal strength determination device for determining whether the sum of the pair of light reception signals (I_1) and (I_2) is greater than a set value. Means (5) is provided, and the light receiving position determining means (10
0) is the pair of light reception signals when the sum value of the pair of light reception signals (I_1) and (I_2) is larger than the set value, based on the detection information of the signal strength determining means (5). From (I_1) and (I_2), the pair of light reception signals (I_1) and (I
Based on the value obtained by subtracting _2), the guiding beam light (
A) A work vehicle guiding device using beam light configured to determine the light receiving position.