JPH0216607A - Working vehicle guiding device for beam light utilization - Google Patents

Abstract

PURPOSE:To automatically travel in a working ground by detecting a vehicle position based on only the light receiving position information of the light receiving device of a vehicle body only by providing a beam projecting means at respective sides along the outer circumference of the working ground. CONSTITUTION:A beam projecting device B is placed approximately at the center of four sides of a working ground and a guiding beam A is projected in the working ground along the sides. At the upper edge of the front/rear and right/left of a vehicle body V, a light receiving device Sij is provided in the same direction, at an interval La in the direction front and rear the vehicle body, at an interval Lb at the vehicle side and respectively based on the light receiving position information of the pair of elements, a distance l from the side installed the beam projecting device B, a vehicle body direction psi, a pitch ing angle theta a and a rolling angle theta b are detected. Based on the information of respective light receiving devices, the on-vehicle CPU executes the steering, speed change, direction conversion, etc. By the constitution, in the polygon working ground, the working vehicle is guided and automatic travelling can be executed by using the beam light.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a system for automatically driving a vehicle along a work process based on information on the position of the vehicle body receiving guidance beam light projected from the ground side. The present invention relates to a work vehicle guiding device that uses beam light to guide a work vehicle.

[Conventional technology]

In the above-mentioned type of work vehicle guidance device using beam light,
Conventionally, for example, in each work process, a guidance beam is projected while scanning vertically from one end of the work process to the other end, and then the guidance beam is received in the width direction of the vehicle body. A light receiver for detecting the position may be installed on the vehicle body so that its light receiving surface faces the beam light projection means that projects the guiding beam light, or a light receiver for detecting the position may be installed on the vehicle body so that the light receiving surface thereof faces the beam light projection means that projects the guiding beam light, or the light receiver may be installed at a location on the upper side of the vehicle body during each work process. The guidance beam is scanned along the length direction and projected towards the ground, and the light receiving surface of the light receiver detects the light receiving position of the guidance beam in the width direction of the vehicle body. It was installed on the car body so that it faced the target.

[Problem to be solved by the invention]

However, when the vehicle body travels automatically over a plurality of work processes, in the former configuration in which the guiding beam light is projected while scanning vertically from one end of the work process to the other end, It is necessary to install a beam light projection means for each work process or move the beam light projection means in accordance with the position of each work process, which has the disadvantage of complicating the structure of the beam light projection means. Ta.

Furthermore, even in the latter configuration in which the guiding beam light is projected toward the ground while scanning along the length direction of the working process from the upper side of the vehicle body, the guiding beam light is projected in each working process. In this case, a means for changing the direction of projection of the guiding beam light according to the movement of the vehicle is required, or, similar to the former configuration, a plurality of beam light projection means are installed corresponding to the position of each work process. Alternatively, it is necessary to move the beam light projection means corresponding to the position of each work process, which has the disadvantage that the structure of the beam light projection means becomes complicated.

In addition, in any of the above configurations, not only is a separate means for detecting and detecting that the vehicle body has reached the end of one working stroke, but also a means for detecting that the vehicle body has reached the end of one working stroke is required, and It is necessary to control the guidance beam so that it is projected to the location corresponding to the next work process by transmitting that the guide beam has reached the end of the work process, which has the disadvantage of complicating the equipment configuration. .

The present invention has been made in view of the above-mentioned circumstances, and a first object thereof is to enable accurate detection of the position of a vehicle body in a work area while simplifying the device configuration. The second objective is to prevent position detection errors from occurring due to vertical movement of the working vehicle while utilizing the configuration for achieving the first objective. The third purpose is the first
It is an object of the present invention to make it possible to also detect the orientation of a working vehicle with respect to the working stroke by utilizing the configuration for achieving the objective or the second objective. Furthermore, a fourth objective is to make it possible to detect pitching or rolling of a work vehicle by utilizing the configuration for achieving the second objective.

[Means to solve the problem]

A first feature of the light receiving device for a beam-guided work vehicle according to the present invention is that a plurality of work strokes parallel to each other are arranged in a polygonal work area parallel to each side along the outer periphery of the work place. The guiding beam light is emitted from a lateral side of the vehicle body in a direction tilted at a set angle in the vertical direction with respect to a virtual plane that is parallel to the running surface of the vehicle body and passes through the beam light projection position. Beam light projection means for scanning along the length direction of the working process while projecting toward the guide beam are provided so as to be located on each of the sides, and a light receiving position in the vertical direction for the guiding beam light is provided. Light receivers for detection are provided at the front, rear, left, and right sides of the vehicle body, with their light receiving surfaces facing toward the outside of the vehicle body, and the position of the vehicle body within the work area is determined based on the light receiving position information of the light receivers. Based on the position detecting means to detect and the detection information of the position detecting means, the vehicle body automatically travels along the length direction of each work stroke, and as it reaches the end of each work stroke, the vehicle body automatically travels along the length direction of each work stroke. The main feature is that a traveling control means is provided for controlling the traveling so that the vehicle can move to the next working process.

A second characteristic configuration is that a plurality of mutually parallel working strokes are provided in a polygonal work area in a state that they are lined up parallel to each side along the outer periphery of the work area, and , two guides are provided in directions parallel to the running surface of the vehicle body and parallel to a virtual plane passing through the beam light projection position, and in a direction tilted at a set angle in the vertical direction with respect to the virtual plane. Beam light projection means for scanning each of the two guidance beams along the length direction of the working stroke while projecting each of the guiding beams is provided so as to be located on each of the sides. The vehicle body is provided with a plurality of light receivers for detecting light receiving positions in the vertical direction with respect to the guiding beam light. a position detecting means for detecting the position of the vehicle body in the work area based on an interval between light receiving positions where each of the light receivers receives each of the two guiding beam lights, and the position detecting means Based on the detection information, the vehicle body automatically travels along the length of each work stroke, and automatically moves to the next work stroke as it reaches the end of each work stroke. The point is that a travel control means for controlling travel is provided.

The third characteristic configuration is as follows.

That is, the light receivers in the first characteristic configuration or the second characteristic configuration are located at a set interval in the longitudinal direction of the vehicle body! A pair of light-receiving elements are arranged in the same direction so as to be spaced apart from each other in the width direction of the vehicle body, and based on the light-receiving information of the light-receiving elements of the pair, The present invention is characterized in that a vehicle body orientation detection means is provided for detecting the vehicle body orientation with respect to the length direction of the working stroke.

In a fourth characteristic configuration, the light receiver in the second characteristic configuration includes a pair of light receiving elements located at a set interval in the longitudinal direction of the vehicle body, and the light receiving elements of the pair are arranged on the virtual plane. The present invention is characterized in that pitching angle detecting means is provided for detecting the pitching angle of the vehicle body based on light receiving position information of the parallel guiding beam light. Similarly, in a fifth characteristic configuration, the light receiver in the second characteristic configuration includes a pair of light receiving elements located at a set interval in the width direction of the vehicle body, and the virtual The present invention is characterized in that rolling angle detecting means is provided for detecting the rolling angle of the vehicle body based on light receiving position information of the guiding beam parallel to the plane.

[For production]

Next, the effects of each characteristic configuration will be sequentially explained.

First, the effects common to each characteristic configuration will be explained.

In other words, when the guiding beam is projected from a lateral side of the vehicle in a state parallel to the running surface of the vehicle and tilted vertically with respect to a virtual plane passing through the beam projection position, the distance of the vehicle body to the beam projection position is When changes in the distance direction, the position where the light receiver on the vehicle body side receives the guiding beam light changes in the vertical direction, and information on the inclination angle of the guiding beam light with respect to the virtual plane, Based on the light receiving position information of the light receiver, the distance from the beam projection position can be determined (see FIG. 2).

Beam light projection means are provided on each side of the work area, and light receivers are provided on each of the front, rear, left, and right sides of the vehicle body, with the light receiving surface facing toward the outside of the vehicle body. Based on the light receiving position information of the light receiver that receives the guiding beam light from the vehicle body and the light receiving position information of the light receiver that receives the guiding beam light from the longitudinal direction of the vehicle body, the two sides of the work area that are in the mutually intersecting directions are This makes it possible to determine the distance from each. In other words, the position of the vehicle body in the work area can be detected based only on the light receiving position information of the light receivers provided on the front, rear, left, and right sides of the vehicle body.

Therefore, based on the detected vehicle body position information, in each work process, it is possible to control the vehicle so that it automatically travels along the work process, and also to determine whether or not it has reached the end of one work process. It is possible to run the machine fully automatically within the work area, automatically moving to the starting point of the next work process.

However, if the work area is uneven, the vehicle body will move up and down as it travels, and even if the vehicle body position does not actually change due to the vertical movement,
There is a possibility that the light receiving position of the light receiver moves up and down, causing the vehicle body position to be erroneously detected as if the vehicle body position had changed.

Therefore, in the second characteristic configuration, the guiding beam is parallel to the virtual plane passing through the beam projection position, and the guiding beam is tilted vertically with respect to the virtual plane, similar to the guiding beam in the first characteristic configuration. Then, the light receiving position is determined based on the distance between the light receiving positions of the two guiding beams.

In other words, since the projection angle of the two guiding beams is constant, if the light receiving position is the same, even if the car body moves up and down, the distance between the receiving positions of the two guiding beams will not change. Therefore, it is possible to prevent the light receiving position from being mistaken due to the vertical movement of the vehicle body (see Fig. 2).

In addition, in the third characteristic configuration, when a pair of light receiving elements are arranged side by side in the same direction, when the vehicle body direction is parallel to the length direction of the work stroke, the light receiving elements of the pair The light receiving position remains the same, but if the vehicle orientation changes,
By utilizing the fact that the distance of each of the pair of light receiving elements to the beam light projection means changes and the light receiving position of the pair of light receiving elements differs depending on the orientation of the vehicle body, it is possible to It detects the orientation of the vehicle (
(See Figure 3).

In each of the fourth characteristic configuration and the fifth characteristic configuration, the guiding beam light projected in the direction parallel to the running surface in the second characteristic configuration is used to adjust the pitching angle of the vehicle body. , to detect the rolling angle of the vehicle body.

In other words, if a pair of light-receiving elements are installed at intervals in the longitudinal direction of the vehicle body, the light-receiving position at which they receive the guiding beam light projected in a direction parallel to the running surface will be at the pitching angle of the vehicle body. Similarly, if a pair of light-receiving elements are placed spaced apart in the width direction of the vehicle, they will receive the guidance beam projected in a direction parallel to the running surface. The light receiving position differs depending on the rolling angle of the vehicle (
(See Figures 6 and 7).

〔Effect of the invention〕

Therefore, according to the present invention, by simply installing beam light projecting means on each side along the outer periphery of the work area, only the light receiving position information of the light receiver on the vehicle body is provided without moving the beam light projecting means. Since the vehicle body position within the work area can be detected based on the above, it has become possible to automatically drive the work vehicle within the work area over a plurality of work strokes while simplifying the device configuration.

Further, by using the configuration of the present invention, it is possible to detect the direction of the vehicle body in relation to the working process, and also detect pitching and rolling of the vehicle body, so that accurate guidance can be achieved regardless of the ground condition on which the work vehicle is traveling.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a device for guiding a work vehicle for rice planting will be described below with reference to the drawings.

As shown in Fig. 1, a beam light projection device (B ) is installed so as to project the guiding beam (A) toward the inside of the field while scanning it in the direction along each side, and at the upper end of each of the front, rear, left, and right sides of the vehicle body (V). , a plurality of light receivers (S
ij) are installed with their light-receiving surfaces facing toward the outside of the vehicle body.

However, as will be described in detail later, as shown in FIGS. 2 and 3, each of the light receivers (SIj) has its light receiving surface facing the same direction, and is spaced at a first set interval in the longitudinal direction of the vehicle body. (L
a) and a pair of light-receiving elements (Si+') and (St Based on the light receiving position information of each of the receiving elements (S+ +) and (S12), the distance (j2) from each side where the beam light projection device (B) is installed and the vehicle body direction (ψ) with respect to the work process are determined. It is designed to help you identify.

The pitching angle (θa) and rolling angle (θb) of the vehicle body (V) can also be detected based on the received light information.

Although not detailed, the pair of light receiving elements (S++),
Each of (St□) is constructed using a one-dimensional image sensor using a CCD or a PSD element. The vehicle body (
V).

To explain the running of the vehicle body (V), in a work vehicle for rice planting, the device (1) for planting seedlings is installed on the rear side of the vehicle body, so the planting operation is performed in the forward state. This means that the area where the planting work has been completed will be unable to drive, so basically,
A turning space with a width of several strokes, a so-called headland, is formed near the outer periphery of the field, and a plurality of turning spaces are arranged parallel to each other between the headlands on two opposing sides. The work schedule will be set.

In each work stroke, while traveling in a forward state, as it reaches the end of one work stroke, that is, the headland located at both longitudinal ends of the work stroke, it turns 180 degrees toward the next adjacent work stroke. The robot repeats turning and travels back and forth within the field.

Incidentally, the planting work on each of the headlands will be carried out after the planting work in the range surrounded by the headland has been completed.

In addition, the plurality of work processes are divided into two areas that roughly divide the field into left and right, and in each area, the vehicle body (
The vehicle body (V) is guided using the guiding beam light (A) projected from the beam light projection device (B) located on the side with a shorter distance to the vehicle body (V). Then, at each headland, a guiding beam light (A) is projected from a beam light projection device CB) located on the side of the vehicle body with respect to the vehicle traveling direction and on the short side with respect to the vehicle body (V). It is designed to guide the vehicle body (V).

In the following explanation, the area located on the right side of the drawing will be referred to as area 1, the area on the left side will be referred to as area 2, the headland located on the lower end side will be referred to as area 3, and the area located on the left side will be referred to as area 3. The headland is called area 4, and the headland located at the upper end is called area 5. Further, among the plurality of light receivers (Sij), the light receiver on the front side of the vehicle body is designated as the light receiver (S1).
J), and the light receiver on the rear side of the vehicle body is the light receiver (S2j).
The light receiver on the left side of the vehicle body is expressed as a light receiver (S,), and the light receiver on the right side of the vehicle body is expressed as a light receiver (S4j).

In other words, the vehicle body (V) is located in the area 1 in the drawing.
From the starting point set at the upper right end of the vehicle, the vehicle is guided by the guiding beam light (A) projected from the first beam light projection device (B1) on the right side of the field, which is located on the left side of the vehicle body. , starts traveling downward, and as it reaches the end of the working stroke, the traveling direction is reversed by 180 degrees in the area 3 or the area 5, and the vehicle moves forward along each of the plurality of working strokes parallel to each other. It will be driven in this condition. Then, as it reaches a location corresponding to the left and right halves of the field, the guiding light beam (8) is transferred from the first beam projection device (Bl) to the second beam projection device (Bl) located on the left side of the field. B2) and start traveling in area 2 in the same manner.

When reaching the end of the area 2, the guiding beam light (A) is projected from the second beam light projection device (B2).
and a guiding beam light (A) projected from a third beam light projection device (B3) located on the side of the area 3.
After turning the field approximately 90 degrees toward the outside of the field,
Guidance in the area 3 is started by the guidance beam (8) projected from the third beam projection device (B3).

However, in Area 3, unlike in Area 1 and Area 2, there is no space to turn 180 degrees at the end of the work process, so in each work process in Area 3, planting is done in a state where the work is stopped. After once retreating to the end of the working stroke, the same working stroke is advanced to guide the planting work.

When the end of the area 3 is reached, the guiding beam (A) is projected from the second beam projection device (B2) in the same manner as when moving from the area 2 to the area 3. and the third beam light projection device (B3)
By the guiding beam light (A) projected from
After turning approximately 90 degrees from the area 3 toward the area 4, the guidance beam (A) projected from the second beam projection device (B2) is used in the same manner as in the area 3. Therefore, the planter is guided to move back to the edge of the field while the planting operation is stopped, and then to perform the same operation while moving forward.

In the area 5 as well, in the same manner as in the areas 3 and 4, after turning approximately 90 degrees from the end of the area 4 to the start of the area 5, Guiding beam light (A) projected from the fourth beam light projection device (B4) installed on the side
Accordingly, the planter is guided to once retreat to the edge of the field while the planting operation is stopped, and then to perform the same work process while moving forward.

In addition, in FIG. 1, the area surrounded by diagonal lines at the upper right corner of the drawing indicates that the seedling planting is carried out by the device ( Depending on 1), planting is an area where work cannot be done.

Next, the configuration of each part will be explained in detail.

As shown in FIG. 2, the beam light projection device (B) includes:
a direction parallel to the running surface of the vehicle body (V) and parallel to a virtual plane (F) passing through the beam light projection position; and a direction parallel to the virtual plane (F)
so that the two beams (Ao) and (AI) of the guiding beam (A) are simultaneously projected in directions inclined at a set angle (θ=5 degrees) relative to the guide beam (A). It is configured.

Although not described in detail, the beam light projection device (B), for example, uses a polygon mirror or the like to direct each of two light beams generated using a semiconductor laser or the like in the length direction of the working process. By repeatedly scanning along the guide beam, two beams (Ao) and (A,) of the guiding beam light (A) are generated simultaneously.

On the vehicle body side, the light receiving position of the guiding beam (referred to as the first guiding beam (A0) in the following explanation) projected in a direction parallel to the virtual plane (F) is used as a reference. , a set angle (θ) with respect to the virtual plane (F)
The vehicle body (V ) and the beam light projection position (f) is detected. In the following explanation, the first
The guiding beam light (AQ) and the second guiding beam light (
A:) is sometimes collectively referred to as the guiding beam light (A).

To explain, since the second guiding beam (A1) is projected in an upwardly inclined direction with respect to the first guiding beam (A0), each of the light receivers (SIj) The light receiving position of the second guiding light beam (A,) on the light receiving surface changes in the vertical direction depending on the distance (β) of the vehicle body (V) from the beam light projection position. That is, the farther the distance (1) from the beam light projection position is, the more the light receiving position of the second guiding light beam (AI) moves above the light receiving surface of the light receiver (Slj).

However, the vehicle body (1/) with respect to the beam light projection position
Even if the distance (β) is the same, when the vehicle body (V) moves up and down, the light receiving position will also change up and down, but the distance (β) of the vehicle body (V) from the beam light projection position
are the same, the distance (
X) does not change regardless of the vertical movement of the vehicle body.

Therefore, the distance <p> is determined from the distance (X) between the light receiving positions of the two guiding beams (Ao> and (AI)) based on the following equation (i).

β=X−cotθ (i) Then, the light receiver (s L j)
b) A pair of light receiving elements (s++) located apart from each other, (
Based on the pair of distance information obtained based on the light receiving position information of the pair of light receiving elements (Sij) and (S12), the vehicle body ( The direction (ψ) of V) is to be found.

To explain further, as shown in FIG. 3, the pair of light receiving elements (S++) is formed based on the above formula (i).

(S*2) Find each of the distances (β., ) and (β,2) from the light receiving position to the beam projection position, and calculate the distances (βl, ) and (jl!l0) from the above pair. The direction (ψ) of the vehicle body (V) with respect to the length direction of the working stroke is determined from the mounting distance (Li) of the light-receiving elements (st+) and (SI2) based on the following equation (11). It is.

ψ=sin-'((j2++-j2+2)/Li ・
-.-(ii) However, the value of the set interval (La) in the longitudinal direction of the vehicle body or the set interval (Lb) in the lateral direction of the vehicle body is substituted for Li.

That is, based on the above equation (11), the vehicle body direction (ψ
), the pair of light receiving elements (St, ),
(S12) This corresponds to a vehicle body orientation detection means (102) that detects the vehicle body orientation (ψ) with respect to the length direction of the working stroke based on each light reception information.

As shown in FIG. 3, the vehicle body direction (ψ) is the light receiving position information of a pair of light receiving elements (S41) and (S42) that receive the guiding beam light (A) from the lateral side of the vehicle body. and,
Although it can be determined using any of the light reception position information of the pair of light receiving elements (St, ) and (S, 0) that receive the guidance beam light (A) from the front and rear directions of the vehicle body, guidance from the front of the vehicle body A pair of light receiving elements (S
, , ), When calculating from the light receiving position information in (3, 2), the calculated inclination value is changed in direction by 90 degrees and used by converting it into a value corresponding to the orientation in the longitudinal direction of the vehicle body. Become.

Also, based on the light receiving position information of the light receiver (Sij) that receives the guiding beam light (A) from the front of the vehicle body and the light receiver (S2j) that receives the guiding beam light (A) from the rear of the vehicle body. Then, the distance from both ends of the work stroke is detected to determine whether the vehicle body (V) has reached the starting end or the end of each work stroke.

To explain, based on the light receiving position information of the light receiver (Sij) on the front side of the vehicle body, the distance (βIJ) from one side of the field which is the front side in the direction of travel of the vehicle body is detected, and that distance (LJ) is detected.
Based on the value of , it is determined whether the end of the work process has been reached, that is, whether the planting in each work process has reached the stop position, and the light receiving position of the light receiver (S2J) on the rear side of the vehicle body is determined. Based on the information, the distance (L,) from one side of the field that is the rear side in the direction of vehicle movement is detected, and based on the value of the distance (Lj), it is determined whether the starting end of the work stroke has been reached or not.
For planting in each work process, it is determined whether the starting position has been reached or not, and the operation of the device (1) for planting the seedlings can be automatically started and stopped.

That is, based on the above equation (i), the distance from the side located on the side of the vehicle body and the distance from the side located in the longitudinal direction of the vehicle body are detected, and based on these detected distance information, the vehicle body is The process of determining whether the starting end or the ending end of the work stroke has been reached is performed by the vehicle body position detection means (100B) that detects the vehicle body position in the work area based on the light receiving position information of each of the light receivers (Sij). We will deal with it.

Furthermore, a pair of light receiving elements (S41) provided so as to be located at a set interval (La) in the longitudinal direction of the vehicle body;
Based on the light reception information of (S42), a pitching angle (Oa>) of the vehicle body (V) is detected, and a pair of light reception sensors are provided so as to be located at a set interval (Lb) in the width direction of the vehicle body. The rolling angle (θb) of the vehicle body (V) is determined based on the light reception information of the elements (S 1+) and (S l 2).
) is detected.

To explain further, as shown in FIG. 6, since the first guiding beam light (A0) is projected in a direction parallel to the running surface, when the vehicle body (V) pitches, Corresponding to the pitching angle (θa), for example, a pair of front and rear light receivers (S4.) on the right side of the vehicle body are located at a set interval (La) in the longitudinal direction of the vehicle body, (3, 2).
This results in a difference in the light receiving position of each of the first guiding light beams (Ao).

Therefore, the pair of light receiving elements (S41), (S42)
The following (
iii> The pitching angle (θa) can be determined based on the formula.

θa=tarr'(Xa/La) ・------(1
1i) However, the pitching angle (θa) is determined by the pair of front and rear light receiving elements (S31>, (S3□) located on the left side of the vehicle body.
Detection can be made in the same way using the received light information.

In other words, based on equation (iii) above, the pitching angle (
θa) is determined by the set interval (La
) A pair of light receiving elements (Sit) located apart from each other.

(SI2) Guiding beam light (
pitching angle detection means (80) for detecting the pitching angle (θa) of the vehicle body (V) based on the light receiving position information;
103).

As shown in FIG. 7, the rolling angle (θb) is determined by a pair of light-receiving elements (S, , ), (S12
) The value of the difference (Xb) between the light receiving positions of the respective first guiding beams (A, ) and the mounting distance (Lb) can be determined using equation -i) above. Note that this rolling angle (θb) can also be detected in the same way using the light reception information of the first guiding beam light (80) of the pair of light receiving elements (Sll) (S12) on the front side of the vehicle body. can.

In other words, the process of detecting the rolling angle (θh) using equation (iii) above is performed at the set interval (
a pair of light receiving elements (Sll) located apart from each other;
(SL0) Guiding beam light (
rolling angle detection means (A0) for detecting the rolling angle (θb) of the vehicle body (V) based on the light receiving position information of
104).

Although not described in detail, the information on the detected pitching angle (θa) and low IJ angle (θb) can be used, for example, to control the seedling planting so that the attitude of the device (1) is parallel to the field surface. It will be used as control information etc.

However, even if the vehicle body (υ) pitches, the light receiver (S
, J), but there is no error in the light receiving interval (X) of the vehicle body (V
) rolls, as shown in Figure 7,
Since the light receiver (Sij) is tilted in the vehicle width direction and the distance (I2) from the beam light projection position changes, an error occurs in the light receiving interval (X) of the light receiver (Sij). .

Therefore, the value of the light reception interval (X) is corrected based on the rolling angle (θa), and the distance from each side (
This will prevent the detection error of β) from occurring.

Next, a control configuration for automatically driving the vehicle body (V) will be explained.

As shown in FIG. 8, the vehicle body (V) is provided with a pair of left and right front wheels (2F) and a pair of left and right rear wheels (2R),
The output of the engine (E) is transmitted via a hydraulic continuously variable transmission (3) so as to simultaneously drive the front wheels (2F) and the rear wheels (2R).

However, each of the front wheels (2F) and the rear wheels (2R) is constructed such that the left and right wheels are a pair and can be freely steered front and rear.

In other words, the front wheels (2F) and the rear wheels (2R) are configured to be a four-wheel drive type and a four-wheel steering type.

Therefore, the vehicle body (V) has a two-wheel steering type in which only the front wheels (2F) are steered, the front and rear wheels (2F), (2R)
Select from three types of steering types: a four-wheel steering type that steers the wheels in opposite phases and at the same angle, and a parallel steering type that steers the front and rear wheels (2F) and (2R) in the same phase and at the same angle. It is now possible to do so.

In the figure, (4) is a gear shifting motor for automatically operating the transmission (3), (5F), (5R) is a motor for operating each of the front wheels (2F) and rear wheels (2R). The hydraulic cylinders (6F) and (6R) are operated in the opposite direction, and the control valves (6F) and (6R) are
7) is a clutch for the electromagnetic imitation type planting that intermittents the drive of the device (1) for planting the seedlings, and (8) is a hydraulic pressure for raising and lowering the device (1) for planting the seedlings when the drive is stopped. a cylinder, (9) a control valve thereof, (10) a control device using a microcomputer that controls the traveling of the vehicle body (V) based on the light reception information of each of the light receivers (Sij);
(R1) and (R2) are the front wheel (2F) and the rear wheel (
2R) a steering angle sensor using a potentiometer for detecting the current steering angle of each; (R3) is a steering angle sensor of the transmission device (
3) This is a vehicle speed sensor that uses a potentiometer to indirectly detect the vehicle speed based on the operating state.

In other words, by using the control device (10), the vehicle body (
Each means for automatically driving the vehicle (V), that is, a position detection means (100B) for detecting the position of the vehicle body (V) in the work area based on the light receiving position information of each of the light receivers (Si); , based on the detection information of the position detecting means (100B), the vehicle body (V) automatically travels along the length direction of each work stroke, and as it reaches the end of each work stroke, the vehicle body (V) automatically travels along the length direction of each work stroke. A travel control means (101) for controlling travel so that the user can move to the next work process in a timely manner, a pair of light receiving elements (SL, ) arranged in the same direction, (S+
□) A vehicle body orientation detection device 1 that detects the vehicle body orientation (ψ) with respect to the length direction of the work stroke based on each received light information.
(102) A pair of light receiving elements (Sin) located at a set interval (La) in the longitudinal direction of the vehicle body.

(Si2) The vehicle body (V
pitching angle detection means (103) for detecting a pitching angle (θa) of
a pair of light receiving elements (St,) located apart from each other;
(sl) Guiding beam light (A
rolling angle detection means (1) for detecting the rolling angle (θb) of the vehicle body (V) based on the light receiving position information of
04) will be configured.

The steering control for automatically driving the vehicle body (V) along the length of the work stroke in each work stroke based on the detection information of the vehicle body position detection means (100B> will be described below. The deviation of the working stroke in the width direction is calculated based on the distance (1) from the side located on the side of the working stroke in which the vehicle body (V) is traveling and the position information of the working stroke in which the vehicle body (V) is currently traveling. Then, based on the deviation (χ) in the vehicle width direction and the vehicle direction (ψ), the front wheel (
The target steering angle (θf) of 2F) is set so that it becomes larger as the deviation from the working stroke becomes larger, and the steering operation is performed in a two-wheel steering manner.

θf−α1・χ+α2・ψ+α3・β ・・・・・・(
iv) However, α1. α2. α. is a constant preset according to the steering characteristic, and β is the current steering angle of the front wheel (2F) detected by the steering angle detection sensor for the front wheel.

Next, a description will be given of turning control for reaching the end of one working stroke and moving to the starting end of the next working stroke.

First, a 180 degree turn for reversing the traveling direction in Area 1 or Area 2 will be explained.

That is, as shown in Fig. 4, the light receiver (
Based on the light reception information of s, , ), the planter determines that it has reached the end of the work process, that is, the planter has reached the stop position, and the planter stops the work and changes from the two-wheel steering type to the four-wheel steering type. Change the mode and start turning toward the next work stroke at the maximum cutting angle.

After starting a turn, as the set time required for the vehicle body (V) to turn approximately 90 times elapses, a pair of front and rear light receiving elements (Sll) located on the outside with respect to the turning direction, (
After detecting the vehicle direction (ψ) based on the light reception position information in S12) and correcting the direction so that the vehicle direction is parallel to the side located on the side of the vehicle body, while turning the vehicle further by 90 degrees,
A pair of left and right light receiving elements (St
+), based on the light receiving position information of (S12), correct the direction of the car body so that it is parallel to the length direction of the next work stroke, and turn the car body (V) 180 degrees. I will put it on.

After placing the car body (V) on the turning point 180 degrees, switch from 4-wheel steering type to parallel steering type and turn the car body (V)
While moving V) in parallel toward the next working stroke, the position of the vehicle body in the width direction with respect to the working stroke is corrected.

As the position of the vehicle body (V) in the width direction becomes appropriate for the next work process, the parallel steering type is switched to the two-wheel steering rig type, and the steering is performed as described above. While controlling, it is determined whether the position of the vehicle body (V) has reached the planting start position based on the light reception position information of the light receiver (St;) on the rear side of the vehicle body, and the planting reaches the start position. As a result, planting work will resume.

On the other hand, when the vehicle body (V) is moved from the end of the area 2 to the start of the area 3, as shown in FIG. Based on the information, the distance from the side located in the vehicle traveling direction determines whether or not the planter has reached the stop position, and as the planter reaches the stop position, the planter stops the work and , In the same manner as in the case of the 180 degree turning point, switch from the two-wheel steering type to the four-wheel steering type,
The vehicle body (V) is turned 90 degrees in a direction away from the starting end of the area 3 and is temporarily stopped. However, the stopping position after turning 90 degrees is the light receiver (S
The determination is made based on distance information from two sides located in mutually intersecting directions detected by both the front side of the vehicle body and the side side of the vehicle body in ij).

After turning 90 degrees and stopping, the system switches from 4-wheel steering to parallel steering, and also switches between forward and backward movement, and is detected by both the front and side of the vehicle body of the photodetector (SiJ). Based on the distance information from the two sides located in directions that intersect with each other, the vehicle body (V) is retreated at the maximum turning angle until it is located on the work path located at the starting end of the area 3. It turns out.

When the vehicle body (V) is located on the work path located at the start ISi portion of the area 3, the parallel steering type is switched to the two-wheel steering type in which only the rear wheels (2R) are steered, and the vehicle body (V) is moved to the area 3. While controlling the steering based on the light reception information of the guiding beam light (A) projected from the third beam light projection device (B3) located on the outer side of 3,
The planting in the end of the side where the first beam light projection device (B1) is located, that is, the area 3, is stopped and retreated until the planting reaches the starting position.

Planting in area 3 is stopped once the vehicle body (V) reaches the starting position, and the two-wheel steering system that steers the front wheels (2F) changes from the two-wheel steering system that steers the rear wheels (2R). At the same time as switching to the steering type, switch to the forward state, and while controlling the steering in the same way as when reversing,
Planting will get the work started.

However, when the end of the work stroke in area 3 is reached, the two-wheel steering type is switched to the parallel steering type, and the steering mode is switched between forward and backward movement, and while moving backward, the machine is moved in parallel to the next work process. As mentioned above, the steering is controlled in the backward state on the next work stroke, and after the plant is moved back to the starting point of the work stroke, it is switched to the forward state again and the planting work is performed while controlling the steering. This will be repeated until the end of the area is reached.

In addition, when moving from area 3 to area 4, and when moving from area 4 to area 5, similarly, 90 degree turn using 4-wheel steering type and parallel movement in backward state using parallel steering type. Then, in each work process on the headland, the same work process is moved back to the edge of the field, then switched to the forward state and the planting work is carried out. Become.

In other words, in each work process, the vehicle body (V) is controlled using two-wheel steering so that it automatically travels along the work process, and as it reaches the end of each work process,
The process of controlling travel while automatically switching between the steering mode and forward/backward travel so as to move to the starting end of the next work stroke corresponds to the travel control means (101).

[Another example]

In the above embodiment, the present invention is applied to a device for automatically driving a work vehicle for rice planting. The present invention can be applied to various devices for detecting the position of a vehicle in the ground, and the specific configuration of each part, such as the specific configuration of the work vehicle and the specific form of the work site, can be changed in various ways.

Incidentally, when harvesting crops such as rice and wheat planted in the field by the rice-planting vehicle using a combine harvester, etc., the headland area of the rice-planting vehicle is illuminated with beam lights installed on each side. While performing harvesting work guided by the guidance beam light (A) projected from the projection device (B), a turning space is formed, and then the remaining part is traveled in the same way as in Area 1 and Area 2. It is also possible to make a plurality of work strokes parallel to the work area run back and forth.Alternatively, the work area may be made to run in a so-called roundabout manner, in which it sequentially runs in a direction parallel to each side, toward the outer or inner circumference of the work area. In addition, in a work vehicle such as a work vehicle for mowing lawns, which can run and work with no difference in forward or backward movement, the direction of the vehicle body may be changed at the end of each work stroke. Move parallel to the next work process without any trouble,
Then, it may be possible to travel each work stroke by repeating forward and backward movement every -stroke.

Further, in the above embodiment, the guiding beam light (An).

(A1), but the first guiding beam (Ao) projected in a direction parallel to the running surface is omitted, and the second transparent guiding beam (Ao) is omitted. Transmission may be performed using only the optical beam (A,). However, in that case, an error will occur in the light receiving position due to vertical movement or pitching of the vehicle body, so the pitching angle (θ
The detected light receiving position may be corrected based on a) or the rolling angle (θb). In other words, the set angle (θ) is based on the receiving position of one guiding beam (8) that is tilted in the vertical direction with respect to the virtual plane (F) that is parallel to the running surface and passes through the beam projection position. The process of detecting the position of the vehicle body within the work area corresponds to the position detection means (100A). Also, the receiver (
StJ) may be configured with only one light-receiving element, and the vehicle direction (ψ) may be simplified so as not to be controlled.

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 light receiving device for a beam light guiding type work vehicle according to the present invention, FIG. 1 is a schematic plan view of a working area, and FIG. 2 shows the relationship between the guiding beam light and the light receiver on the body side. 3 is a plan view of the same, FIG. 4 is an explanatory diagram of a 180 degree rotation,
FIG. 5 is an explanatory diagram of a 90 degree turn, FIG. 6 is an explanatory diagram of a pitching angle, FIG. 7 is an explanatory diagram of a rolling angle, and FIG. 8 is a block diagram of a control configuration. (A)...Guiding beam light, (0 to 1), (A
I)...Two guiding beams, (B)...
... Beam light projection means, (V) ... Vehicle body, (
Sij)...Multiple receivers, (S+□),
(S12)... A pair of light receiving elements lined up in the same direction,
(La), (Lb)...Setting interval, (ψ)・
...Car body direction, (θa) ...Pitching angle, (θb) ...Rolling angle, (100A>
, (100B)...Position detection means, (101
)... Travel control means, (102)...
Vehicle orientation detection means, (i, 03)...Pitching angle detection means, (104)...Rolling angle detection means. Figure 1

Claims (1)

[Scope of Claims] 1. A plurality of mutually parallel working steps are provided in a polygonal work area, arranged parallel to each side along the outer periphery of the work area, and a guiding beam light ( A) to the vehicle body (V)
While projecting the beam from the lateral side of the vehicle body (V) in a direction inclined at a set angle (θ) in the vertical direction with respect 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 the working process are provided so as to be located on each of the sides, and detect the light receiving position in the vertical direction with respect to the guiding light beam (A). Light receivers (S_i_j) are provided on each of the front, rear, left and right sides of the vehicle body (V) with their light receiving surfaces facing toward the outside of the vehicle body, and based on the light receiving position information of these light receivers (S_i_j), position detection means (100A) for detecting the position of the vehicle body (V) in the work area;
Based on the detection information of the position detection means (100A),
Travel control is performed so that the vehicle body (V) automatically travels along the length of each work stroke, and automatically moves to the next work stroke as it reaches the end of each work stroke. A work vehicle guidance device using beam light, which is provided with a traveling control means (101). 2. In a polygonal work area, a plurality of mutually parallel work strokes are provided in parallel to each side along the outer periphery of the work area, and from the lateral side of the vehicle body (V), A direction parallel to the running surface of the vehicle body (V) and parallel to a virtual plane passing through the beam light projection position, and a direction inclined at a set angle (θ) in the vertical direction with respect to the virtual plane, While projecting the two guiding beams (A_0) and (A_1), the two guiding beams (A_0) and (A_1) are projected.
A beam projection means (B) for scanning each of A_1) along the length direction of the working process is provided so as to be located on each of the sides, and the vehicle body (V) is provided with A plurality of light receivers (S_i_j) detect the light receiving position in the vertical direction with respect to the beam lights (A_0) and (A_1),
With the light-receiving surface facing toward the outside of the vehicle body,
The light receivers (S_i
_j) are each of the two guiding beam lights (A_0),
A position detecting means (100B) that detects the position of the vehicle body (V) in the work area based on the interval (X) between the light receiving positions where each of (A_1) is received, and detection of the position detecting means (100B) Based on the information, the vehicle body (V)
Travel control means (1) that automatically travels along the length of each work stroke, and automatically moves to the next work stroke when reaching the end of each work stroke.
01) A work vehicle guiding device using beam light. 3. The work vehicle guiding device using beam light according to claim 1 or 2, wherein the light receivers (S_i_j) are positioned at a set interval (La) in the longitudinal direction of the vehicle body, or
A pair of light receiving elements (S_i_1) and (S_i_2) arranged in the same direction so as to be separated by a set interval (Lb) in the width direction of the vehicle body.
and the pair of light receiving elements (S_i_1), (S_
i_2) A work vehicle guiding device using beam light, which is provided with a vehicle body orientation detection means (102) that detects the vehicle body orientation (ψ) with respect to the length direction of the working stroke based on each received light information. 4. The work vehicle guiding device using beam light according to claim 2, wherein the light receiver (S_i_j) includes a pair of light receiving elements (S_i_j) located at a set interval (La) in the longitudinal direction of the vehicle body.
i_1) and (S_i_2), and based on the light receiving position information of the guiding beam light (A_0) parallel to the virtual plane of the pair of light receiving elements (S_i_1) and (S_i_2), the vehicle body (V) is A working vehicle guiding device using beam light is provided with a pitching angle detection means (103) for detecting a pitching angle (θa). 5. The work vehicle guiding device using beam light according to claim 2, wherein the light receiver (S_i_j) includes a pair of light receiving elements (S_i_j) located at a set interval (Lb) in the width direction of the vehicle body.
i_1) and (S_i_2), and based on the light receiving position information of the guiding beam light (A_0) parallel to the virtual plane of the pair of light receiving elements (S_i_1) and (S_i_2), the vehicle body (V) is A working vehicle guiding device using beam light is provided with a rolling angle detection means (104) for detecting a rolling angle (θb).