JPH0261705A - Running controller for beam light guided type working vehicle - Google Patents

Abstract

PURPOSE:To accurately turn a working vehicle by providing a turn optical sensor which receives both of beam light for turn and beam light for guide and using this turn optical sensor and a steering control optical sensor to move the working vehicle. CONSTITUTION:With respect to a working vehicle V1, a seedling planting device 6 is provided in the rear part of a running machine body 5 provided with pairs of right and left front wheels and rear wheels. A steering control optical sensor 17 which detects the tansverse deviation of the machine body from beam light A1 for guide is provided, and an optical sensor S3 of beam light A2 for turn is provided. A device B1 which projects the beam light A1 for guide as the running guide for the working vehicle V1 is mounted on a light source moving mobile body V2. A projecting device B2 of the beam light for turn is so provided that the beam light for turn is orthogonal to the beam light A1 for guide. Thus, the turn start position is accurately indicated by the beam light A2 for turn, and the working vehicle V1 is guided even during turn so that it is moved along a set route.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides a method for automatically moving a working vehicle from one end of the working stroke to the other in each of a plurality of parallel working strokes. A guiding beam light projection means for projecting a guiding beam light toward the end side is provided, and the work vehicle includes a steering control optical sensor that receives the guiding beam light, and a steering control light sensor for receiving the guiding beam light. a steering control means for controlling the steering so that the working vehicle automatically travels along the guiding beam light based on light reception information of the sensor; The present invention relates to a travel control device for a beam-guided working vehicle, which is provided with a turning control means for moving the working vehicle toward the starting end of the next working stroke adjacent to one working stroke.

[Conventional technology]

The travel control device for this type of beam-guided work vehicle mentioned above is:
A work vehicle that automatically travels along a guidance beam projected from one end of the work process to the other end of the work process automatically travels over multiple work processes. As it reaches the terminal end, it is automatically moved toward the starting end of the next working stroke.

Conventionally, distance measuring means such as an ultrasonic sensor for measuring the distance to the end of the work stroke has been provided to detect whether the work vehicle has reached the end of the work stroke.

However, during turning to move to the starting end of the next work process, guidance cannot be provided by the guiding beam light. I was trying to get him to turn around.

Incidentally, conventionally, as the work vehicle reaches the set point in the length direction of the work stroke, 18
Drive the set distance with the vehicle turned 0 degrees, and then
Until the steering control optical sensor receives the guidance beam light,
The guide beam is moved toward the side where the guiding beam light is projected in the next work process.

[Problem to be solved by the invention]

In the conventional configuration described above, guidance cannot be provided using the guiding beam light while turning, so for example, in a work vehicle such as a work vehicle for rice planting, which runs on poor ground conditions and is prone to slipping, it is difficult to turn. There is a risk that the subsequent position of the work vehicle may deviate from the appropriate work start position, and improvements have been desired.

Further, in order to determine whether the working vehicle has reached the end of its working stroke, it is necessary to provide a distance measuring means, which has the disadvantage of complicating the device configuration.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to enable guidance even during turning so that the position after turning does not deviate from the appropriate setting state.

[Means to solve the problem]

The travel control device for a beam guided work vehicle according to the present invention includes:
A guiding beam light projection means for projecting a guiding beam light from one end of the working stroke toward the other end so that the working vehicle automatically travels along the working stroke in each of a plurality of parallel working strokes. The work vehicle is provided with a steering control optical sensor that receives the guidance beam light, and a steering control optical sensor that allows the work vehicle to receive the guidance beam light based on the light reception information of the steering control optical sensor. a steering control means for controlling the steering so that the work vehicle automatically travels along the same line; and as the work vehicle reaches the # end of one work stroke, a starting end of the next work stroke adjacent to that one work stroke; The device is provided with a turning control means for moving the object toward the object, and its characteristic configuration is as follows.

That is, a redirection beam light projection means is provided for projecting redirection beam light indicating the position of the terminal end of each of the plurality of work strokes in a direction perpendicular to the guidance beam light, and The vehicle is provided with a turning optical sensor capable of receiving both the turning beam light and the guiding beam light, and the steering control optical sensor receives both the guiding beam light and the turning beam light. The steering control means is configured to be able to freely receive both lights, and the turning control means is configured to allow the steering control optical sensor to receive the turning beam light as the turning optical sensor receives the turning beam light. a first turning control means for turning the working vehicle in a forward state until it receives the turning beam; and as the steering control optical sensor receives the turning beam, a reversing control means for reversing the work vehicle while controlling steering based on reception information of the turning beam light by the steering control optical sensor until a sensor receives the guiding beam light; A second turning control means for turning the work vehicle in a forward state as the turning optical sensor receives the guiding beam light until the steering controlling optical sensor receives the guiding beam light. The point is that it is composed of.

[For production]

In other words, the redirection beam that indicates the position of the end of each of a plurality of work strokes is projected in a direction perpendicular to the guidance beam, and both the redirection beam and the guidance beam are projected. By providing a turning optical sensor capable of receiving light, and using both the turning optical sensor and the steering control optical sensor to move the work vehicle along each beam light, The work vehicle is also guided so that the travel route of the work vehicle follows the set travel route.

〔Effect of the invention〕

Therefore, the turning beam can accurately indicate the turning start position, and even during turning, the work vehicle can be guided so that the moving route follows the set route, so the turning beam can accurately indicate the turning start position and It has now become possible to accurately turn the work vehicle so that each of the work vehicle positions is set to an appropriate position.

〔Example〕

EMBODIMENT OF THE INVENTION Hereinafter, an embodiment in which the present invention is applied to a travel control device for a work vehicle for rice planting will be described based on the drawings.

As shown in Fig. 3, a traveling guide is provided to guide the rice planting vehicle (V1) to automatically travel in the length direction of each of the plurality of work strokes lined up parallel to each other. The guidance laser light projection device (B1) as a guidance beam light projection means for projecting the guidance beam light (A1) from one end side to the other end side along the length direction of the working process comprises: A linear guide (L) installed at one end of the work process along the direction in which multiple work processes are lined up.
The guiding light beam (A1) is mounted on a moving body (v2) for moving the light source, which is movable along the guide beam (A1), and is configured to project the guiding beam light (A1) in each of a plurality of work processes parallel to each other.

In addition, a turning beam light (A2) for indicating the positions of both ends in the length direction of the working stroke and indicating the starting position and end position of turning to the next working stroke is used as described above. A redirection laser beam projection device (B2) as a redirection beam projection means that projects in a direction perpendicular to the projection direction of the guidance beam light (A1) is configured to It is provided at a lateral side of the field where the working strokes corresponding to both ends are lined up.

In this embodiment, the working vehicle (V+) guided by the guiding beam light (A1) is caused to travel back and forth through each working stroke while changing direction by 180 degrees at both ends of each working stroke. It's Nishide. However, the said work vehicle (
While V1) is reciprocating, the beam light projection position is set between one working process and the next adjacent working process so that the guidance laser beam projection device (Bυ) can be guided without moving. Set it in the corresponding position.

Thereby, as the working vehicle (Vυ) reaches the end of each working stroke, the working vehicle (V1) is turned 180 degrees toward the next working stroke, and the working vehicle (V
1) moves the guiding laser beam projection device (Bυ) every time the guiding laser beam projection device (Bυ
), and move the distance corresponding to the working width of two strokes to the guide (
By moving the plant along the line L), planting in a predetermined field can be carried out continuously and automatically.

As shown in FIGS. 4 and 5, the guide (L) for moving the light source is a steel pipe member with a square cross section installed along the direction in which a plurality of work processes are lined up. Holes (1) as marks indicating the beam light projection position are formed on the upper surface at intervals of a distance corresponding to the working width of two strokes and at a position corresponding to the middle of adjacent working strokes.

In the figure, (S1) is the hole (1) provided for stopping the moving body (v2) at each beam projection position.
A magnetic sensing type proximity sensor (S5) detects the above by receiving light emitted from a light projector (2) (see Fig. 4) provided at the front part of the work vehicle (V1). An optical sensor for detecting a working vehicle, which detects that the working vehicle (Vυ) has reached the end of the working stroke and automatically starts moving the moving body (v2) toward the next beam projection position. It is.

To explain the structure of the working vehicle (V1), as shown in FIGS. 3 to 5, at the rear of a traveling body (5) equipped with a pair of left and right front wheels (3) and rear wheels (4), A seedling planting device (6) serving as a working device is provided so that it can be raised and lowered and can be stopped.

As shown in FIG. 1, the front and rear wheels (3) and (4) are
The left and right sides are a pair, and the front and rear sides are configured to be freely movable, and are equipped with hydraulic cylinders (7), (B) for steering, and electromagnetically operated control valves (9), (10) for them. It is being

In other words, 1. Two-wheel steering type that steers only one of the front wheels (3) or rear wheels (4), four-wheel steering type that steers the front and rear wheels (3) and (4) in opposite phases and at the same angle, and front and rear wheels (4). It is possible to select and use three types of steering types: a parallel steering type in which the steering wheels 3) and (4) are steered in the same phase and at the same angle.

In Fig. 1, (11) is a hydraulic continuously variable transmission that changes the output from the engine (B) to simultaneously drive each of the front and rear wheels (3) and (4), and (12) is its hydraulic continuously variable transmission. An electric motor for speed change operation, (13) a hydraulic cylinder for raising and lowering the planting device (6), (14) a control valve thereof, and (15) a control valve for the planting device (6) using the engine (E). ) The electromagnetic operation type planting that intermittents the drive of the clutch, (16
) is a control device using a microcomputer to control the traveling of the work vehicle (V1) and the operation of the planting device (6), and the control device uses a microcomputer to control the operation of the device (6) for controlling the speed change based on the information detected by various sensors described later. The motor (12), each of the control valves (9), (10), (14), and the said planting are configured to control each of the clutch (15) and the floodlight (2).

To explain the sensors installed in the work vehicle (V1), as shown in FIG. 1, the front and rear wheels (3), (
4) Directly detects the forward/reverse state and vehicle speed based on the steering angle detection sensors (R1), (L) using potentiometers that detect the respective steering angles, and the shift state of the transmission (11). Vehicle speed sensor using potentiometer (
R3) is provided.

As shown in FIGS. 3 to 5, the guiding beam light (
A steering control optical sensor (17) that detects a deviation in the aircraft width direction with respect to A1) based on the light receiving position in the aircraft width direction is provided on the front side on the right side of the aircraft body, and Optical sensor for turning (S3) that receives light from (A2)
However, the redirecting beam light (A
2), the steering control optical sensor (1)
7) are provided on both the left and right sides of the front side of the aircraft.

However, the steering control optical sensor (17) is configured to be able to freely determine the receiving position of the turning beam light (A2), and the steering control optical sensor (S3) is configured to detect the guiding beam light (A2). (A1) is also configured to freely receive light.

To further explain the steering control optical sensors (17), as shown in FIGS. 5 and 6, they are arranged so as to be spaced apart in the longitudinal direction of the aircraft and also spaced apart in the vertical direction. A pair of front and rear optical sensors (St), (S2)
In order to be able to receive the guiding beam light (A1) or the turning beam light (A2) without any difference even when the guiding beam light (A1) or the turning beam light (A2) is incident from the front or rear of the aircraft body, It is equipped with a reflecting mirror (18) that reflects incident light from each direction of the front and rear of the aircraft toward the light receiving surface of each of the optical sensors (S1) and (B2).

As shown in FIG. 6, each of the pair of front and rear optical sensors (S1) and (B2) has a plurality of light receiving elements (D) arranged in parallel in the width direction of the aircraft body. With reference to the position of the light-receiving element located at the sensor center (Do) of The installation of S1) and (32) in the longitudinal direction of the vehicle body is based on the distance (β), and from the following formula (1), the inclination (ψ) with respect to the projection direction of the guiding beam light (A1) and the width. The positional deviation (χ) in the direction is determined.

However, the positional deviation (χ) in the width direction may be the light receiving position of one of the pair of optical sensors (S1) and (Sa), but it should be made such that an error due to the inclination (ψ) does not occur. Therefore, the pair of optical sensors f(S1), (s1
) The light receiving positions (X1) and (L) (7) may be averaged.

In other words, the work vehicle (v1) is controlled to be steered by setting a target steering angle so that both the inclination (ψ) and the deviation (χ) become zero. However, in this example,
In each work process, the steering control is performed in a two-wheel steering type in which only the front wheels (3) are steered.

Then, using the control device (16), the work vehicle (V1) automatically travels along the guidance beam light (A1) based on the light reception information of the steering control optical sensor (17). steering control means (100) for controlling the steering so as to
Turning control means (101) for causing the work vehicle (V1) to move toward the starting end of the next work stroke adjacent to that one work stroke as the work vehicle (V1) reaches the end of one work stroke;
, the redirection optical sensor (B3) detects the redirection beam light (
A2), the steering control optical sensor (
17) until it receives the redirecting beam light (A2),
a first turning control means (101A) for turning the work vehicle (V1) in a forward state; and the steering control optical sensor (17).
receives the redirecting beam light (A2), the redirecting optical sensor (B3) receives the guiding beam light (A1).
) for reversing the work vehicle (V1) while controlling the steering based on information on reception of the turning beam light (A2) by the steering control optical sensor (17); (101B), and the turning optical sensor (
As B3) receives the guidance beam light (A1), the steering control optical sensor (17) moves the work vehicle (V+) forward until it receives the guidance beam light (80). Each of the second turning control means (101C) for turning in this state is configured.

The redirecting optical sensor (S1) is configured to detect only whether or not the guiding beam light (A1) and the redirecting beam light (A2) are received. The location cannot be determined.

In addition, the light projector (2) receives the redirection beam light (A2) with the redirection optical sensor (B3), and the redirection light sensor (B3) receives the redirection beam light (A2).
V1) will be activated upon determining that the end of the working stroke has been reached.

Next, the traveling of the working vehicle (Vυ) will be explained based on the flowchart shown in FIG.

The work vehicle (v1) includes the guidance laser light projection device (
While receiving the guidance beam light (A1) projected from B1) from the rear side of the machine, move the first working stroke set at one end of the field from one end to the other along the length of the field. The vehicle will start traveling toward (see Figure 3).

After the start of travel, based on the light receiving position information of the guidance beam light (A1) by the steering control sensor (17),
As described above, the front wheels (3) are steered in a two-wheel steering manner so that the light receiving positions of the pair of optical sensors (S1) and (B2) are at the center of the sensors. The redirection optical sensor (B3) detects the redirection beam light (A
2) As the planting distance reaches the starting position after traveling a set distance from the time when the light is received, the planting device (6) is lowered and starts driving, and the planting starts. Become.

When the working vehicle (V1) reaches the end of the working stroke and the turning light sensor (S3) receives the turning beam light (A2) projected at the other end of the working stroke, the At the same time, the driving of the planting device (6) is stopped and the planting operation is stopped, and the steering control by the steering control sensor (17) is also stopped and the work vehicle (V1) is moved to the next work process. Turning control will be started to turn the vehicle 180 degrees toward the target.

However, although not described in detail, if it is determined that the work is completed based on the number of turns or the like, the vehicle will stop traveling and complete the entire process without performing turning control.

When starting turning control, first, switch from the two-wheel steering type to the four-wheel steering type,
The work vehicle (V1) is turned approximately 90 degrees in a forward state toward the next work stroke until the steering control optical sensor (17) receives the turning beam light (A2).

In other words, the process of turning the work vehicle (V+) approximately 90 degrees toward the next work stroke in the forward state corresponds to the first turning control means (101A).

As the steering control optical sensor (17) receives the turning beam light (A2), it switches between forward and backward movement and steers only the rear wheels (4) from the four-wheel steering type. After switching to the two-wheel steering mode, the turning beam light (A2) is controlled by the steering control optical sensor (17) until the turning optical sensor (S3) receives the guiding beam light (A1). ) is made to move backward along the turning beam (A2) while controlling the steering based on the light receiving position information.

That is, while controlling the steering based on the light receiving position information of the turning beam light (A2) by the steering control optical sensor (17), the work vehicle (V1) is controlled by the turning beam light (A2).
The process of moving backward along A2) is performed by the backward movement control means (10
1B).

The turning optical sensor (S3) detects the guiding beam light (A
1) When it receives light, it switches from reverse to forward, and
Switch to the four-wheel steering mode and turn the steering wheel approximately 90 degrees toward the starting end of the next work stroke until the steering control optical sensor (17) receives the guidance beam light (A;) again. .

In other words, the process of turning the work vehicle (V1) approximately 90 degrees toward the starting end of the next work stroke in the forward state corresponds to the second turning control hand & (101C).

The process of controlling steering based on the light reception information of the guiding beam light (AI>) by the steering controlling optical sensor (17) corresponds to the steering controlling means (100), The processing from the time when the sensor (S3) receives the turning beam light (A2) until the steering control optical sensor (17) receives the guiding beam light (A1) again is a turning process. This corresponds to the control means (101).

When the steering control optical sensor (17) receives the guidance beam light (A1), it ends the turning control and switches the steering type to a two-wheel steering type that steers only the front wheels (3), As described above, the steering control by the steering control optical sensor (17) is restarted so that the work vehicle (V1) automatically travels the next work process along the guidance beam light (A1). , the working vehicle (V1) is caused to automatically travel from the other end of the working path toward the one end.

That is, each time the work vehicle (V1) reaches the end of each work stroke, the steering control means (100) and the turning control means (101) are alternately operated.

In addition, after the steering control optical sensor (17) receives the guidance beam light (A1), the planting is performed by restarting the driving of the device (6) after traveling a set distance. The starting position of planting in the work process is aligned with the finishing position of planting in the previous process.

However, since the guiding laser beam projection device (B1) needs to be moved to the next projection position every time the working vehicle (V+) makes one reciprocation of the working process, the guiding laser beam projecting device (B1) is
) is turned on the installation side of the guidance laser beam projection device (B1), when the guidance laser beam projection device (B1) is turned around, the guidance laser beam projection device (
B1) is automatically moved to the next beam projection position in conjunction with the turning of the working vehicle (V1).

To explain, when the working vehicle (V1) reaches the end of the working process and the turning light sensor (B3) receives the turning beam light (A2), the planting operation is stopped. The transmission laser beam projection device (B
1) determines whether or not the turn is on one end side of the installed work process, and if the turn is on the one end side of the work process, the projector (2) is activated. Become.

That is, as the turning control is started, the light sensor (B5) for detecting the work vehicle provided in the guidance laser beam projection device (B1) detects the light from the projector (v1) on the work vehicle (v1) side. 2) and receives the light projected from the moving body (v2).
) side, the guiding laser beam projection device determines that the working vehicle (v1) has reached the end of the working stroke, and while the working vehicle (v1) moves toward the next working stroke. (B
1) can be automatically moved toward the next beam projection position.

[Another example]

In the above embodiment, in order to align the starting position for planting in each work process with the stop position for planting in the previous process, the turning optical sensor (S1) is projected at the other end of the work process. When the steering beam light (A2) is received, the steering device (6) stops driving, the planting device stops the operation, and the steering control optical sensor (1) finishes turning.
7) has traveled a set distance after receiving the guiding beam light (A1), and the planting device (6) is restarted; Sensors (B3) are installed at two locations, one on the front side of the vehicle body corresponding to the stop position for planting, and the rear side of the vehicle body corresponding to the start position for planting, and the turning optical sensors (B3) are installed at two locations in front and behind these locations.
The planting may be performed by controlling the driving of the device (6) based on the detected information.

To explain, as shown in FIGS. 7 and 8, the turning light sensor (B3) on the front side of the vehicle body receives the turning beam light (A2) and stops planting. The turning beam light (A
2), an optical sensor (Sto) having the same configuration as the turning optical sensor (B3) is planted from the vehicle body toward a location on the rear side of the vehicle body than the device (6). What is necessary is just to attach it to the tip part of the sensor support member (19) which extended.

Then, as shown in Fig. 9, as the turning light sensor (B3) on the front side of the vehicle receives the turning beam light (A2), the planting stops and the turning start is controlled. As the optical sensor (S3°) on the rear side of the vehicle body receives the turning beam light (A2), turning ends and planting starts.

In addition, in the above embodiment, the vehicle body turning is controlled by 4 in the turning control.
Although the case is illustrated in which the turning is performed using wheel steering, it is also possible to turn using two-wheel steering.

Further, in the above embodiment, the case where the present invention is applied to a work vehicle for rice planting has been exemplified, but the present invention can be applied as a traveling control means for various kinds of work vehicles, and the specific configuration of each part can be modified in various ways. Can be changed.

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

[Brief explanation of the drawing]

The drawings show an embodiment of the traveling control device for a beam-guided work vehicle according to the present invention, in which FIG. 1 is a block diagram of the control configuration, FIG. 2 is a flowchart of control operation, and FIG. 3 is a turning pattern. 4 is a schematic plan view of the working vehicle and beam light projection device; FIG. 5 is a side view of the same; FIG.
7 is a schematic plan view of a working vehicle in another embodiment, FIG. 8 is a side view of the same, and FIG. 9 is a flowchart of its control operation. (v1)... Working vehicle, (A1)... Guiding beam light, (A2)...... Turning beam light,
(B1)...Transmission beam light projection means, (B2
)... Redirection beam light projection means, (17)...
... Steering control optical sensor, (B3) ... Turning optical sensor, (100) ... Steering control means,
(1 old)... Turning control means, (101A)...
...First swing control means, (101B)...
Reverse control means, (101C)...Second turning control means.

Claims (1)

[Claims] The work vehicle (
A guiding beam light (A_
1), and the work vehicle (V_1) includes a steering control optical sensor (17) that receives the guidance beam light (A_1), and a steering control optical sensor (17) that receives the guidance beam light (A_1). Based on the light reception information of the steering control optical sensor (17), the work vehicle (V_1) receives the guidance beam light (A_
1), and as the work vehicle (V_1) reaches the end of one work stroke, a steering control means (100) that performs steering control so as to automatically travel along one work stroke; A traveling control device for a beam-guided work vehicle, which is provided with a turning control means (101) for moving the work vehicle toward the starting end of the next working stroke, wherein A redirection beam light projection means (B_2) is provided for projecting a redirection beam light (A_2) indicating the position in a direction orthogonal to the guidance beam light (A_1),
The work vehicle (V_1) is provided with the redirecting beam light (A_
2) and a turning optical sensor (S_3) capable of receiving both the guiding beam light (A_1), and the steering control optical sensor (17) receives the guiding beam light (A_1).
and the redirecting beam light (A_2), and the redirecting control means (101) is configured such that the redirecting optical sensor (S_3) receives the redirecting beam light (A_2).
2), the steering control optical sensor (1)
7) until it receives the redirecting beam light (A_2),
a first turning control means (101A) for turning the work vehicle (V_1) in a forward state; and a first turning control means (101A) for turning the work vehicle (V_1) in a forward state;
7) receives the turning beam light (A_2), the steering control optical sensor (S_3) receives the guiding beam light (A_1). 17) while controlling the steering based on the light reception information of the turning beam light (A_2), the work vehicle (V_1)
As the steering control means (101B) and the turning optical sensor (S_3) receive the guiding beam light (A_1), the steering controlling optical sensor (17) A travel control device for a beam light guided working vehicle, comprising a second turning control means (101C) for turning the working vehicle (V_1) in a forward state until it receives the beam light (A_1).