JPH07281744A - Light receiving device for light beam guided work vehicle and traveling controller therefor - Google Patents

Abstract

PURPOSE:To enable a sensor for steering control to surely receive the light beam for guidance of a traveling course to be automatically traveled and to realize automatic traveling based on this light receiving information in the case of turning and moving between adjacent traveling courses equipped with the beam light for guidance in a crossing state. CONSTITUTION:A work vehicle V is provided with a steering control photosensor S1 for receiving the guiding light beam so as to detect the deviation of the guiding light beam projected by light beam projecting means B1 and B2, which are provided on the ground side in a mutually orthogonal state, in the width direction of a car body. Then, a first incidental light limiting means is provided on the front side of light receiving parts S1a and S1b of the photosensor S1 for limiting the guiding light beam to be made incident in the state of being inclined over a prescribed angle (45 deg., for example), in the breadth wise direction of the car body with a car body forward/backward direction J as a reference so that the light beam can not be made incident on the light receiving parts S1a and S1b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention receives a guiding light beam in order to detect a deviation in the vehicle body lateral direction with respect to the guiding light beam projected by a beam light projecting means provided on the ground side. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a light receiving device for a beam light guide type work vehicle provided with a steering control optical sensor, and a travel control device for a beam light guide type work vehicle including the light receiving device.

[0002]

2. Description of the Related Art In the above beam light guide type work vehicle,
Conventionally, for example, as shown in FIG. 20 (a) for a case of a work vehicle V for rice planting as a beam light guided work vehicle, the work vehicle V is one side M of a work site K that is a rectangular farm field.
The guide beam light A1 projected along the longitudinal direction of 2 is received by the steering control sensor S1 on the left side of the vehicle body, and the other side M is automatically driven along the guide beam light A1.
After entering the work site K through the doorway Mi provided at one end of the No. 1, while turning at the headland portions K1 and K2 on both end sides in the longitudinal direction of the one side M2, and reciprocating along the longitudinal direction. , Planting work is performed on the work target portion Ks on the center side. After that, from the terminal end portion (the lower right position in the figure) of the final traveling stroke of the work target portion Ks toward the starting end portion of the first traveling stroke of the second headland portion K2 adjacent to the side M4 opposite to the side M1, 90. The steering control sensor on the right side of the vehicle body moves from the state where the steering control sensor S1 on the left side of the vehicle body receives the guiding beam light A1 projected along the longitudinal direction of the side M2. At S1, the state is switched to the state of receiving the guiding beam light A2 projected along the longitudinal direction of the side M1. After that, the second light is emitted in a state along the guiding light beam A2.
After reciprocating the two traveling strokes of the headland portion K2, the work target portion Ks is moved from the stroke end portion of the second headland portion K2.
Turn 90 degrees to the starting end of the traveling stroke portion K3 adjacent to the lower side M3 left in the work (in this case, the guidance beam received by the steering control sensor S1 on the right side of the vehicle body). The light travels through the travel stroke portion K3 (switching the light from A2 to A1), and then turns right at the end of the travel stroke portion K3 (in this case, for guidance received by the steering control sensor S1 on the right side of the vehicle body). Switch the light beam from A1 to A2)
After traveling in the non-working state on the outer stroke of the first headland portion K1 adjacent to the side M1, the vehicle travels back and forth through two strokes, and finally, at the end of the stroke of the first headland portion K1 (upper end of the figure). To 9
Turn left by 0 degrees and exit the work site K from the entrance Mi.

[0003]

In the above prior art, the work vehicle V is moved 90 degrees from the terminal end of the final traveling stroke of the work target portion Ks toward the starting end of the first traveling stroke of the second headland portion K2. When the vehicle turns left and moves (lower right position in FIG. 20A), the steering control sensor S1 to be used is switched from the steering control sensor S1 on the left side of the vehicle body to the steering control sensor S1 on the right side of the vehicle body, The steering control sensor S1 on the right side of the vehicle body
Along with the first traveling stroke of the second headland portion K2 based on the received light information of the guidance beam light A2 as the second traveling head portion K2 receives the guidance light beam A2 of the first traveling stroke. It will be driven automatically. However, FIG. 20 (b)
As shown in FIG. 3, during the turn, the steering control sensor S1 on the right side of the vehicle body receives the guiding beam light A1 of the previous stroke, or the steering control sensor S1 detects the guiding beam lights A1 and A2. When located at the intersection, the guiding light beam A1 of the previous stroke and the guiding light beam A2 of the next stroke
May be received simultaneously. In the former case,
The received guiding light beam A1 is mistakenly regarded as the guiding light beam A2 for the next stroke, and in the latter case, the guiding light beam A1 for the previous stroke and the guiding light beam A2 for the next stroke are distinguished. Therefore, in any case, there is a disadvantage that the vehicle cannot properly and automatically travel along the next stroke (the first traveling stroke of the second headland portion K2).

The present invention has been made in view of the above circumstances, and an object thereof is to provide a beam light for guiding a traveling stroke in which a steering control sensor should automatically travel in order to solve the above-mentioned drawbacks of the prior art. A light receiving device for a light beam guided work vehicle capable of reliably receiving light, and a light beam guided work capable of properly automatically traveling along a next traveling stroke by a work vehicle equipped with such a light receiving device. To obtain a travel control device for a vehicle.

[0005]

A light receiving device for a beam light guide type working vehicle according to the present invention is a shift in a vehicle lateral direction with respect to a guide light beam projected by a beam light projection means provided on the ground side. The steering control light sensor for receiving the guidance light beam is a light-receiving device for a light beam guidance work vehicle provided on the work vehicle, and the first characteristic configuration is The guiding light beam that is incident on the front side of the light receiving portion of the steering control optical sensor in a state of being inclined by a predetermined angle or more in the vehicle lateral direction with respect to the vehicle front-rear direction is restricted so as not to enter the light receiving portion. 1 The point that incident light limiting means is provided.

The second characteristic configuration is that the light received at the front side of the light receiving portion of the steering control optical sensor is inclined with respect to the vehicle longitudinal direction by a predetermined angle or more in the vehicle vertical direction. A second incident light limiting means for limiting the light so that the light does not enter the portion is provided.

In the third characteristic construction, the two guiding light beams from the light beam projecting means are projected in a state of being orthogonal to each other, and the first incident light limiting means is the vehicle body front-back direction as a reference. The point is that the guiding light beam that is incident in a state of being inclined by 45 degrees or more in the lateral direction is not incident on the light receiving portion.

A fourth characteristic construction is that the first incident light limiting means comprises a plurality of vertical wall-shaped first light-shielding bodies arranged side by side at a predetermined interval in the lateral direction of the vehicle body along a vertical plane. In this configuration, the second incident light limiting means is composed of a plurality of lateral wall-shaped second light shields arranged in parallel in the vertical direction of the vehicle body at predetermined intervals in a state of being along a horizontal plane.

Further, a fifth characteristic constitution is the first or the second.
The incident light limiting means is formed in a film-like body that holds the first light shield or the second light shield in an optically transparent member.

Further, the traveling control device for a beam light guide type working vehicle according to the present invention is provided in such a manner that the working vehicle provided with the light receiving device having the above first to fifth characteristic configurations intersects with each other. The beam light projecting means is provided so as to project the guiding beam light along the longitudinal direction of each of the two traveling strokes so as to automatically travel along each of the two traveling strokes. Steering means for controlling the steering of the work vehicle, and the steering means so that the work vehicle automatically travels along each of the two travel paths based on the light reception information of the steering control optical sensor. The operation of the work vehicle is controlled at the intersection of the two travel strokes.
After turning along a set turning pattern from a state along one of the two traveling strokes, the steering control optical sensor stops receiving the guiding beam light in the one traveling stroke, and then the guiding beam. As the light is received, the operation of the steering means is controlled so that the work vehicle automatically travels along the other travel path of the two travel paths based on the light reception information of the received guidance beam light. And a control means for controlling the operation.

[0011]

According to the first characteristic construction of the light receiving device for a beam light guide type working vehicle according to the present invention, the guiding beam light from the beam light projecting means on the ground side is directed in the vehicle lateral direction with respect to the vehicle longitudinal direction. When the light beam is incident at an angle of more than a predetermined angle, the guiding light beam cannot be incident on the light receiving part because it is limited by the first incident light limiting means provided on the front side of the light receiving part of the steering control optical sensor. . On the other hand, when the guiding light beam is incident at a tilt angle smaller than a predetermined angle in the vehicle body lateral direction with respect to the vehicle body front-rear direction, the guiding light beam is not limited by the first incident light limiting means. The light is incident on the light receiving section and is received, and based on the received light information, the deviation in the vehicle body lateral direction of the work beam with respect to the guiding light beam is detected.

According to the second characteristic configuration, sunlight or the like which is incident in a state in which the vehicle body vertical direction is tilted by a predetermined angle or more with respect to the vehicle body front-back direction is incident on the front side of the light receiving portion of the steering control optical sensor. The second incident light restricting means provided in the light source cannot limit the incident light on the light receiving portion, and the light receiving information cannot be obtained. On the other hand, the guiding beam light is incident at a tilt angle smaller than a predetermined angle in the vertical direction of the vehicle body with respect to the longitudinal direction of the vehicle body, and is incident on the light receiving section without being limited by the second incident light limiting means. Light reception information is obtained, and based on the light reception information, a shift of the work vehicle in the lateral direction of the vehicle body with respect to the guidance light beam is detected.

According to the third characteristic configuration, one of the two guiding light beams projected in a state orthogonal to each other,
When the light beam is guided in a state of being inclined by 45 degrees or more in the lateral direction of the vehicle body with respect to the longitudinal direction of the vehicle body, the guiding beam light is limited by the first incident light limiting means and cannot enter the light receiving portion, while the other guiding light beam is guided. The light beam is incident at a tilt angle smaller than 45 degrees in the lateral direction of the vehicle body with respect to the longitudinal direction of the vehicle body, is incident on the light receiving portion without being limited by the first incident light limiting means, and is received. Based on the information, the deviation of the work vehicle in the lateral direction of the vehicle body with respect to the guidance light beam is detected.

According to the fourth characteristic configuration, for example, FIG.
And as illustrated in FIG. 9, the wall length a along the vertical plane of the first light shield 20a in the form of a vertical wall, which is arranged in parallel in the lateral direction of the vehicle body at predetermined intervals in a state along the vertical plane, and the vehicle body. A tilt angle θ that is greater than or equal to a predetermined angle that is determined by the distance b in the width direction
1. The guiding light beams A1 and A2 that are incident in a state of being inclined in the vehicle body lateral direction with respect to the vehicle body front-rear direction J are shielded by the vertical wall-shaped first light shielding body 20a, and the light receiving portion S1a (S
It cannot be incident on 1b). In addition, it is determined by the wall length a'in the horizontal plane of the second light shields 21a in the form of lateral walls arranged in parallel in the vertical direction of the vehicle body along the horizontal plane at a predetermined interval and the vertical spacing b'in the vehicle vertical direction. The incident light in a state in which the inclination angle θ2 is equal to or more than a predetermined angle and the vehicle body front-rear direction J is inclined in the vehicle body vertical direction is the second light shield 21a having a lateral wall shape.
Therefore, the light cannot be incident on the light receiving portion S1a (S1b) because it is shielded from light.

According to the fifth characteristic configuration, for example, FIG.
And, as illustrated in FIG. 9, a large number of vertical wall-shaped first light shields 20a are embedded and held in the light transmissive member 22, and are tilted in the lateral direction of the vehicle body by the predetermined angle or more with respect to the longitudinal direction of the vehicle body. Guiding beam light A1, which is incident at an angle θ1
A2 passes through the light transmissive member 22 but is blocked by the vertical wall-shaped first light shield 20a and cannot enter the light receiving portion S1a (S1b), and a large number of horizontal wall-shaped second light shields 21a are provided. Light that is embedded and held in the light transmissive member 22 and that is incident on the vehicle body vertical direction at an inclination angle θ2 that is equal to or greater than the predetermined angle with respect to the vehicle front-rear direction passes through the light transmissive member 22 but has a lateral wall shape. 2 The light-shielding portion 21a is shielded from light by the light-shielding body 21a.
It cannot be incident on (S1b).

Further, according to the characteristic configuration of the traveling control device for the beam light guide type work vehicle according to the present invention, the work vehicle is detected from the information received by the steering control light sensor for the guide beam light. The steering means is actuated based on the deviation in the lateral direction of the vehicle body to automatically travel along one traveling path of the two traveling paths provided in the intersecting state, and the steering operation is performed at the intersection of the two traveling paths. The turning means is operated to make a turning movement in a set turning pattern from a state along one of the traveling strokes. At this time, as illustrated in FIG. 18, for example, after the steering control optical sensor S1 on the right side does not receive the guiding beam light A1 in the one traveling stroke, the sensor for use on the left side controls the steering control light. While switching to sensor S1,
When the light beam for guidance received by the steering control optical sensor S1 on the left side is examined next, at the position of (b) in the middle of the turn, before the light beam enters the steering control optical sensor S1 on the left side. The guide beam light A1 in the stroke has an inclination angle θ1 in the lateral direction of the vehicle body that is equal to or larger than the predetermined angle with respect to the longitudinal direction J of the vehicle body. On the other hand, at the position of (c) in the figure where the turning operation is almost completed, the guiding beam light A2 in the subsequent stroke after being incident on the steering control optical sensor S1 on the left side of the steering control optical sensor S1 is the lateral width of the vehicle with reference to the longitudinal direction J of the vehicle. Since the inclination angle is smaller than the predetermined angle in the direction, the light receiving information can be obtained by entering the light receiving portion. Therefore, the steering means is operated based on the deviation in the vehicle body lateral width direction detected from the received light information of the received guiding light beam A2, and the vehicle automatically travels along the other travel stroke. Note that, as indicated by the chain double-dashed line in FIG.
Even when 1 and A2 are simultaneously received, as described above, only the beam light A2 in the subsequent process is incident and the received light information can be obtained.

[0017]

Therefore, according to the first characteristic configuration of the light receiving device for a beam light guide type working vehicle according to the present invention, in a state in which the light receiving device for a beam light guide type working vehicle is inclined at an angle smaller than a predetermined angle in the lateral direction of the vehicle body. Since only the incident guiding light beam is incident on the light receiving part of the steering control optical sensor and is received, the guiding beam light that is normally projected within a predetermined angle on both sides in the longitudinal direction of the vehicle body is received. On the other hand, it is no longer possible to mistakenly receive the guiding beam light that is largely inclined from the vehicle front-rear direction to the vehicle lateral direction, and the steering control sensor can reliably receive the proper guiding beam light. So,
A light receiving device for a beam light guided work vehicle capable of appropriately detecting a deviation in the vehicle body lateral width of the work light beam based on the received light information is obtained.

According to the second characteristic configuration, the guiding light beam is made incident on the light receiving portion of the steering control optical sensor,
Since ambient light such as sunlight other than the guiding beam light is not made incident on the light receiving portion of the steering control optical sensor, only the guiding beam light can be reliably received, and thus the effect of the first characteristic configuration can be obtained. It provides a suitable means of implementation.

According to the third characteristic configuration, for example, in the case where the beam light guide type working vehicle is automatically driven in a state of being parallel to two adjacent sides of a rectangular work site, the first characteristic is provided. Suitable means for achieving the effect of the configuration can be obtained.

Further, according to the fourth characteristic configuration, the first or second incident light limiting means can form a simple member such as a black metal plate or a resin plate as a constituent element. Suitable means for achieving the effect of the characteristic configuration of the above can be obtained.

According to the fifth characteristic constitution, the film in which the first or second incident light limiting means is embedded and held by a light transmissive member such as a transparent resin, for example, a black metal plate or a resin plate is held. It is possible to realize a simple structure in which the film-shaped body is formed and then the film-shaped body is attached to the front surface of the light receiving portion of the steering control optical sensor. Therefore, more preferable means in the fourth characteristic configuration can be obtained. To be

Further, according to the characteristic configuration of the traveling control device for a beam light guide type working vehicle according to the present invention, the work vehicle is located at the intersection of two traveling strokes from the state along one traveling stroke to the next one. When the vehicle makes a turning movement between adjacent traveling strokes along the traveling stroke, the steering control sensor surely receives the guiding beam light of the next traveling stroke after the turning, and then based on the received light information, A travel control device for a beam light guide type work vehicle that can appropriately and automatically travel along a travel path is obtained.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a rice planting work vehicle as a beam light guide type work vehicle will be described below with reference to the drawings.

As shown in FIG. 1, at one end (upper end of the figure) of one reference side M1 of a plurality of sides surrounding a rectangular work site (field) K, an adjacent side adjacent to the reference side M1. M
2 and M3 are provided with an entrance Mi for traveling along the longitudinal direction of the work vehicle V to enter and exit, and the adjacent side M
In the longitudinal direction of M2, M3, work is performed along the longitudinal direction of the adjacent sides M2, M3 with both end sides of the work site K being headland parts K1, K2 and the central part being the work target part Ks. Performing a reciprocating work for working on the work target portion Ks while reciprocating the vehicle V, and then reciprocating the working vehicle V along the longitudinal direction of the reference side M1 in both headland portions K1 and K2. The headland work is performed on the headland parts K1 and K2. The work target portion Ks and the two headland portions K1 and K2 are provided on the right side and the left side provided at both end positions of the work target portion Ks in the longitudinal direction of the adjacent sides M2 and M3 along the reference side M1. Are separated by a boundary line Y, Y.

The reference side M1 in the work target portion Ks
Process R1 as a plurality of travel processes arranged in the longitudinal direction of the vehicle
In order to guide the work vehicle V along each of the above, the first beam light projecting device B1 for projecting the guiding beam light A1 along the longitudinal direction of the working stroke R1 is provided, and the pair of headland portions K
The first headland portion K adjacent to the reference side M1 of 1, K2
1 and the second headland portion K2 adjacent to the opposite side M4 opposite to the reference side M1, the work vehicle along each of the work steps R2 as a plurality of traveling steps arranged in the longitudinal direction of the adjacent sides M2 and M3. In order to guide V, a second beam light projection device B2 is provided that projects the guidance light beam A2 along the longitudinal direction of the work process R2. That is, the two traveling strokes R1 and R1 provided in a state in which the work vehicle V intersects (orthogonally intersects)
2 along the longitudinal direction of each of the two traveling strokes R1 and R2, that is, along the longitudinal direction of each of the reference side M1 and the adjacent side M2, so as to automatically travel along each of the two traveling paths R1 and R2. Two beam light projecting devices B as beam light projecting means for projecting one guiding beam light A1, A2
1, B2 are provided on the ground side.

The first beam light projection device B1 is basically installed at the boundary position between two adjacent work steps of the plurality of work steps R1 at a ratio of one to two adjacent work steps. However, the drawing shows the case where the number of work strokes R1 is odd, and one first beam light projection device B1 is arranged only for the work stroke R1 at the uppermost end. Further, the second beam light projection device B2 is installed at the boundary position of the work steps because the plurality of work steps R2 are two. or,
In the figure, in the longitudinal direction of the adjacent sides M2, M3, the beam light A3 is projected in parallel with the guiding beam light A2 inside the projection position of the guiding beam light A2 from the second beam light projection device B2. A third beam light projection device B3 is provided. Although not described in detail, each beam light projection device B
1, B2, B3 are configured by a laser device or the like, and each light beam A1, A2, A3 is scanned within a predetermined angle range in the vertical direction (see FIG. 2).

Next, the travel route of the work vehicle V will be described with reference to FIG. First, the final work site portion R1a connected to the entrance Mi along the longitudinal direction of the adjacent sides M2, M3,
Also, the reciprocating work is performed while leaving the relay work site portion R1b adjacent to the adjacent side M3 located away from the entrance Mi. Here, the final work site portion R1a is the reference side M1.
Of the plurality of work steps R1 arranged in the longitudinal direction of the work area corresponding to the uppermost work step, and the relay work area portion R1b is the two work pieces on the lower end side of the plurality of work steps R1. It is the work site part corresponding to the process.

In the reciprocating work, specifically, except for the relay work site portion R1b, the work stroke R1 farthest from the entrance Mi is taken, and the boundary line Y on the right side showing the work start position at the start end thereof. It starts from the upper Pst point toward the left in the figure. Therefore, along the route shown in the figure, N
While stopping at the point h and supplying the first seedlings, the vehicle travels forward to the point Pst in a non-working state. After this, the work vehicle V
Is stopped at the starting end of each work process R1, R2 on the side of the reference side M1, the seedlings are replenished appropriately according to the consumption state of the seedlings. When reaching the Pst point, the planting device 6 is driven to start the planting work, and thereafter, the left and right headland portions K1, K2
While making a 180 degree turn with each work stroke R1
In the final work stroke R1 (second stroke from the top of the figure) of the work target portion Ks, the right boundary line Y is guided while being guided by the guiding beam light A1 based on the detection information of the right steering control optical sensor S1. Drive to the upper end position Pen.

Thereafter, the first headland portion K1 adjacent to the reference side M1 of the pair of headland portions K1 and K2, and
The headland work for working the second headland portion K2 adjacent to the facing side M4 facing the reference side M1 is performed, and in the headland work, between the first headland portion K1 and the second headland portion K2. During the transition, the relay work site part R1b is run while the relay work site part R1b is run, and finally the final work site part R1a is run from the second headland part K2 toward the entrance Mi. However, it is set to work on the final work site portion R1a.

Specifically, first, in order to move from the end position Pen to the start end of the inner working stroke R2 of the two working strokes R2 of the second headland portion K2, the steering control light on the right side is moved. Based on the detection information of the sensor S1, the guiding light beam A
While being guided to 1, the vehicle travels backward from the end position Pen to the position where the front-side sensor S2a receives the guidance light beam A2 on the rightmost side in the figure, then switches to the forward state and turns 90 degrees to the right, and further receives light. The steering control optical sensor S1 for light is switched to the steering control optical sensor S1 on the left side, and while being guided by the guiding beam light A2 based on the light reception information of the steering control optical sensor S1 on the left side, The projected guiding light beam A1 travels in a backward state from a position where a rear sensor S2b for trigger receives a predetermined distance to a planting start position. Then, the work process R2 is automatically traveled in the forward traveling state while being guided by the guiding beam light A2 based on the detection information of the left steering control optical sensor S1.

After that, the work stroke R2 inside the second headland portion K2, the work stroke R1b inside the relay work ground portion R1b, the work stroke R2 inside the first headland portion K1, and the first headland portion K.
1, the work stroke R2 outside, the work stroke R1b outside the relay work land portion R1b, and the work stroke R2 outside the second headland portion K2, in that order, at the beginning of the next stroke at the end of each stroke. The vehicle automatically travels while swinging to the other part, and finally travels straight through the final work site portion R1a in a forward state and exits from the work site through the entrance Mi.

In order to carry out each of the work strokes in the reciprocating work and the headland work in the forward movement state, the work vehicle V is moved forward by one stroke, and then 180 degrees or 90 degrees.
The turning is performed to move to the adjacent stroke while changing the direction. That is, in the turning for moving between the respective work strokes R1 in the reciprocating work and between the respective work strokes R2 in the headland work, the direction is changed by 180 degrees, and the work of the headland work is changed from the work stroke R1 of the reciprocating work. In the turning for moving to the stroke R2, moving between the work stroke R2 for headland work and the relay work land portion R1b, and moving for moving from the work stroke R2 for headland work to the final work land portion R1a, 90
The direction is changed.

Explaining the structure of the work vehicle V,
As shown in FIG. 2 and FIG. 3, a seedling planting device 6 that can be switched between a ground working state and a non-working state is provided at a rear portion of a vehicle body 5 provided with a pair of left and right front wheels 3 and rear wheels 4 and is vertically movable. The drive can be stopped freely. In other words, when the vehicle is driven in the lowered state, it is the ground work state, and the other states are non-working states. Further, as shown in FIG. 4, the front and rear wheels 3 and 4 are configured such that the left and right wheels are paired so as to be individually steerable, and steering hydraulic cylinders 7 and 8 and an electromagnetically operated control valve 9 for them are provided. , 10 are provided. That is, a two-wheel steering system that steers only one of the front wheels 3 or the rear wheels 4, a four-wheel steering system that steers the front and rear wheels 3, 4 in opposite phases and at the same angle, and the front and rear wheels 3, 4 in the same phase. In addition, it is possible to selectively use three types of steering types, that is, a parallel steering type that steers at the same angle. As described above, the hydraulic cylinders 7 and 8 and the control valves 9 and 10 constitute steering means 7 to 10 that control the steering of the work vehicle V.

In FIG. 4, 11 is a hydraulic continuously variable transmission that shifts the output from the engine E to drive the front and rear wheels 3 and 4 simultaneously, 12 is an electric motor for gear shifting operation, and 13 is a planting device. 6, a hydraulic cylinder for raising and lowering, 14 a control valve thereof, 15 an electromagnetically operated planting clutch for intermittently driving the planting device 6 by the engine E, 16 a work vehicle V
Is a control device using a microcomputer for controlling the traveling of the plant and the operation of the planting device 6, and based on detection information by various sensors described later and work data stored in advance, the shift motor 12 and each control valve 9 , 10, 1
4 and each of the planting clutch 15 are controlled.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 4, steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor R3 that uses a potentiometer to indirectly detect the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11, and an encoder S3 for detecting the traveling distance by counting the number of rotations of the output shaft of the transmission 11.
A direction sensor S4 using geomagnetism for detecting the vehicle body direction of the work vehicle V, an inclination sensor S6 installed in the planting device 6 for detecting an inclination angle in the lateral direction of the vehicle body, and a vehicle body 5 of the planting device 6 for the vehicle body 5. A potentiometer S5, which will be described later, is installed at the connection point.

Further, as shown in FIGS. 2 and 3, the work beam V is guided by the first beam light projecting device B1 and the second beam light projecting device B2, respectively. In order to detect the deviation in the vehicle body lateral direction with respect to the vehicle body, the steering control optical sensor S1 that receives the guidance beam lights A1 and A2 and the work vehicle V are the first beam light projection device B1 or the second beam light projection device B1.
Beam light for guidance A1, A2 from the beam light projector B2
The guide beam lights A2 and A from the second beam light projection device B2 or the first beam light projection device B1 that intersect the guide beam lights A1 and A2 while automatically traveling along
Beam light A3 from the first and third beam light projectors B3
And a trigger optical sensor S2 for receiving the light. The steering control optical sensor S1 can receive the guiding beam lights A1 and A2 on either side of the vehicle body.
A pair of left and right sides are provided on both left and right sides of the front part of the vehicle body so as to be located on a line connecting both axial cores of the front wheels 3 in a plan view. Sensor S2a, S2b of
The front-side sensor S2a is located a predetermined distance ahead of the line connecting the two shafts of the front wheel 3, and the rear sensor S2b is located on the line connecting the two shafts of the rear wheel 4. In addition, the trigger optical sensor S2 is provided with the beam lights A1 and A from the left and right sides of the vehicle body.
Only the presence / absence of light reception for 2 and A3 is detected, and the light reception position cannot be detected.

The steering control optical sensor S1 will be described in more detail. As shown in FIG. 5, a pair of front and rear wheels are arranged side by side with a distance d in the longitudinal direction of the vehicle body and an interval in the vertical direction. Optical sensors S1a and S1b as light receiving parts
Each of the pair of front and rear photosensors S1a and S1b has a plurality of light receiving elements D arranged side by side in the lateral direction of the vehicle body, and the position of the light receiving element D0 located at the sensor center in the lateral direction is As a reference, the guiding light beams A1, A2
Light receiving position in the lateral direction of the vehicle body, that is, position X of the light receiving element D
1 and X2 can be detected respectively. or,
In order to allow the guiding beam lights A1 and A2 to be received in the same direction regardless of the front and rear directions of the vehicle body, the incident light beams from the front and rear directions of the vehicle body are respectively detected by the two optical sensors S1a and S1b. Reflector 1 that reflects toward the light receiving surface of
Eight.

As shown in FIGS. 7 to 9, a state in which the optical sensors S1a and S1b are inclined forward of the optical sensors S1a and S1b by a predetermined angle (specifically 45 degrees) or more in the vehicle lateral direction with respect to the vehicle longitudinal direction J as a reference. A first incident light restricting means 20 for restricting the guiding light beams A1 and A2 incident on the optical sensor S1a and S1b so as not to enter the optical sensors S1a and S1b; Second incident light restricting means 21 is provided for restricting the light incident on the optical sensor S1a, S1b so as not to enter. Specifically, the first incident light limiting means 20 is composed of a plurality of vertical wall-shaped first light shields 20a arranged side by side at a predetermined interval in the lateral direction of the vehicle body along the vertical plane, and Second
The incident light restricting means 21 is composed of a plurality of lateral wall-shaped second light shields 21a which are juxtaposed in the vertical direction of the vehicle body along the horizontal plane at predetermined intervals. The first light shield 20a is
The length a in the vehicle body front-rear direction and the installation interval b in the vehicle body width direction are formed to be substantially the same, and the inclination angle θ1 of the guiding beam lights A1, A2 in the vehicle body width direction is 4 with respect to the vehicle body front-rear direction J.
When it is less than 5 degrees, it is incident on the optical sensors S1a and S1b, but when the tilt angle θ1 is 45 degrees or more, it is prevented from entering the optical sensors S1a and S1b (see FIG. 8). Further, the second light shield 21a has a length a'in the vehicle body front-rear direction longer than an installation interval b'in the vehicle body up-down direction to prevent disturbance light such as sunlight incident at an inclination angle θ2 in the vehicle body up-down direction. The optical sensors S1a and S1b are prevented from entering as much as possible (see FIG. 9). Further, the first and second incident light limiting means 20 and 21 are provided with the first and second light shields 20a and 2a.
1a is formed into a film-like body F which is embedded and held in a light-transmitting member 22 such as a transparent resin, and the film-like body F is attached to the front side of the optical sensors S1a and S1b (see FIG. 9). .

The control configuration for detecting the deviation of the vehicle body 5 in the lateral direction of the vehicle body by the steering control optical sensor S1 will be described. A pair of optical sensors S before and after the steering control optical sensor S1 will be described.
Based on the positions X1 and X2 of the respective light receiving elements 1a and S1b and the distance d in the vehicle front-rear direction, the inclination φ and the lateral width direction of the vehicle body 5 with respect to the projection direction of the guiding beam lights A1 and A2 are calculated from the following equations. The deviation x of the position at is obtained.

[0040]

## EQU1 ## φ = tan ^-1 (| X1-X2 | / d) x = X1

However, this lateral displacement x is in the state where the vehicle body is not tilted, and when the vehicle body is rolling and tilting, it is necessary to correct the error due to the tilt. The structure for obtaining this correction amount will be described below. As shown in FIG.
Is rotatably connected to a vehicle body 5 about a horizontal axis along the longitudinal direction of the vehicle, and detects the rotation angle of the planting device 6 and the vehicle body 5 about the horizontal axis at the connection point. A potentiometer S5 for installing the tilt sensor S6 is installed, and the control device 16 controls the tilt sensor S6 so that the planting device 6 has a horizontal posture in the lateral direction of the vehicle body.
The tilting means M including a link mechanism and an electric motor for driving, which are not shown, is operated based on the detection information (see FIG. 4). Therefore, the rolling angle of the vehicle body 5 can be obtained by adding / subtracting the detection angles of both the potentiometer S5 and the tilt sensor S6. And FIG.
As shown in FIG.
The height difference on the vehicle body is L1, the lateral distance on the vehicle body from the connection point (center of the vehicle body left and right) to the center of the light receiving portion of the steering control optical sensor S1 is L2, and the rolling angle of the vehicle body is Is set to θ, and a lateral distance L3 from the connection point in the state where the vehicle body is tilted to the center of the light receiving portion of the steering control optical sensor S1 is obtained. From this L3, the lateral distance L3 when the vehicle body 5 is not tilted is determined. The amount ΔL obtained by subtracting the distance L2 is the correction amount. Therefore, the deviation x ′ after the inclination correction is obtained as a value x ′ obtained by adding the correction amount ΔL to the deviation x. By the way,
When θ = 0, ΔL = L2-L2 = 0, and x ′ =
x.

[0042]

(2) L3 = L1 × sin θ + L2 × cos θ ΔL = (L3-L2) x ′ = x + ΔL

In this example, the positional deviation x in the lateral width direction is the light receiving position of one (S1a) of the pair of optical sensors S1a and S1b, but an error due to the inclination φ does not occur. In order to do so, the average value of the light receiving positions X1 and X2 of the pair of optical sensors S1a and S1b may be used. Then, the work vehicle V is steering-controlled by setting a target steering angle so that both the inclination φ and the deviation x ′ are zero. However, in the present embodiment, steering control is performed by a two-wheel steering system in which only the front wheels 3 are steered during straight traveling in each work stroke.

Based on the detection information of various sensors such as the steering control optical sensor S1 and preset work schedule information, the control device 16 controls the steering means 7 to 10 and the planting section 6 and the like. It is configured to control the operation of various devices. Then, using the control device 16,
Two work strokes R1 and R2 provided by the work vehicle V in the intersecting state based on the light reception information of the steering control optical sensor S1.
The steering means 7 to 1 so as to automatically travel along each of the
0 operation and controls the two work strokes R1, R
At the intersection of two, the work vehicle V has two work strokes R1,
The steering control optical sensor S is moved by turning in a set turning pattern from a state along one working stroke R1, R2 of R2.
1 is the guiding beam light A1, in the one traveling path
After the light beam A2 is no longer received, the guide beam light A1,
As A2 is received, the received guidance beam light A is received.
The control means 100 is configured to control the operation of the steering means 7 to 10 so that the work vehicle V automatically travels along the other travel path of the two travel paths based on the light reception information of 1 and A2. There is.

Further, the control device 16 causes the work vehicle V to move forward by one stroke so that the work vehicle V performs each of the work strokes in the reciprocating work and the headland work in the forward movement state. The work vehicle V uses the first beam light projection device B1 or the second beam light projection device B2 for guiding the beam light A1,
When the vehicle automatically travels along A2, the guiding beam light A from the second beam light projecting device B2 or the first beam light projecting device B1 intersects with the guiding beam lights A1 and A2.
2, based on the light reception information of the trigger optical sensor S2 that receives A1, the start position of the turning operation of 180 ° or 90 ° from the end of each stroke to the start of the next stroke adjacent to the stroke, that is, At the intersection of the two work strokes R1 and R2, the starting position of the turning operation from one work stroke R1 and R2 to the other work stroke R1 and R2 is set.

Next, the operation of the control device 16 will be described with reference to the flowcharts shown in FIGS. As shown in FIG. 10, the overall processing flow is as shown in FIG. 10, in which a communication section such as RS232C and actuators (the shift motor 12, the control valves 9, 10, 14 and
After performing the initialization process for the planting clutch 15 etc., a work plan setting process for setting a work plan is performed. Next, read the corresponding control data based on the work plan set in the work plan setting process,
In addition, the vehicle body control process for actually executing the vehicle body control is performed based on the control data. The execution status of the work plan by the vehicle body control process is checked by the work plan check process, and when the completion of one work plan is confirmed, after performing the necessary communication process to the ground side, the work end instruction is given. If there is, end processing is performed, and otherwise, the flow from the work plan set processing is repeated. In order to control the progress of the flow, when a new work plan is set in the work plan setting process, the plan flag is set, and when the work plan check process confirms the end of the work plan, The plan flag is reset.

In the vehicle body control process, as shown in FIG. 11, first, it is checked whether or not the plan flag is set, and the process is not performed when the plan flag is reset.
When the plan flag is in the set state, the control contents set in the work plan setting process are read out and it is checked whether or not the process corresponding thereto is actually present. As the process corresponding to the above control content, as shown in the figure, a stop process for stopping the work vehicle V, a straight travel for moving the work vehicle V forward or backward in a set distance based on the distance measurement information by the encoder S3 ( End with distance measurement) Process, work vehicle V is in the forward or reverse state, trigger sensor S
2 is a straight-ahead processing (finished by light source measurement) in which the guiding light beams A1 and A2 are moved straight to a position where they are detected a preset number of times, and a turning processing in which a turning movement is performed from the end portion of each work stroke R1, R2 to the start portion of the next stroke Trajectory convergence processing for making the steering control sensor S1 properly receive the guidance beam lights A1, A2, and each processing of seedling supply device processing for instructing seedling supply and drive control of the planting device 6. Is prepared. still,
In the turning process and the trajectory converging process, the steering of the vehicle body is controlled by four-wheel steering.

Next, the flow of the turning process will be described in detail. As shown in FIGS. 12 to 16, first, the vehicle body direction data is obtained from the direction sensor S4 (step 0), and then the current state is calculated in step 1. Turning angle (90
Degree or 180 degrees) is added or subtracted to calculate the reversal direction, that is, the target direction, and the light reception determination area for performing the light reception determination of the guiding beam light in the next stroke (the vehicle speed is decelerated in this area, is also used as the deceleration area). (Referred to) is set within a predetermined angle (45 degrees) range on both sides of the target azimuth as a center, and a turnable area in which the vehicle can turn beyond the target azimuth is defined as an angle obtained by adding a predetermined angle to the target azimuth. Set and set solenoid to deactivate brake. Then, after resetting the distance data from the encoder S3 (step 2) and setting the steering angle for turning in the set turning pattern (step 3), the transmission 11 is set to a predetermined speed change state, and the planting device 6 is set. Is raised to stop driving (step 4), steering turning angle data is input (step 5), and then the process proceeds to step 6.

In step 6, the necessity of the double speed operation is judged from the turning angle of the steering wheel, and if the double speed operation is not necessary, the body direction data is obtained, and in step 7,
It is checked whether or not the light receiving determination area is reached. Here, if the light receiving determination area has been reached, the transmission 11 is set to a neutral state, an abnormal end process is performed (step 16), and the process ends. If the light receiving determination area has not been reached, the encoder S3
When the distance data is obtained from the vehicle and it is determined that the limit distance in the turning movement is exceeded based on the distance data, abnormal stop processing is performed and then abnormal termination processing is performed (step 1
6) The process is completed, but if it is not over, the flow from step 5 is repeated while raising the planting device 6 and stopping driving. On the other hand, if you need double speed operation,
A double speed actuator (not shown) is turned on to obtain vehicle body direction data (step 9), and then the process proceeds to step 10.

In step 10, it is judged from the vehicle body direction whether or not it is within the deceleration area, that is, within the light receiving determination area. If it is not within the deceleration area, distance data is obtained from the encoder S3, and if it is determined that the vehicle is overrunning in step 11 based on the distance data, abnormal stop processing is performed and then abnormal end processing is performed. (Step 16) The process is completed, but if there is no overrun, the flow from step 9 is repeated. On the other hand, if within the deceleration area,
After decelerating the vehicle speed, the light reception data of the steering control optical sensor S1 on the left or right side used in the next stroke is fetched (step 12), and in step 13, the guiding beam light of the next stroke, that is, the laser orbit. Check the light receiving status of. here,
If it is in the non-light receiving state, after obtaining the vehicle body direction data,
In step 14, it is checked whether or not it is in the turnable area,
If it exceeds the turnable region, the abnormal stop process is performed, and then the abnormal end process is performed (step 16) to end the process. If it does not exceed the turnable area, the distance data is obtained, and in step 15, it is checked whether or not there is an overrun. If it is overrun, abnormal stop processing is performed and then abnormal end processing is performed. (Step 16) The process is completed, but if there is no overrun, the flow from step 12 is repeated. On the other hand, if it is in the light receiving state, after the stop process is performed, the light receiving data of the steering control optical sensor S1 is taken in after confirming the stop of the vehicle body in step 17, and the process proceeds to step 18.

In step 18, the steering control optical sensor S
It is checked whether the light receiving position of 1 is the central position D0. If the light receiving position is the central position, the neutral setting of the steering wheel (step 23), the setting of the solenoid for brake operation (step 24), and the clutch The solenoid for the cutting operation is set (step 25), and the process ends. On the other hand, when the light receiving position is not in the center position, it is further checked whether or not the light receiving position is deviated, and when it is closer to the front side, that is, the stroke side before turning, it is the turning direction as it is, and it is not the front side. That is, when the vehicle is approaching the travel side after turning, the turning direction is reversed, and the vehicle turns at low speed. Then, while resetting the distance data, the limit value (for example, 1 m) of the moving distance in the turning traveling is set (step 19), and the light reception data of the steering control optical sensor S1 is fetched (step 20).
In step 21, it is checked whether or not the light receiving position is the center position D0. Here, if the light receiving position is not the center position, the distance data is obtained, and then in step 22, it is checked whether or not there is an overrun exceeding the limit value of the moving distance. After performing the abnormal stop process, the abnormal end process is performed (step 16) to end the process, but if there is no overrun, the light reception data of the steering control optical sensor S1 is fetched, and then the flow from step 21. repeat. If the light receiving position is the central position in step 21, the stop process is performed, and then the flow from step 23 is performed to complete the process.

Next, the flow of steering control for automatically traveling along the guide light beams A1 and A2 in the straight-ahead processing and the trajectory convergence processing will be described. As shown in FIG. Steering (4
In the case of four-wheel steering, the inclination φ of the vehicle body 5 detected as described above based on the light reception data of the steering control optical sensor S1 and the lateral displacement x '( The deviation angle x of the rear wheel 4 and the front wheel 3 is calculated from the detected deviation x using the deviation after correction by the inclination of the vehicle body,
The rear wheels 4 and the front wheels 3 are set so as to have the cutting angle. However, in the case of not four-wheel steering, that is, two-wheel steering, the cutting angle of the front wheels 3 is calculated from the inclination φ and the lateral displacement x. The front wheels 4 are set so that the turning angle is the same, and the rear wheels 4 are set in the neutral state.

[Other Embodiment] In the above embodiment, the work vehicle V is used.
So as to automatically travel in parallel with each of two adjacent sides M1 and M2 of the rectangular work site K, that is, two traveling strokes intersecting at right angles, that is, at 90 degrees to each other (the above-mentioned two sides M1 , M2, the intersections of the work strokes R1 and R2) parallel to each other have been described for the case where the vehicle body is turned while changing the direction of the vehicle body by 90 degrees. The present invention can also be applied to the case where the vehicle body direction is changed while the vehicle is turning at the intersection of two traveling strokes that intersect each other at a predetermined angle other than the orthogonal state so that the vehicle automatically travels in parallel to each of the two sides. . In this case, the beam light projection means B1, B
The two guiding light beams from 2 are projected along the respective longitudinal directions of the two traveling strokes while forming the predetermined angle.

Further, in the above embodiment, the case where the work vehicle V automatically travels while performing the work (planting work for the field) along the work strokes R1 and R2 as the travel stroke has been described. As shown in FIG. 4, a guide route for traveling the work vehicle is set while appropriately intersecting the plurality of guide beam lights An, and the work vehicle V is guided to the guide beam light An along each traveling path Rn of the guide route. In the state described above, the vehicle automatically travels without any work, and the travel stroke R
It can also be applied to the case of turning to the next traveling path Rn adjacent to each other at the intersection of n.

Further, in the above-mentioned embodiment, each work stroke R as a travel stroke of the work vehicle V in reciprocating work and headland work.
In R1 and R2, the case where the vehicle travels in the forward state while making the turning movement from the end portion of each traveling stroke to the starting end portion of the adjacent traveling stroke has been described, but all traveling strokes R1 and R2 are traveling in the forward traveling state. There is no need, and for example, in headland work, a part of the stroke may be made to travel in a reverse state.

Further, in the above embodiment, each beam light projecting means B1 for projecting each beam light A1, A2, A3 for guidance.
Although B2 and B3 are configured by laser light generators, beam light generators other than laser light generators may be used.

Further, in the above embodiment, the light receiving portions of the steering control optical sensor S1 are juxtaposed in the vehicle front-rear direction with a space therebetween so that the light receiving positions of the guiding beam lights A1 and A2 in the vehicle lateral width direction are obtained. It is composed of a pair of front and rear optical sensors S1a and S1b for detecting, and a position deviation x in the lateral width direction of the vehicle body is detected by a light receiving position X1 of one (S1a) of the pair of optical sensors S1a and S1b. The inclination φ of the vehicle body is obtained based on the difference between the light receiving positions X1 and X2 in the vehicle body lateral direction and the distance information d in the vehicle body front-rear direction,
The positional deviation x and the inclination φ are set to the guiding beam lights A1 and A2.
However, the configuration of the steering control optical sensor S1 is not limited to this.
For example, the light receiving section is configured by not one pair of optical sensors but one optical sensor, and the position deviation x in the vehicle lateral direction obtained by the light receiving position is displaced in the vehicle lateral direction with respect to the guiding light beams A1, A2. It may be information.

Further, in the above-mentioned embodiment, the one in which both the first incident light limiting means 20 and the second incident light limiting means 21 are provided, but, for example, disturbance light other than the guiding light beams A1 and A2 is generated. Under the condition that does not cause a problem, only the first incident light limiting means 20 may be provided.

Further, in the above-mentioned embodiment, the first incident light limiting means 20 or the second incident light limiting means 21 are respectively formed into the first vertical wall shape.
Although the light shield 20a or the second wall-shaped second light shield 21a is arranged in parallel, it is not limited to such a wall-shaped light shield.

Further, in the above-mentioned embodiment, the first incident light limiting means 20 or the second incident light limiting means 21 are respectively formed into the first vertical wall shape.
The light-shielding body 20a or a plurality of lateral wall-shaped second light-shielding bodies 21a arranged side by side is embedded and held in the light-transmissive member 22 to form the film-like body F, but it is not always necessary to form such a film-like body F. There is no need to, for example, the light shields 20a, 21 having rigidity such that they can hold the wall shape by themselves.
a is connected by a plate-like or linear connecting member at the predetermined intervals, or the first incident light limiting means 2
In the case where both 0 and the second incident light limiting means 21 are provided, for example, both the light shields 20a and 21a are connected to the other light shield 2
It is also possible to form a groove into which 0a and 21a are inserted and hold each other in the groove.

Further, in the above embodiment, the steering of the work vehicle V is configured to be capable of four-wheel steering, and the steering means 7 to
10 is composed of a hydraulic cylinder and its control valve for steering the front wheel 3 and the rear wheel 4 separately.
-10 are not limited to this, and various means are possible.

Further, in the above embodiment, the present invention is applied to the work vehicle for rice planting as a beam light guide type work vehicle. However, various work vehicles for agricultural work other than rice planting and various works other than farm work It can also be applied to work vehicles,
The specific configuration of each part at that time is variously changed according to the purpose of the work vehicle, work conditions, and the like.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[0064]

[Brief description of drawings]

FIG. 1 is a plan view showing an entire traveling route and a projection position of a guidance light beam.

FIG. 2 is a schematic side view of a work vehicle and a beam light projection means for guidance.

FIG. 3 is a schematic plan view showing a work vehicle and a guidance beam light detection sensor.

FIG. 4 is a block diagram of a control configuration.

FIG. 5 is an explanatory diagram of a light receiving position of a steering control optical sensor.

FIG. 6 is an explanatory view for correcting inclination of a deviation detection value in a vehicle body lateral direction.

FIG. 7 is a schematic perspective view showing first and second incident light limiting means.

FIG. 8 is a front view showing first incident light limiting means.

FIG. 9 is a side view showing a steering control optical sensor and second incident light limiting means.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

FIG. 13 is a flowchart of control operation.

FIG. 14 is a flowchart of control operation.

FIG. 15 is a flowchart of control operation.

FIG. 16 is a flowchart of control operation.

FIG. 17 is a flowchart of control operation.

FIG. 18 is a plan view illustrating the operation of the light receiving device of the invention.

FIG. 19 is a plan view illustrating traveling control of a beam light guide type working vehicle according to another embodiment.

FIG. 20 is a plan view illustrating a light receiving device of a conventional beam light guide type work vehicle.

[Explanation of symbols]

 B1, B2 Beam light projecting means S1 Steering control optical sensor V Work vehicle S1a, S1b Light receiving part 20 First incident light limiting means 21 Second incident light limiting means 20a First light blocking body 21a Second light blocking body 22 Light transmitting property Member F film-like body 7 to 10 steering means 100 control means

Claims (6)

[Claims] 1. An operation for receiving the guiding light beam so as to detect a deviation in the vehicle body lateral direction with respect to the guiding light beam projected by the beam light projecting means (B1, B2) provided on the ground side. An optical sensor for direction control (S1) is a light-receiving device for a beam light guide type work vehicle provided in the work vehicle (V), and the light-receiving unit (S1a, S1) of the optical sensor for steering control (S1).
1b) A first incident for restricting the guiding light beam, which is incident on the front side of the vehicle body in a state of being inclined at a predetermined angle or more in the lateral direction of the vehicle body, not to be incident on the light receiving portions (S1a, S1b). A light receiving device for a beam light guide type work vehicle, which is provided with a light limiting means (20). 2. The light incident on the front side of the light receiving section (S1a, S1b) of the steering control optical sensor (S1) in a state of being inclined at a predetermined angle or more in the vertical direction of the vehicle body with respect to the front-back direction of the vehicle body. The light receiving device for a beam light guided working vehicle according to claim 1, further comprising a second incident light limiting means (21) for limiting the light to be incident on the light receiving portions (S1a, S1b). 3. The two guiding light beams from the light beam projecting means (B1, B2) are projected in a state of being orthogonal to each other, and the first incident light limiting means (20) is based on the front-back direction of the vehicle body. The light beam for guiding incident on the light receiving portion (S1a, S1
The light receiving device for a beam light guide type working vehicle according to claim 1, wherein the light receiving device is configured so as not to be incident on 1b). 4. The first incident light limiting means (20) is composed of a plurality of vertical wall-shaped first light shields (20a) juxtaposed in the lateral direction of the vehicle body at predetermined intervals in a state of being along a vertical plane. The second incident light limiting means (21) is composed of a plurality of lateral wall-shaped second light shields (21a) juxtaposed at predetermined intervals in the vehicle body vertical direction in a state of being along a horizontal plane. A light receiving device for a beam light guide type work vehicle according to 1, 2, or 3. 5. The first or second incident light limiting means (2)
0, 21) is the first light shield (20a) or the second light shield (20a).
The light-receiving device for a beam light guide type work vehicle according to claim 4, wherein the light-shielding body (21a) is formed on a film-like body (F) which is embedded and held in a light-transmissive member (22). 6. The beam light projection so that the work vehicle (V) equipped with the light receiving device according to any one of claims 1 to 5 automatically travels along each of two traveling strokes provided in an intersecting state. Means (B1, B2) are provided so as to project a guiding beam of light along the longitudinal direction of each of the two traveling strokes, and guide the working vehicle (V) to the steering of the working vehicle (V). The working vehicle (V) automatically travels along each of the two travel strokes based on the light receiving information of the steering means (7 to 10) that controls the steering operation and the light sensor (S1) for steering control. The operation of the steering means (7 to 10) is controlled, and at the intersection of the two traveling strokes, the work vehicle (V) is in a set turning pattern from a state along one traveling stroke of the two traveling strokes. When the steering control optical sensor (S1) is turned, When the guiding beam light is received next time after the guiding beam light is no longer received in the stroke, the work vehicle (V) receives the guiding beam light and receives the guiding beam light. And a control means (100) for controlling the operation of the steering means (7 to 10) so that the vehicle automatically travels along the other travel path of the traveling control device for a beam light guided work vehicle.