JPH07281745A - Traveling controller for light beam guided work vehicle - Google Patents

Abstract

PURPOSE:To speedily and automatically return a steering control photosensor into a light receiving state without requiring any manual work when it does not receive guiding light beam during automatic traveling. CONSTITUTION:This controller is provided with the steering control photosensor S1 for receiving the guiding light beam to be projected on the ground side, a steering means, control means for controlling steering so as to automatically travel a work vehicle V along a traveling course based on the light receiving information of the photosensor S1, a sensor position changing means SH for changing the position of the photosensor S1 in the width direction of a car body, and a sensor deposition detecting means SK for detecting the sensor position. When the photosensor S1 does not receive the guiding beam light during the automatic traveling, the control means returns the photosensor S1 into the light receiving state by operating the sensor position changing means SH and detects the deviation in the width direction of the car body to the guiding beam light based on the light receiving information of the sensor S1 for steering control and the sensor position information of the sensor position detecting means in that return state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a beam light projecting means on the ground side for projecting a guiding beam of light along the longitudinal direction of a traveling path so that a work vehicle automatically travels along the traveling path. And a steering control optical sensor for receiving the guiding light beam for detecting the deviation in the vehicle body lateral direction with respect to the guiding light beam projected by the beam light projecting means, and the steering of the work vehicle. Steering means for controlling the steering control means, and control means for controlling the operation of the steering means so that the work vehicle automatically travels along the travel path based on the light reception information of the steering control optical sensor, The present invention relates to a traveling control device for a beam light guide type work vehicle provided in a work vehicle.

[0002]

2. Description of the Related Art Conventionally, in a traveling control device for a beam light guide type work vehicle, the beam light for guidance is out of the receivable range of the steering control optical sensor, that is, the sensor position due to a large tilt of the vehicle body. When the steering control optical sensor no longer receives the guiding light beam, the deviation of the vehicle body in the lateral direction of the vehicle body cannot be detected based on the received light information, and steering control based on this deviation information cannot be performed. , The work vehicle was stopped at that position in an emergency, and an alarm was activated to wait for the operator to wait.

[0003]

In the above-mentioned prior art, when the steering control optical sensor no longer receives the guiding beam light, the work vehicle comes to an emergency stop and waits. There is a problem in that it takes manpower to start the work and, for example, if the operator notices the alarm late and the work is interrupted for a long time until the work is restarted, the work efficiency is significantly reduced due to the lost time. It was

The present invention has been made in view of the above circumstances, and an object thereof is to solve the drawbacks of the above-mentioned prior art when the steering control sensor does not receive the guiding light beam. An object of the present invention is to obtain a traveling control device for a beam light guide type work vehicle that can quickly and automatically return to a light receiving state without requiring human labor.

[0005]

A traveling control device for a beam light guided working vehicle according to the present invention comprises a guiding beam along a longitudinal direction of a traveling path so that the working vehicle automatically travels along the traveling path. A beam light projecting means for projecting light is provided on the ground side, and receives the guiding beam light so as to detect a deviation in the lateral direction of the vehicle body with respect to the guiding beam light projected by the beam light projecting means. An optical sensor for steering control, a steering means for controlling the steering of the work vehicle, and the work vehicle so as to automatically travel along the travel path based on light reception information of the optical sensor for steering control. The control means for controlling the operation of the steering means is a travel control device for a beam light guide type work vehicle provided in the work vehicle, and a first characteristic configuration thereof is that the work vehicle is provided with the steering device. Of the direction control optical sensor in the vehicle width direction Sensor position changing means for changing the sensor position, and sensor position detecting means for detecting the sensor position of the steering control optical sensor in the lateral direction of the vehicle body are provided, and the control means is automatically operated along the traveling stroke. When the steering control light sensor stops receiving the guidance beam light while traveling, the steering position control light sensor is operated to receive the guidance beam light. And to detect the deviation in the lateral direction of the vehicle body with respect to the guiding light beam based on the received light information of the steering control optical sensor and the sensor position information by the sensor position detecting means in the returned state. It is a point that is configured.

A second characteristic configuration is that the control means is
When the steering control optical sensor does not receive the guiding beam light while the vehicle is automatically traveling along the traveling path, the traveling is stopped, and the sensor position changing means is operated in the traveling stopped state. The steering control optical sensor is configured to return to the state of receiving the guiding light beam.

In the third characteristic configuration, the control means is
The guidance beam light is received in a state where the steering control optical sensor is returned to the normal sensor position in the vehicle lateral direction based on the deviation information in the vehicle lateral direction with respect to the guidance beam light in the return state. Thus, it is configured to operate the steering means.

According to a fourth characteristic construction, the sensor position changing means includes a slide rail for slidably holding the steering control optical sensor along the lateral direction of the vehicle body, and the slide rail. The steering control optical sensor is held, and the steering control optical sensor is moved in the lateral direction of the vehicle body.

A fifth characteristic configuration is that the moving means is
A rack gear provided along the longitudinal direction of the sliding rail, a pinion gear provided on the steering control optical sensor and meshing with the rack gear, and a motor for rotationally driving the pinion gear. In a potentiometer, the position detecting means includes a fixed detecting portion provided along the longitudinal direction of the sliding rail and a slider provided in the steering control optical sensor in a state of sliding on the fixed detecting portion. It is composed of points.

[0010]

According to the first characteristic configuration of the traveling control device for a beam light guide type work vehicle according to the present invention, the guidance detected by the work vehicle based on the light reception information of the guidance beam light projected on the ground side. When the steering control optical sensor does not receive the guiding beam light while the vehicle is automatically traveling along the traveling stroke while operating the steering means according to the deviation in the vehicle body lateral direction with respect to the beam light for use The sensor position changing means is operated to change the sensor position of the steering control optical sensor in the lateral direction of the vehicle body, and the steering control optical sensor is returned to the state of receiving the guiding light beam. Then, in the return state, the steering control optical sensor receives the guidance light beam, and the steering position control optical sensor detects the sensor position information in the lateral direction of the vehicle body. A shift in the lateral direction of the vehicle body with respect to the beam light for use is detected, and the steering means is actuated in accordance with the shift to automatically travel along the traveling stroke.

According to the second characteristic configuration, the work vehicle is
When the steering control light sensor no longer receives the guiding beam light while the vehicle automatically travels along the traveling path while being guided by the guiding beam light as described above, the traveling is stopped. Then, in the traveling stopped state, the sensor position changing means is operated to change the sensor position in the lateral direction of the vehicle body of the steering control optical sensor so that the steering control optical sensor receives the guiding light beam. Restore. Then, from the light reception information of the steering control optical sensor in the restored state and the sensor position information of the steering control optical sensor by the sensor position detecting means in the vehicle body lateral direction, the vehicle body lateral direction with respect to the guidance light beam is obtained. The deviation is detected, and the steering means is operated in accordance with the deviation, and the vehicle automatically travels along the traveling stroke.

Further, according to the third characteristic configuration, the steering control optical sensor is returned to the normal sensor position in the lateral direction of the vehicle body, and the deviation information in the lateral direction of the vehicle body with respect to the guiding light beam in the returning state is displayed. Steer the car body based on
That is, the vehicle body is steered so that the above deviation is zero,
The steering control light sensor receives the guiding light beam in a state where the steering control light sensor has returned to the normal sensor position in the lateral direction of the vehicle body.

According to the fourth characteristic structure, the steering control optical sensor held slidably along the lateral direction of the vehicle body by the slide rail is moved by the moving means in the lateral direction of the vehicle body. The sensor position in the vehicle width direction is changed.

According to the fifth characteristic construction, the sliding rail is slidably held along the lateral direction of the vehicle body in a state of being engaged with the rack gear provided along the longitudinal direction of the sliding rail. When the pinion gear provided on the steering control optical sensor is rotationally driven by the motor, the steering control optical sensor moves in the lateral direction of the vehicle body, and the sensor position in the lateral direction of the vehicle body is changed.

[0015]

Therefore, according to the first characteristic configuration of the traveling control device for a beam light guide type working vehicle according to the present invention, when the steering control sensor stops receiving the guide beam light, Since it is possible to quickly and automatically return to the light receiving state by changing the sensor position in the lateral direction of the vehicle body, conventionally, for example, when the above-mentioned non-light receiving state is reached, the work vehicle has an emergency stop and the emergency stop must be canceled. If it takes time to restart, and if the operator delays restarting,
The loss of work time has led to the elimination of the problem that work efficiency is significantly reduced.

Further, according to the second characteristic configuration, when the steering control sensor does not receive the guiding light beam, the sensor position in the lateral direction of the vehicle body is changed to the light receiving state while the vehicle is stopped. Since it is automatically returned, for example, when changing the sensor position without stopping the traveling, if the sensor position of the steering control sensor is in a direction away from the guiding light beam by traveling, there is a possibility that the light receiving state cannot be restored. Compared to the above, it is possible to surely automatically return to the light receiving state, and therefore, it is possible to obtain a suitable means for realizing the effect of the first characteristic configuration.

Further, according to the third characteristic configuration, the steering control optical sensor can receive the guiding beam light in a state where the steering control optical sensor is returned to the normal sensor position in the lateral direction of the vehicle body. In the case where the deviation in the vehicle width direction with respect to the guiding beam light in the return state is large and the sensor position of the steering control optical sensor in the vehicle width direction is located near the end of the changeable range, Compared with the possibility that the projection position of the guidance light beam will go out of the sensor position changeable range and it will not be possible to return to the light receiving state due to the change of the sensor position, it will automatically return to the light receiving state more reliably. Therefore, it is possible to obtain suitable means for realizing the effects of the first and second characteristic configurations.

Further, according to the fourth characteristic configuration, since the steering control optical sensor is moved along the lateral width direction of the vehicle body while being slidably held by the sliding rail, it is not a sliding rail. For example, the structure is simpler and more compact than a structure in which the link mechanism is actuated and moved along the lateral direction of the vehicle body while being held by the link mechanism. Can be moved so that the first, second and third
Suitable means for achieving the effect of the characteristic configuration of the above can be obtained.

According to the fifth characteristic configuration, in the fourth characteristic configuration, the movement of the steering control optical sensor along the lateral direction of the vehicle body is caused by the rack gear on the sliding rail side and the steering control light. The pinion gear on the sensor side and a motor for driving the pinion gear are used, and the sensor position of the steering control optical sensor in the lateral direction of the vehicle body is the same as that of the fixed detection section on the sliding rail side and the steering control optical sensor side. Since it is performed by a potentiometer consisting of a slider, for example, the steering control optical sensor is moved by a movable arm or the like, or the sensor position is detected by the operation amount of the movable arm or the like. In comparison, while the moving means and the sensor position detecting means are housed inside the device as close to the sliding rail as possible, the structure is further simplified and compacted.
A suitable means for realizing the fourth characteristic configuration can be obtained.

[0020]

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, one end (upper left end of the figure) of one reference side M1 of a plurality of sides surrounding a rectangular work site (field) K is adjacent to the reference side M1. An entrance Mi is provided to allow the work vehicle V to enter and exit along the longitudinal direction of the sides M2 and M3, 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 a boundary position between two adjacent work strokes of the plurality of work strokes R1 at a ratio of one to two adjacent work strokes. 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 right boundary line Y indicating the work start position of the starting end portion 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.

Thereafter, the working stroke R2 inside the second headland portion K2, the inner stroke R1b inside the relay working ground portion R1b, the inner working 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 perform each of the work steps in the reciprocating work and the headland work in the forward 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 composed of a pair of left and right wheels so that they can be steered independently, and steering hydraulic cylinders 7 and 8 and an electromagnetic control valve 9 for them. , 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.

Also, as shown in FIGS. 2 and 3, the work vehicle V has guiding light beams A1 and A2 projected 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 further described. 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 a distance 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.

The steering control optical sensor S1 can change the sensor position in the lateral direction of the vehicle body, and the sensor position changing means SH for that purpose, as shown in FIG. 7 and FIG. A sliding rail 19 for slidably holding the steering control optical sensor S1 along the lateral direction of the vehicle body;
The steering control optical sensor S1 held by the slide rail 19 is moved by a moving unit 20 that moves in the lateral direction of the vehicle body. Further, the moving means 20 includes a rack gear 21 provided along the longitudinal direction of the slide rail 19, a pinion gear 22 provided on the steering control optical sensor S1 and meshing with the rack gear 21, and a pinion gear thereof. It is composed of an electric motor 23 for rotating and driving 22.

Further, the sensor position detecting means SK for detecting the sensor position of the steering control optical sensor S1 changed in the lateral direction of the vehicle body by the sensor position changing means SH,
A fixed detection section 24 for sliding formed along the longitudinal direction of the sliding rail 19 is formed of, for example, a resistor, and the steering control optical sensor S1 is slid on the fixed detection section 24. The linear potentiometer S7 is composed of a slider 25 that is a movable electrode.

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.

[0038]

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

However, this lateral displacement x is a condition in which 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 connected to the vehicle body 5 in a rotatable state about an axis along the longitudinal direction of the vehicle at a connection point with respect to the vehicle body 5, and at the connection point, a potentiometer S5 for detecting a rotation angle of the planting device 6 and the vehicle body 5 about the axis. Is installed,
Based on the detection information of the tilt sensor S6, the control device 16 operates the tilting means M including a link mechanism (not shown) and an electric motor for driving so that the planting device 6 has a horizontal posture in the left-right direction of the vehicle body. (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. Then, as shown in FIG. 6, a difference in height between the connection point and the steering control optical sensor S1 on the vehicle body is L1, and the steering control optical sensor S1 receives light from the connection point (center of the vehicle left and right). When the lateral distance on the vehicle body to the center of the vehicle body is L2 and the rolling angle of the vehicle body is θ, the lateral direction from the connection point to the center of the light receiving portion of the steering control optical sensor S1 when the vehicle body is tilted. The distance L3 is obtained, and the amount ΔL obtained by subtracting the lateral distance L2 when the vehicle body 5 is not tilted from this L3 is the correction amount. Therefore, the deviation x ′ after the tilt correction is equal to the deviation x by the correction amount Δ
It is obtained as a value x'added with L. Incidentally, when θ = 0, ΔL = L2−L2 = 0, and x ′ = x.

[0040]

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

In this example, the position deviation in the lateral width direction x is the light receiving position of one of the pair of optical sensors S1a and S1b (S1a), 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,
A control unit 100 that controls the operation of the steering units 7 to 10 so that the work vehicle V automatically travels along each of the work strokes R1 and R2 based on the light reception information of the steering control optical sensor S1. It is configured.

Further, in the control means 100, the steering control optical sensor S1 causes the guiding beam lights A1, A when the vehicle automatically travels along each of the work strokes R1, R2.
When 2 is no longer received, the traveling is stopped, and in the traveling stopped state, the sensor position changing means SH is operated to return the steering control optical sensor S1 to the state where the steering beam light A1, A2 is received, In addition, the deviation in the vehicle lateral direction with respect to the guiding light beams A1 and A2 is detected based on the light reception information of the steering control optical sensor S1 in the return state and the sensor position detection information by the sensor position detection means SK. Is configured.

Next, the return control of the guide beam lights A1 and A2 to the light receiving state by the control means 100 and the deviation detection in the vehicle width direction in the return state will be described. As shown in FIG. 9, when the guidance light beams A1 and A2 deviate from the sensor position of the steering control optical sensor S1, the traveling is stopped, and in the traveling stopped state, the motor 23 is driven to drive the steering control optical sensor. S1 is moved in the lateral direction of the vehicle body and stopped at a position where both optical sensors S1a and S1b of the steering control optical sensor S1 receive the guidance beam lights A1 and A2.
In the figure, the steering control optical sensor S1 is stopped at a position that has moved a distance Δs to the right from the regular sensor position si in the vehicle body lateral width direction. Then, the received light information X1, X at this position
2, the inclination φ of the vehicle body 5 with respect to the projection direction of the guiding light beams A1 and A2 is obtained by the following equation similar to the equation 1 described above, and the positional deviation x in the lateral width direction is the received light information. The moving distance Δs from the normal sensor position si is added to X1 as a correction amount to obtain. When the vehicle body 5 is rolling and tilting, the tilt correction is further performed for this equation.

[0045]

Φ = tan ⁻¹ (| X1−X2 | / d) x = X1 + Δs

Further, the control device 16 causes the work vehicle V to travel forward by one stroke so that the work vehicle V performs each work stroke 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, sets the start position of the turning operation of 180 degrees or 90 degrees from the end of each stroke to the start of the next adjacent stroke. Is configured.

Next, the operation of the control unit 16 will be described with reference to the flow charts 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 when the plan flag is reset, the process is not performed.
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-forward process for moving the work vehicle V forward or backward in a straight line based on the distance measurement information by the encoder S3. (End with distance measurement), straight forward processing (end with light source measurement) for moving the work vehicle V forward or backward to a position where the trigger sensor S2 detects the guiding beam lights A1, A2 a set number of times (end with light source measurement), each work stroke R1 , R2, a turning process for turning from the end of R2 to the start of the next stroke, orbit converging for making the steering control sensor S1 properly receive the guidance beam lights A1, A2, and seedling Each processing of the seedling supply device processing for instructing the supply and controlling the driving of the planting device 6 is prepared.
In the turning process and the trajectory converging process, the steering of the vehicle body is controlled by four-wheel steering.

Next, in the straight-ahead processing and the trajectory convergence processing, etc., based on the light reception information of the steering control sensor S1,
The steering control for automatically traveling along the work strokes R1 and R2 while the work vehicle V is guided by the guidance beam lights A1 and A2 will be described. As shown in FIG. 12, first, the steering control sensor S1 detects the guidance light beams A1 and A2.
Is received, and if it is received, it is detected in accordance with the deviation information in the vehicle lateral direction, which is composed of the inclination φ of the vehicle body 5 and the lateral displacement x ′ detected from the received light information. Set the steering angle and steer. In particular,
In the case of four-wheel steering, in the case of four-wheel steering (4WS), the turning angles of the rear wheels 4 and the front wheels 3 are calculated from the inclination φ of the vehicle body 5 and the lateral displacement x ', The rear wheels 4 and the front wheels 3 are set so as to have the turning angle. However, in the case of two-wheel steering, the turning angle of the front wheel 3 is calculated from the inclination φ and the lateral displacement x'and the turning angle is set. The front wheels 4 and the rear wheels 4 are set in a neutral state.

The steering control sensor S1 is used for guiding the light beam A.
When 1 and A2 are not received, after stopping traveling,
The light receiving state is checked while moving the steering control sensor S1 in the lateral direction of the vehicle body. When the light-receiving state is reached, the movement of the steering control sensor S1 is stopped, and in the same manner as described above, depending on the inclination φ of the vehicle body 5 and the lateral displacement x ′ detected in the light-receiving state. Set the steering angle and steer. When the steering control sensor S1 is not moved to the light receiving state even if it is moved to the entire sensor movement range in the lateral direction of the vehicle body, abnormal processing such as engine stop is performed as abnormality, and the control ends.

[Other Embodiments] In the above embodiment, the control means 100 causes the work vehicle V to travel the travel stroke (each work stroke R1, R).
2) When the steering control optical sensor S1 no longer receives the guidance beam lights A1 and A2 while automatically traveling along 2), the traveling is stopped, and the sensor position changing means SH is operated in the traveling stopped state. Although the steering control optical sensor S1 is configured to return to the state of receiving the guidance beam lights A1 and A2, it is not always necessary to stop traveling. For example, the vehicle speed is changed to an extremely low speed, and It may be configured such that the sensor position changing means SH is operated and the steering control optical sensor S1 is returned to the state of receiving the guidance light beams A1 and A2 while traveling at an extremely low speed.

Further, in the above embodiment, the control means 100 is used.
The steering control light sensor S1 is guided by the guiding light beam A
With the distance Δs moved from the normal sensor position si in the lateral direction of the vehicle body to the position for receiving 1, 1 and A2 (return state), the deviation in the lateral direction of the vehicle body with respect to the guiding beam lights A1 and A2 is detected. , The steering means 7 to 10 are operated based on the deviation information.
When the distance Δs is large and the sensor position in the return state is close to the end of the movable range in the vehicle width direction, the deviation in the vehicle width direction with respect to the guiding beam lights A1, A2 in the return state. Based on the information, the guiding beam lights A1 and A2 are received in the state where the guiding beam lights A1 and A2 are returned to the regular sensor position si.
You may comprise so that the said steering means 7-10 may be operated. Specifically, for example, referring to FIG. 9, the vehicle body 5 is moved from the return state to the traveling stopped state or the extremely low speed traveling state.
Drive the motor 23 to move the steering control optical sensor S1 in the left direction of the figure by the distance Δs while steering the vehicle so as to move to the right in the figure by the deviation x (= X1 + Δs) of the position. .

Further, in the above embodiment, the sensor position changing means SH is provided with the slide rail 19 for slidably holding the steering control optical sensor S1 along the lateral direction of the vehicle body, and the steering control optical sensor. Moving means 2 for moving S1 in the lateral direction of the vehicle body
Although it is configured with 0, it is held by a holding means such as a link mechanism other than the slide rail 19, and the moving means 20 is used.
May be configured by an actuator such as a hydraulic cylinder that operates the link mechanism or the like to move the steering control optical sensor S1 in the lateral direction of the vehicle body.

Further, in the above embodiment, the sensor position detecting means SK is fixed along the longitudinal direction of the slide rail 19 for holding the steering control optical sensor S1 slidably in the lateral direction of the vehicle body. The potentiometer S7 is composed of the detection unit 24 and the slider 25 that slides on the detection unit 24. However, the present invention is not limited to this. For example, a fixed magnet provided along the longitudinal direction of the slide rail 19 may be used. It may be constituted by a magnetic position detecting means composed of a magnetic detecting element (for example, a Hall element) which moves close to this.

In the above embodiment, the case where the work vehicle V automatically travels while performing work (seedling planting work on the field) along the work strokes R1 and R2 as the travel stroke has been described. To set a guide route for traveling the work vehicle, and to automatically travel the work vehicle V along each traveling path of the guide route without performing work in a state of being guided by the beam light for guidance. It can also be applied in cases.

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 steering control optical sensors S1 are arranged side by side in the vehicle front-rear direction with a space therebetween to detect the light receiving positions of the guiding beam lights A1, A2 in the vehicle lateral direction, respectively. It is composed of a pair of optical sensors S1a and S1b, and one of the pair of optical sensors S1a and S1b (S1
The position deviation x in the lateral direction of the vehicle body based on the light receiving position X1 of a) is determined based on the difference between the light receiving positions X1 and X2 in the lateral direction of the vehicle body of the pair of optical sensors S1a and S1b and the distance information d in the vehicle longitudinal direction. Of the steering angle, and the positional deviation x and the inclination φ are used as deviation information in the vehicle body lateral direction with respect to the guiding beam lights A1 and A2. However, the configuration of the steering control optical sensor S1 is not limited to this. is not. For example, instead of a pair of optical sensors, one optical sensor is used,
The positional deviation x in the vehicle lateral direction obtained from the light receiving position may be used as the deviation information in the vehicle lateral direction with respect to the guiding light beams A1 and A2.

Further, in the above embodiment, the steering of the work vehicle V is constructed so that the four wheels can be steered, and the steering means 7-.
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-mentioned embodiment, the present invention is applied to the work vehicle for rice planting as the 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.

[0061]

[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 plan view showing sensor position changing means and sensor position detecting means.

FIG. 8 is a side sectional view showing sensor position changing means and sensor position detecting means.

FIG. 9 is a flowchart of control operation.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

[Explanation of symbols]

 V Work vehicle B1, B2 Beam light projection means S1 Steering control optical sensor 7-10 Steering means 100 Control means SH Sensor position change means SK Sensor position detection means 19 Sliding rail 20 Moving means 21 Rack gear 22 Pinion gear 23 Motor 24 Fixed detector 25 Slider S7 potentiometer

Claims (5)

[Claims] 1. Beam light projecting means (B1, B2) for projecting a guiding beam of light along the longitudinal direction of the traveling stroke so that the work vehicle (V) automatically travels along the traveling stroke,
Steering control light which is provided on the ground side and receives the guidance light beam so as to detect a deviation in the vehicle body lateral direction with respect to the guidance light beam projected by the light beam projection means (B1, B2). A sensor (S1) and a steering means (7-10) for controlling the steering of the work vehicle (V).
And the operation of the steering means (7 to 10) is controlled so that the work vehicle (V) automatically travels along the travel path based on the light reception information of the steering control optical sensor (S1). The control means (100) is a travel control device for a beam light guide type working vehicle provided in the working vehicle (V), wherein the working vehicle (V) has the steering control optical sensor (S1). )
Sensor position changing means (SH) for changing the sensor position in the lateral direction of the vehicle body, and the steering control optical sensor (S1)
Sensor position detecting means (SK) for detecting a sensor position in the vehicle body lateral direction, and the control means (100) controls the steering control light when the vehicle automatically travels along the traveling stroke. When the sensor (S1) stops receiving the guiding light beam, the sensor position changing means (SH) is activated to return the steering control light sensor (S1) to the guiding light beam. In addition, based on the received light information of the steering control optical sensor (S1) and the sensor position information by the sensor position detection means (SK) in the returned state, the deviation in the vehicle body lateral direction with respect to the guidance light beam is obtained. A travel control device for a beam light guided work vehicle configured to detect. 2. The control means (100) stops traveling when the steering control optical sensor (S1) no longer receives the guiding beam light during automatic traveling along the traveling stroke. Then, in the traveling stopped state, the sensor position changing means (SH) is operated to restore the steering control optical sensor (S1) to a state of receiving the guiding beam light. A travel control device for a beam light guide type work vehicle according to Item 1. 3. The steering control optical sensor (S) is based on displacement information in the vehicle body lateral width direction with respect to the guiding light beam in the return state.
The steering means (7-10) is configured to be operated so as to receive the guiding light beam in a state where (1) is returned to the normal sensor position in the lateral direction of the vehicle body. A traveling control device for the beam light guided work vehicle described. 4. A slide rail (19) for holding the steering control optical sensor (S1) slidably along the lateral direction of the vehicle body by the sensor position changing means (SH), and the slide rail. Moving means (20) for moving the steering control optical sensor (S1) held in (19) in the lateral direction of the vehicle body.
The traveling control device for a beam light guide type working vehicle according to claim 1, 2 or 3, wherein 5. A rack gear (2), wherein the moving means (20) is provided along the longitudinal direction of the sliding rail (19).
1) and a pinion gear (2) provided on the steering control optical sensor (S1) and engaged with the rack gear (21).
2) and a motor (23) for rotationally driving the pinion gear (22), and the sensor position detecting means (SK) is a fixed detection provided along the longitudinal direction of the sliding rail (19). Division (24)
The potentiometer (S7) comprising: and a slider (25) provided on the steering control optical sensor (S1) in a state of sliding on the fixed detection portion (24). A traveling control device for the beam light guided work vehicle described.