JPH075914A - Travel controller for beam light-guided work vehicles - Google Patents

Abstract

PURPOSE:To provide a travel controller which can decide the accurate steering direction of a beam light-guided work vehicle and then can reset quickly the vehicle in a photodetecting state even if a steering control optical sensor does not receive the guiding beam light yet after the vehicle turned. CONSTITUTION:A projector means B1 for the guiding beam light Al is provided along the automatic traveling course of a work vehicle V. Then, a light projecting device B2 projects the turning beam light A2 in the direction orthogonal to the means B1 at both end positions of the traveling course. Furthermore, the vehicle A is provided with a steering control means with which the vehicle V automatically travels along the light Al based on the photodetection information acquired by a steering control optical sensor 17 and a turning control means which turns the vehicle V between the adjacent traveling courses, When the light Al moves to the right or left and gets out of plural photodetecting positions after the light Al is received at one of those photodetecting positions in the next traveling course and after a turning action of the vehicle V is finished, the steering control means decides the steering direction to reset the vehicle V in a photodetecting state based on the out-of-direction information on the light Al.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide for projecting a guiding beam of light from one end side to the other end side of a traveling stroke so that a work vehicle automatically travels along each of a plurality of traveling strokes. Beam light projection means is provided, and the work vehicle is guided to the work vehicle based on the steering control light sensor for receiving the guidance light beam and the light reception information of the steering control light sensor. Steering control means for controlling the steering so that the vehicle automatically travels along the beam light, and as the work vehicle reaches the end of one traveling stroke, the next traveling stroke adjacent to the one traveling stroke And a turning control means for turning the work vehicle in a set turning pattern toward the starting end of the beam light guide type work vehicle.

[0002]

2. Description of the Related Art A traveling control device for a beam light guided work vehicle of this type is designed to guide light beams projected from one end side to the other end side of a plurality of traveling strokes set for work. As the work vehicle that automatically travels along it travels automatically over all of its travel strokes, as the work vehicle reaches the end of each travel stroke, it automatically travels toward the beginning of the next travel stroke. Although it is designed to be moved, in the conventional case, the work vehicle cannot be guided by the beam light for guiding during the turning operation of moving to the starting end portion of the next stroke. The set turning pattern is automatically turned.

[0003]

However, in the above-mentioned prior art, in the case of a work vehicle that travels in a state in which the running ground is poor and the vehicle easily slips, such as a work vehicle for planting rice, the set turning pattern is used. There is a risk that the actual turning trajectory of the work vehicle deviates from the desired turning trajectory when the turning operation is performed, and the steering position of the work vehicle at the start end portion of the next traveling stroke after the turning operation deviates from the appropriate steering position. Was big. That is, since the turning pattern is set so as to have a desired turning locus when the turning operation is performed under the standard slip amount assumed in the standard field condition, This is because the actual slip amount changes to a larger side or a smaller side than the standard slip amount according to the change such as in a wet field or a dry field. Then, in the case where the steering control sensor does not receive the guidance beam light at the start end portion of the next traveling stroke, in order to return the steering control sensor to the guidance beam light, for example, A possible means is to move the machine body in both directions of the machine width direction in a preset range to search for the guiding beam light.However, this method requires complicated and complicated control, and when the deviation amount is large, It takes a long time to recover, and if the deviation amount is larger than expected, there is a possibility that the recovery may be impossible.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the drawbacks of the above-mentioned prior art by the steering control sensor receiving the guiding light beam after the turning operation. Even if it is not done, the steering direction is accurately discriminated and the steering control sensor is quickly returned to the state of receiving the guiding beam light.

[0005]

According to a first characteristic configuration of a traveling control apparatus for a beam light guide type working vehicle according to the present invention, the steering control optical sensor has a plurality of light receiving positions in the lateral direction of the machine body. In the work vehicle, based on the light reception information of the steering control optical sensor, when the turning operation is completed, the guiding beam light of the next traveling stroke is set to any one of the plurality of light receiving positions. Beam deviation direction storage means is provided for storing the deviation direction of the guiding beam light when the light beam is moved to the left or right direction from the received light state and is out of the plurality of light receiving positions, and the operation is performed. The direction control means, based on the information of the beam out-of-direction storage means, when the steering control light sensor does not receive the guiding beam light after the turning operation in the set turning pattern. It is necessary to determine the steering direction. Lies in the fact that is.

In a second characteristic configuration, the guiding light beam is shared by a pair of adjoining traveling strokes so that it is shared by a pair of adjoining traveling strokes of the plurality of traveling strokes. The steering control optical sensor is provided on either the left or right side in the lateral width direction of the work vehicle, and the steering control means includes the steering control means for the next traveling stroke before the turning operation is completed. When the guiding light beam is not received by the steering control optical sensor, the steering direction is determined to be the traveling path side before turning when the turning operation is between the pair of adjacent traveling paths. Moreover, when the turning operation is not between the pair of adjacent traveling strokes, the steering direction is determined to be the traveling stroke side after the turning.

[0007]

According to the first characteristic configuration of the present invention, when the work vehicle turns around from the end portion of one traveling stroke to the beginning portion of the adjacent next traveling stroke, After the light beam for guidance is received at one of the multiple light receiving positions of the steering control optical sensor aligned in the lateral direction of the machine, it moves to the left or right and deviates from the multiple light receiving positions and does not receive light. When the turning operation is completed in the non-light receiving state, the guiding light beam moves and is deviated, that is, the deviating direction is stored. Then, with the disengagement direction as the steering direction, the aircraft is steered in that direction, and the steering control optical sensor returns to the state of receiving the guiding beam light, and after returning to the light receiving state, the steering control is performed. Steering control is executed based on the light reception information of the optical sensor.

According to the second characteristic configuration, the work vehicle is
When a turning operation is performed from the end portion of one traveling stroke of a pair of adjacent traveling strokes sharing the guiding beam light toward the starting end portion of the other traveling stroke, the other, that is, the starting end portion of the next traveling stroke, is operated. When the direction control optical sensor does not receive the guidance light beam, the steering control optical sensor guides the aircraft in that direction with the traveling stroke side before turning as the steering direction. It returns to the state of receiving the light beam. On the other hand, when the work vehicle turns from the end portion of one traveling stroke of the adjacent traveling strokes that does not share the guiding beam light toward the starting end portion of the other traveling stroke, the other, that is, the next traveling stroke When the steering control optical sensor does not receive the guidance light beam at the start end, the steering control optical sensor is used to steer the aircraft in that direction with the traveling stroke side after turning as the steering direction. Returns to the state of receiving the guiding light beam. Then, after returning to the light receiving state, the steering control is executed based on the light reception information of the steering control optical sensor.

[0009]

Therefore, according to the first characteristic configuration of the present invention, an actual turning trajectory for traveling in a state where the traveling ground condition is poor and slipping is likely to occur, such as a work vehicle for rice planting. Is likely to deviate from the desired turning trajectory due to the set turning pattern, and the amount of deviation fluctuates greatly depending on field conditions such as wetlands or dry fields, and the guiding beam light for the next work stroke is manipulated after the turning operation. It is possible to accurately know on which side of the steering control optical sensor the guiding beam light is located, regardless of which side of the steering control optical sensor is deviated to the left or right side and the light is not received. , The steering control optical sensor can be quickly returned to the state of receiving the guiding beam light, which requires complicated and complicated control for the return operation as in the conventional case, and when the deviation amount is large. Takes a long time to return, , Without it you fall into the return impossible state when bigger than the shift amount is assumed, it has been led to obtain a travel control device of excellent light beam guided work vehicle reliability and operability.

According to the second characteristic configuration, in the case where the guiding light beam is shared by a pair of adjoining traveling strokes among a plurality of traveling strokes for the purpose of simplifying the beam light projecting means or the like. Even if the steering control light sensor does not receive the guidance light beam for the next work stroke by the end of the turning operation, the guidance light beam is steered for control at the beginning of the next work stroke. It is possible to accurately determine which side of the light sensor for use, and thus the traveling control device for the beam light guide type working vehicle that achieves the effect of claim 1 and simplification of the device configuration. Came to get.

[0011]

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

As shown in FIG. 4, in a plurality of work traveling strokes set in a field parallel to each other, the rice planting work vehicle V automatically travels along the length of the traveling stroke. Laser beam as a guiding beam light projection means for projecting the guiding beam light A1 which serves as a guide for the traveling from the one end side to the other end side along the length direction of the traveling path. The light projection device B1 is provided between a pair of adjacent traveling strokes so as to be shared by a pair of adjacent traveling strokes of the plurality of traveling strokes, and thus a plurality of traveling strokes parallel to each other. In each of the above, the guiding beam light A1 can be projected. Although not described in detail, the guiding beam light A1 is scanned within a predetermined angle range in the vertical direction (see FIG. 5). In addition, in this embodiment, the working vehicle V guided by the guiding beam light A1 is turned by 180 degrees at both ends of each traveling stroke,
It is designed to travel back and forth during each travel process.

Further, the turning beam light A2 for indicating the positions of both ends in the length direction of the traveling stroke and for indicating the start position of the turning operation for the next traveling stroke is used as the guiding beam light. A turning laser beam projector B2 for projecting in a direction orthogonal to the projection direction of A1 is provided at a lateral side of the field where the traveling strokes are aligned in correspondence with both ends in the lengthwise direction of the traveling strokes. It is provided. Thus, as the working vehicle V reaches the end of each traveling stroke, the working vehicle V is turned by 180 degrees toward the next traveling stroke, so that the planting work in the field in the predetermined range is continued. So that it can be done automatically.

Explaining the structure of the work vehicle V,
As shown in FIG. 4 and FIG. 5, a seedling planting device 6 as a working device is provided at a rear portion of a traveling machine body 5 including a pair of left and right front wheels 3 and rear wheels 4 so as to be vertically movable and drive-stoppable. There is. Further, as shown in FIG. 1, the front and rear wheels 3, 4
Is composed of a pair of left and right sides so that steering operation can be freely performed in the front and rear, and hydraulic cylinders 7 and 8 for steering and electromagnetic control valves 9 and 10 for them 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.

In FIG. 1, 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 at the same time, 12 is an electric motor for gear shifting operation, 1
3 is a hydraulic cylinder for raising and lowering the planting device 6, 14 is a control valve thereof, 15 is an electromagnetically-operated planting clutch for intermittently driving the planting device 6 by the engine E, 16 is traveling of the work vehicle V, and A control device using a microcomputer for controlling the operation of the planting device 6, wherein the shifting motor 12 and the control valves 9, 1 are based on detection information from various sensors described later.
0, 14 and the planting clutch 15, respectively.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 1, steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, respectively. And a vehicle speed sensor R3 using a potentiometer that indirectly detects the forward / backward traveling state and the vehicle speed based on the speed change state of the speed change device 11, and the speed change device 11
An encoder S4 for counting the number of rotations of the output shaft and detecting the traveling distance is provided.

Further, as shown in FIGS. 4 and 5, in order to detect the deviation of the steering position in the lateral width direction of the machine with respect to the guiding light beam A1, based on the light receiving position in the lateral width direction of the machine, A steering control optical sensor 17 for receiving the guiding beam light A1 is provided on the right side in the lateral direction of the work vehicle V on the front side of the machine body, and a turning optical sensor for receiving the turning beam light A2. S3 is provided on each of the left and right sides of the body on the front side of the steering control optical sensor 17 so that the turning beam light A2 can be received from either the right or left side of the body. The turning optical sensor S3 is configured to detect only whether or not the turning beam light A2 is received, and the light receiving position cannot be determined.

The steering control optical sensor 17 will be described. As shown in FIG. 5 and FIG. 6, the steering control optical sensor 17 is arranged so as to be positioned at a distance d in the longitudinal direction of the body and at a distance in the vertical direction. It is composed of a pair of front and rear optical sensors S1 and S2, and in order to be able to receive the guiding beam light A1 with no difference even when it is incident from any direction in the front and rear of the body, A reflecting mirror 18 is provided for reflecting the incident light from each direction toward the light receiving surface of each of the optical sensors S1 and S2. As shown in FIG. 6, each of the pair of front and rear optical sensors S1 and S2 has a plurality of light receiving elements D arranged side by side in the lateral direction of the machine body and is located at the sensor center D0 in the lateral direction. With the position of the light receiving element as a reference, the positions X1 and X2 of the light receiving elements before and after the reception of the guiding beam light A1, that is, the light receiving positions can be detected. From the above, the steering control optical sensor 17
Will have a plurality of light receiving positions in the lateral direction of the machine body.

Using the control device 16, the steering control is performed so that the work vehicle V automatically travels along the guidance beam light A1 based on the light reception information of the steering control optical sensor 17. As the direction control means 100 and the work vehicle V reach the end portion of one travel stroke, the work vehicle is set in the set turning pattern toward the start end portion of the next travel stroke adjacent to the one travel stroke. The turning control means 101 for turning the V is configured.

Explaining the steering control means 100, the light receiving positions X1 and X2 of the light receiving elements of the pair of front and rear optical sensors S1 and S2 of the steering control optical sensor 17 will be described.
And its mounting distance d in the vehicle front-rear direction,
The inclination φ of the traveling machine body 5 with respect to the projection direction of the guiding light beam A1 and the position deviation x in the lateral width direction are obtained from the following equation.

[0021]

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

In this example, the position deviation in the lateral width direction is set to the light receiving position of one (S1) of the pair of photosensors S1 and S2, but an error due to the inclination φ does not occur. In order to do so, the pair of optical sensors S
You may make it use the average value of the light receiving positions X1 and X2 of 1 and S2, respectively. The work vehicle V has the inclination φ.
The target steering angle is set and steering control is performed so that both the deviation x and the deviation x become zero. However, in the present embodiment, the steering control is performed in a two-wheel steering system in which only the front wheels 3 are steered in each traveling stroke.

Next, the turning control means 101 will be described. As shown in FIGS. 7 and 8, the point where the turning optical sensor S3 detects the turning beam light A2 is e.
Then, the turning operation of 180 degrees is started from the point f, which is traveled by the distance a from the point e based on the detection information of the encoder S4, and reaches the end point h of the turning operation through the predetermined turning section g. Therefore, the set turning pattern is
The routes e to h from the point to the point h are set to be a desired traveling locus by the turning motion.

Further, when the turning operation is completed by using the control device 16 based on the light reception information of the steering control optical sensor 17, the guiding beam light A1 for the next traveling stroke. Is in the state of being moved to the left or right from the state of being received at any of the plurality of light receiving positions and being out of the plurality of light receiving positions, the guiding beam light A
Beam out-of-direction storage means 102 for storing the out-of-direction of 1
Is configured. Then, the steering control means 100
When the steering control optical sensor 17 does not receive the guiding beam light A1 after the turning operation in the set turning pattern, the beam deviating direction storage means 1 is provided.
The steering direction is determined based on the information 02.

Explaining the beam deviating direction storage means 102, as shown in FIGS. 9 and 10, the steering control optical sensor 17 receives the guiding beam light A1 at the end of the turning operation. If there is no light beam for guidance A
It is not uniquely determined whether the vehicle 1 is on the left side or the right side of the work vehicle V, and depends on how the midway locus during the turning motion deviates from the desired traveling loci e to h. For example, in FIG.
As shown in FIGS. 10A and 10A, the steering control light sensor 17 temporarily guides the beam light A during the turning operation.
9 (c) and FIG. 10 (c), after moving to the next traveling stroke side after crossing 1 and again traveling to the previous traveling stroke side after crossing the guiding beam light A1. ) As shown in FIG.
There is a case where the turning operation is terminated in a state where the vehicle moves across 1 to the next traveling stroke side. 9 (b) and 10
(B) shows the case where the steering control optical sensor 17 receives the guiding beam light A1 at the end of the turning operation. Further, FIG. 9 shows a turning operation during a traveling stroke not sharing the guiding beam light A1, and FIG. 10 shows a turning operation during a traveling stroke sharing the guiding beam light A1.

In FIG. 9A, the guiding beam light A1 moves rightward over a plurality of light receiving positions of the steering control optical sensor 17 and deviates from the light receiving position (ie, the guiding beam light A1). Is located on the right side of the steering control optical sensor 17)
Therefore, the out-of-direction is stored as the right direction. On the other hand, FIG.
9A and 9C, the guiding beam light A1 moves leftward on a plurality of light receiving positions of the steering control optical sensor 17 and deviates from the light receiving position (that is, the guiding beam light A1 is Since it is located on the left side of the steering control optical sensor 17), the disengagement direction is stored as the left direction. Then, the steering control means 100, based on the information on the beam out-of-direction, as shown in FIG.
In the case of (a), the steering direction is determined to be the right direction, and FIG.
In the cases of (a) and FIG. 9 (c), the steering direction is determined to be the left direction.

In FIG. 10C, the guiding light beam A
1 does not receive the light by the steering control optical sensor 17 and terminates the turning operation. Therefore, it is not possible to obtain information about the beam deviating direction. It is not possible to determine which side of 17 is on the left or right. Although not shown, in FIG. 9A, when the turning trajectory is extremely deviated to the inner side (the turning radius is small), the guiding beam light A1 is received by the steering control optical sensor 17. It is possible that the turning operation is ended without being performed. Therefore, the steering control means 100, when the guiding beam light A1 in the next traveling stroke is not received by the steering control optical sensor 17 by the time the steering operation is completed, the steering control means 100 performs the steering operation. Is for the pair of adjacent traveling strokes sharing the guiding beam light A1 (in the case of FIG. 10C), the steering direction is determined to be the traveling stroke side before turning (rightward). And, when the turning operation is not for the pair of adjacent traveling strokes sharing the guiding beam light A1 (when the turning trajectory is extremely shifted inward in FIG. 9A), the steering operation is performed. The direction is determined to be the traveling stroke side (to the right) after turning. Then, after the body is steered in the steering direction determined as described above and the steering control optical sensor 17 is returned to the state of receiving the guiding beam light A1, the steering control optical sensor 17 is returned. The steering control based on the detection information of will be started.

Next, the operation of the control device 16 will be described with reference to the flow charts shown in FIGS. 2 and 3. In the work vehicle V, the guiding laser beam projection device B1 is used.
In the state of receiving the guiding beam light A1 projected from the rear side of the machine body, the first traveling path set on one end side of the field is traveled from one end side to the other end side along the length direction thereof. Start (see Figure 4).

After the start of traveling, the steering control sensor 17 is provided.
As described above, the front wheels 3 are operated in the two-wheel steering manner so that both the light receiving positions of the pair of optical sensors S1 and S2 are in the center of the sensor based on the light receiving position information of the guiding beam light A1. Direction control. Then, as the turning optical sensor S3 travels a set distance from the time when the turning beam light A2 projected on one end side of the traveling stroke is received and reaches the planting start position, the planting device is installed. 6 is lowered and the driving is started, and the planting work is started.

When the working vehicle V reaches the end of the traveling stroke and the turning optical sensor S3 receives the turning beam light A2 projected on the other end side of the traveling stroke (point e), The driving of the planting device 6 is stopped to stop the planting work. Although not described in detail, when it is determined that the work is completed based on the number of times of turning, the next turning operation is not performed, the traveling is stopped, and the entire process is ended. Then, the vehicle travels toward the point f, which is a distance a away from the point e. When the vehicle arrives at point f, it switches from the two-wheel steering type to the four-wheel steering type, and along the turning section g for turning the working vehicle V by 180 degrees toward the starting end of the next traveling stroke. Rotate.

After the turning operation in the turning section g is completed (arrival at point h), the steering control optical sensor 17 is used.
Detects whether or not the steering beam light A1 is received, and if so, switches from the four-wheel steering type to the two-wheel steering type, and the steering control sensor 17 receives the light along the next traveling stroke. The steering control based on the information is started. On the other hand, if the steering control optical sensor 17 does not receive the guiding beam light A1, the steering direction is determined as described above, and then the steering mode is switched to the parallel steering type until the guiding beam light A1 is received. Move the aircraft laterally in the steering direction. Then, the steering control sensor 17 returns to a state of receiving the guidance beam light A1 and then switches to the two-wheel steering mode, and the steering control based on the light reception information of the steering control sensor 17 is started.

[Other Embodiment] In the above embodiment, the work vehicle V is set to 18 when a plurality of traveling strokes are arranged in parallel.
Although an example in which the vehicle is turned to 0 degree and turned to the starting end portion of the next traveling stroke is illustrated, the same applies to the case of turning to 90 degrees to turn to the starting end portion of the next traveling stroke in addition to the 180 degree turning. The present invention can be applied.

Further, in the above embodiment, the guiding light beam A1 is used.
Is configured to be shared by a pair of adjacent strokes of a plurality of traveling strokes, and a steering control sensor 17 for receiving the guiding beam light A1 is provided on the right side in the lateral direction of the machine body. Alternatively, it may be provided on the left side. Alternatively, the guidance beam light A1 may not be shared by a pair of adjacent strokes, and one guidance beam light A1 may be set for each traveling stroke. In this case, the steering control sensor 17 is used.
It is not always necessary to provide the on one side of the machine body in the lateral direction.

In the above embodiment, the steering control sensor 1 is used.
Although 7 has a plurality of light receiving positions in the lateral direction of the machine body, a plurality of light receiving elements D separated from each other are arranged side by side in the lateral direction of the machine body. A shutter in which a light transmitting portion moves in the lateral direction of the body is provided in front of one light receiving element, and the guidance beam light A1 is emitted from the body according to the timing when the predetermined light transmitting portion of the shutter is opened and the detection information of the light receiving element. The position in the lateral direction may be detected.

Further, in the above-mentioned embodiment, the case where the turning of the vehicle body is performed in the four-wheel steering type in the turning operation is exemplified, but the turning may be performed in the two-wheel steering type and the set turning pattern. The specific form of can be variously changed. Also, regarding the desired turning locus according to the set turning pattern, various loci can be set according to the steering performance of the work vehicle V and the like, not limited to the above-mentioned paths e to h.

In the above embodiment, the present invention is applied to the traveling control device for the rice planting work vehicle. However, the present invention can be applied to agricultural machines other than rice planting machines and various traveling work vehicles. In that case, the specific configuration of each unit can be variously changed.

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 structures of the accompanying drawings by the entry.

[0038]

[Brief description of drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 is a flowchart of control operation.

FIG. 3 is a flowchart of control operation.

FIG. 4 is a schematic plan view illustrating a traveling stroke and a turning operation.

FIG. 5 is a schematic side view of a work vehicle and a beam light projection means for guidance.

FIG. 6 is an explanatory diagram of a light receiving position of a steering control optical sensor.

FIG. 7 is a plan view illustrating the operation of the turning control means.

FIG. 8 is an explanatory diagram of a set turning pattern.

FIG. 9 is a schematic plan view illustrating a turning operation and a steering direction determining operation.

FIG. 10 is a schematic plan view illustrating a turning operation and a steering direction determining operation.

[Explanation of symbols]

 V work vehicle A1 guidance beam light B1 guidance beam light projection means 17 steering control optical sensor 100 steering control means 101 turning control means 102 beam deviation direction storage means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masaaki Nishinaka 64 Ishizukita-machi, Sakai City, Osaka Prefecture In the Research Center for Agricultural Growth Management Systems Co., Ltd. (72) Koji Yoshikawa 64, Ishizukita-machi, Sakai City, Osaka Kubo Co., Ltd. Inside the Sakai Plant (72) Inventor Ryozo Kuroiwa 64 Ishizukita-cho, Sakai City, Osaka Prefecture Kubota Corporation Inside the Sakai Plant (72) Hiroshi Suzuki 64, Ishizukita-cho, Sakai City, Osaka Prefecture Kubota Sakai Plant Co., Ltd.

Claims (2)

[Claims] 1. A guidance system for projecting a guidance light beam (A1) from one end side to the other end side of a traveling stroke so that a work vehicle (V) automatically travels along each of a plurality of traveling strokes. Beam light projection means (B1) is provided, and the work vehicle (V) receives a steering control light sensor (17) for receiving the guidance light beam (A1) and a steering control light sensor. Steering control means (100) for controlling the steering so that the working vehicle (V) automatically travels along the guiding beam light (A1) based on the light reception information of (17), and the working vehicle (V). ) Reaches the end of one traveling stroke, the work vehicle (V) is turned in a set turning pattern toward the beginning of the next traveling stroke adjacent to the one traveling stroke. A traveling control device for a beam light guide type work vehicle provided with a direction control means (101). Then, the steering control optical sensor (17) has a plurality of light receiving positions in the lateral direction of the machine body, and the steering control optical sensor (17) is provided on the work vehicle (V).
Based on the light reception information of the above, when the turning operation is completed, the guiding beam light (A1) in the next traveling stroke is received in any one of the plurality of light receiving positions in the left or right direction. Beam steering direction storage means (102) is provided for storing the deviation direction of the guiding beam light (A1) when it has moved to the plurality of light receiving positions and is out of the plurality of light receiving positions. (100) is the steering control optical sensor (1 after the turning operation in the set turning pattern.
In the case where 7) does not receive the guiding light beam (A1), the beam light guiding type is configured to determine the steering direction based on the information of the beam deviation direction storage means (102). Work vehicle travel control device. 2. The guiding beam light (A1) is provided between a pair of adjoining traveling strokes so as to be shared by a pair of adjoining traveling strokes of the plurality of traveling strokes, A steering control optical sensor (17) is provided on either the left or right side of the work vehicle (V) in the lateral width direction, and the steering control means (100) is configured to perform the following operation until the turning operation is completed. Beam light (A1) for guiding the traveling path of
Is not received by the steering control optical sensor (17), if the turning operation is between the pair of adjacent traveling strokes, the steering direction is determined to be the traveling stroke side before turning, The beam light guide type working vehicle according to claim 1, wherein when the turning operation is not between the adjacent traveling strokes, the steering direction is determined to be the traveling stroke side after turning. Travel control device.