JPH075915A - Traveling controller for beam light guided work vehicle - Google Patents

Abstract

PURPOSE:To provide a traveling controller for beam light guided work vehicle which can surely decide the steering direction of the vehicle and can quickly reset the vehicle in a photodetecting state even when a steering control sensor does not receive the guiding beam light yet after the vehicle turned. CONSTITUTION:A projector means B1 to project the guiding beam light A1 in the set direction for automatic traveling of a work vehicle V, a ground communication means and a projecting direction changing means which changes the projecting direction of the light A1 to the right and left from the set direction are provided on the ground side. Meanwhile, the vehicle V is provided with a steering control optical sensor 17, a steering control means which controls the steering direction of the vehicle V based on the photodetection information on the sensor 17 so that the vehicle V can automatically travel along the light A1, a turning control means 101 which turns the vehicle V between the adjacent traveling courses, and a work vehicle communication means. If the sensor 17 does not receive the light A1 yet when a turning action of the vehicle V is finished, the projecting direction of the light A1 is changed to the right and left from the set direction. Then, the direction opposite to the changed projecting direction is decided as the steering direction of the vehicle V in a photodetecting state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention applies a guiding beam of light in a set direction 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. A guidance beam light projection means for projecting is provided on the ground side, and the work vehicle has a steering control light sensor for receiving the guidance beam light and a light reception information of the steering control light sensor. Steering control means for controlling the steering so that the work vehicle automatically travels along the guiding beam light, and as the work vehicle reaches the end portion of one travel stroke, one of the travel strokes The present invention relates to a travel control device for a beam light guided work vehicle, which is provided with a turning control means for turning the work vehicle in a set turning pattern toward a start end portion of an adjacent next traveling stroke.

[0002]

2. Description of the Related Art A traveling control device for a beam light guide type working vehicle of the above type is projected in a set direction from one end to the other end of a plurality of traveling strokes set for work on the ground side. As the work vehicle automatically travels along the guiding beam of light, the work vehicle automatically travels over all of its travel strokes as the work vehicle reaches the end of each travel stroke. However, in the past, the work vehicle cannot be guided by the guiding beam of light during the turning operation of moving the work vehicle to the starting end of the next stroke. In the operation, it is automatically turned in a preset turning pattern set in advance.

[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 means to search the guidance beam light by moving the machine body in both directions in the width direction of the machine body within a preset range is conceivable.However, this method requires cumbersome 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. If not, the steering direction is surely discriminated and the steering control sensor is quickly returned to the state of receiving the guidance light beam.

[0005]

A first characteristic configuration of a traveling control device for a beam light guide type working vehicle according to the present invention is characterized in that the working vehicle is provided with working vehicle side communication means and the working side is provided on the ground side. A ground side communication means for receiving transmission information from the vehicle side communication means, and a projection for changing the projection direction of the guiding light beam from the set direction to the right or left direction based on the reception information of the ground side communication means. Direction changing means is provided, the steering control means, when the steering control optical sensor does not receive the guiding light beam after the turning operation in the set turning pattern, Command information for changing the projection direction of the guidance beam light to the right or left direction from the setting direction is transmitted to the work vehicle side communication means, and the steering control light is changed by changing the projection direction of the guidance beam light. The sensor is When receiving the Shirubeyo beam light of its projection direction changing direction in that it is configured opposite directions so as to determine the steering direction.

In the second characteristic configuration, the steering control optical sensor has a plurality of light receiving positions in the lateral direction of the machine body, and the steering control means changes the projection direction of the guiding light beam. It is configured such that the direction opposite to the direction in which the guiding light beam moves on the plurality of light receiving positions of the steering control optical sensor is determined as the steering direction.

[0007]

According to the first characteristic configuration of the present invention, when the work vehicle turns from the end portion of one travel stroke to the next adjacent travel stroke, steering control is performed at the start end of the next travel stroke. If the light sensor for guidance does not receive the light beam for guidance, the instruction information for changing the projection direction of the light beam for guidance is transmitted from the work vehicle side communication means to the ground side communication means, and the guidance light beam is projected. The direction is changed from the set direction to the right or left direction. When the steering control optical sensor receives the guidance beam light by changing the projection direction of the guidance beam light, the direction opposite to the direction of changing the projection direction is determined as the steering direction, and the steering control is performed. The machine body is steered in the above-mentioned steering direction until the optical sensor for use receives the light beam for guiding. 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.

Further, according to the second characteristic configuration, the guiding beam light is received by the steering control optical sensor by changing the projection direction of the guiding beam light, and a plurality of light receiving positions are provided on it. When is moved, the direction opposite to the moving direction is discriminated as the steering direction, and the machine body is steered in the steering direction until the steering control optical sensor receives the guiding beam light. 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 locus due to the set turning pattern, and the amount of deviation fluctuates greatly depending on the field conditions, such as wet fields or dry fields, and the guiding beam light for the next work stroke is manipulated after the turning operation. Whether the light beam for guidance is on the left or right side of the steering control optical sensor and is in the non-light receiving state, it can be reliably determined which side of the steering control optical sensor is located. If the steering control optical sensor can quickly return to the state in which it receives the guiding beam light, and when the return operation requires complicated and complicated control and the amount of deviation is large. Takes a long time to recover Moreover, no 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, the steering direction is determined by the direction in which the guidance light beam moves on the steering control sensor, so that the guidance light beam is used as the steering control light sensor. It has become possible to obtain a travel control device for a beam light guide type work vehicle, which can more accurately determine which side the vehicle is located, and can further enhance the effect of claim 1.

[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. 3, on the ground side, in a plurality of traveling paths for work set in the field parallel to each other, a work vehicle V for rice planting is arranged along the length direction of the traveling path. In order to guide the vehicle to travel automatically, the guiding beam light A1 that serves as a traveling guide is projected from one end side to the other end side in parallel in a set direction, that is, the length direction of the traveling stroke. A guiding laser beam projector B1 as a projection means is provided between a pair of adjacent traveling strokes in a state shared by a pair of adjacent traveling strokes of the plurality of traveling strokes, and thus, is provided to each other. The guiding beam light A1 can be projected in each of a plurality of parallel traveling strokes. The guiding laser beam projection device B1 stops at a position corresponding to the pair of traveling strokes while moving on a rail L installed vertically to the one end side of the traveling stroke in the longitudinal direction of the traveling stroke. It is supposed to do. Further, in this embodiment, the working vehicle V guided by the guiding beam light A1 is made to reciprocate in each traveling stroke while being turned by 180 degrees at both ends of each traveling stroke.

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.

As shown in FIG. 2, the guiding laser beam projector B1 includes a laser diode 21 for horizontally outputting a beam of light and a first galvanometer scanner 22 for changing the direction of the beam of light vertically downward. , The direction of the light beam changed to the vertically downward direction is returned to the horizontal direction second
It is composed of a galvano scanner 25. The second galvano scanner 25 is rotated about a horizontal axis p (perpendicular to the paper surface) by a driving device (not shown) to scan the beam light in a predetermined range in the vertical direction. The first galvano scanner 22 is driven to rotate right or left by a galvano drive device 23 around a vertical axis r (in the plane of the drawing) that forms an angle of 45 degrees with the horizontal direction. The direction can be changed from the set direction (the direction parallel to the length direction of the traveling stroke) to the right or left direction in plan view.

Further, a ground side communication means 27 for receiving transmission information from a work vehicle side communication means 19, which will be described later, is provided, and based on the reception information of the ground side communication means 27, the galvano drive device 23 1) The galvano scanner 22 is rotationally driven to change the projection direction of the guiding beam light A1 from the set direction to the right or left direction. As described above, the galvano drive device 23 constitutes a projection direction changing unit that changes the projection direction of the guiding beam light A1 from the set direction to the right or left direction based on the reception information of the ground side communication unit 27.
The guiding laser beam projection device B1, the ground side communication means 27, etc. are fixed by a mounting mechanism (not shown) on a base 24 provided at a predetermined height on the ground side, and the base 24 is mounted on the ground. It moves on the rail L installed on the side by wheels, and stops in a state where it is positioned at a predetermined position for projecting the light beam.

Explaining the structure of the work vehicle V,
As shown in FIG. 2 and FIG. 3, 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 movable up and down and stop driving. 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, and 15 is an electromagnetically-operated planting clutch that connects and disconnects the drive of the planting device 6 by the engine E. Further, a control device 16 using a microcomputer for controlling the traveling of the work vehicle V and the operation of the planting device 6 is provided, and the control device 16 controls the speed change based on detection information of various sensors described later. The motor 12, the control valves 9, 10, 14 and the planting clutch 15 are each configured to be controlled.

As shown in FIG. 1, the work vehicle V includes steering angle detection sensors R1 and R2 using potentiometers for detecting steering angles of the front and rear wheels 3 and 4, and the transmission 1.
A vehicle speed sensor R3 using a potentiometer that indirectly detects the forward / backward traveling state and the vehicle speed based on the gear shift state of 1, a direction sensor S0 using geomagnetism for detecting the orientation of the vehicle body,
An encoder S4 for counting the number of rotations of the output shaft of the transmission 11 to detect the traveling distance, a turning optical sensor S3 described later, and various sensors for a steering control optical sensor 17 described later are provided. There is. Further, work vehicle side communication means 19 is provided for transmitting command information for changing the projection direction of the guiding beam light A1 to the ground side communication means 27 and receiving transmission information from the ground side communication means 27. ing.

As shown in FIGS. 2 and 3, in order to detect the deviation of the steering position in the lateral direction of the vehicle body with respect to the beam light A1 for guiding based on the light receiving position in the lateral direction of the vehicle body, the guidance is performed. The steering control light sensor 17 for receiving the turning 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 the turning light sensor S3 for receiving the turning beam light A2 is further provided. In order to receive the turning beam light A2 from either the right or left side of the machine body, the steering control light sensor 17 is provided on each of the right and left sides of the machine body on the front side. 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. 2 and FIG. 4, the steering control optical sensor 17 is arranged so as to be positioned at a distance d in the longitudinal direction of the machine 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. 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 has a sensor center D in the lateral direction.
With reference to the position of the light receiving element located at 0, the positions X1 and X of the light receiving elements before and after receiving the guiding beam light A1
2, that is, the light receiving position can be detected. As described above, the steering control optical sensor 17 has a plurality of light receiving positions in the lateral direction of the machine body.

Then, 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 steering control means 100 and the work vehicle V reach the end portion of one travel stroke, the steering control means 100 is set in the set turning pattern toward the start end portion of the next travel stroke adjacent to the one travel stroke. A turning control unit 101 for turning the work vehicle 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, respectively.
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.

[0023]

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

In this example, the position deviation in the lateral width direction is the light receiving position of one (S1) of the pair of photosensors S1 and S2, but an error due to the inclination φ is not generated. 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. 5 and 6, 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 steering control optical sensor 17 does not receive the guiding beam light A1 after the turning operation in the set turning pattern, the steering control means 100 is operated as described above. Command information for changing the projection direction of the guiding beam light A1 from the set direction to the right or left direction is transmitted to the work vehicle side communication means 19, and this command information is transmitted to the ground side communication means 27 as described above. When the steering control light sensor 17 receives the guiding beam light A1 due to the change in the projection direction of the guiding beam light A1, the steering direction is opposite to the projection direction changing direction. It is configured to determine the direction. The details will be described below.

As shown in FIG. 7A, when the steering control light sensor 17 does not receive the guiding light beam A1 at the end of the turning operation, first, the guiding light beam A is first received.
The projection direction of 1 is changed from the set direction to the right (counterclockwise) by a predetermined angle β (FIG. 7 (b)). Then, during the change of the angle β, it is detected whether or not the steering control optical sensor 17 receives the guiding light beam A1. In the case of the figure, since the light is not received by changing the projection direction to the right direction, the change amount (angle β) for returning to the setting direction and the angle β for further changing from the setting direction to the left direction (clockwise) The total angle 2β is changed to the left (FIG. 7 (c)). Then, it is detected whether or not the steering control optical sensor 17 receives the guiding beam light A1 during the change of the projection direction from the set direction to the left. In the case of the drawing, the light receiving state is reached during this period, and the guiding beam light A1 moves leftward on the plurality of light receiving positions of the steering control optical sensor 17, so that the guiding beam light A1 is on the right side of the machine body. Will be located in. Therefore, the steering direction of the airframe for searching the guidance light beam A1 is determined to be the right direction (FIG. 7 (d)).

As described above, the steering control means 100 moves the guidance beam light A1 on a plurality of light receiving positions of the steering control optical sensor 17 by changing the projection direction of the guidance beam light A1. The direction opposite to the turning direction is determined as the steering direction. 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 is started.

Next, the operation of the control device 16 will be described with reference to the flow charts shown in FIGS. 8 to 11. In the work vehicle V, the guiding laser beam projection device B1 stopped at the first projection position. In a state of receiving the guiding beam light A1 projected from the front side of the machine body, the first traveling stroke set on one end side of the field is started to travel along the length direction thereof (see FIG. 3). The linear work control process is executed until the end of the traveling stroke is reached. Although not described in detail, in the linear work control process, based on the light receiving position information of the guiding beam light A1 by the steering control sensor 17, both light receiving positions of the pair of optical sensors S1 and S2 are at the sensor center. As described above, the steering control of the front wheels 3 is performed by the two-wheel steering system as described above. Then, when the turning optical sensor S3 travels a set distance and reaches the planting start position from the time when the turning beam light A2 projected on one end side of the traveling stroke is received, the planting device 6 is turned on. The planting work will be performed by lowering and starting driving.

The turning optical sensor S3 receives the turning beam light A2 projected on the other end side of the traveling stroke (point e), and the working vehicle V reaches the end of the traveling stroke. When confirmed, the drive 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, etc., the next turning operation is not performed, the traveling is stopped, and it is stored that the work is normally completed and all the processing is performed. finish. On the other hand, when the work is not completed, the turning control to the next traveling stroke is performed.

In the turning control process (FIG. 9), first, the above e
After traveling to point f, which is a distance a away from the point, the azimuth sensor S0 detects the current azimuth. Then, it is determined whether or not the guiding beam light A1 in the next traveling stroke is on the same trajectory as the current guiding beam light A1, and if it is not the same, a request command for moving the guiding laser beam projection device B1 to the next projection position is issued. put out. Next, the two-wheel steering type is switched to the four-wheel steering type and set to a predetermined steering angle for turning, the planting device 6 is raised, and then the speed doubling device is turned on to set a predetermined vehicle speed. Turn around. Then, 1 from the detected current azimuth before turning.
A turning operation is performed along the turning section g so as to change the direction by 80 degrees. Then, after the turning operation of the turning section g is completed (arrival at point h) and the turning operation is finished, the traveling is stopped, the steering is returned to neutral, and the guidance to the next projection position where the movement request command is issued is given. Laser beam projection device B
Wait until the movement of 1 is completed.

At the time when the turning operation is completed, it is detected whether or not the steering control optical sensor 17 receives the guiding beam light A1. The steering system is switched to the wheel steering type, and the straight ahead work control process is executed along the next traveling stroke.
On the other hand, if the steering control optical sensor 17 does not receive the guiding light beam A1, the steering direction determination process is executed.

In the steering discrimination process (FIG. 10), as shown in FIG. 7, the projection direction of the guiding beam light A1 is changed from the set direction to the right (counterclockwise) angle β. If the light receiving state is not obtained by the change to the right direction (counterclockwise direction), the angle β is changed from the set direction to the left direction (clockwise direction). When the light receiving state is set between these changes in the projection direction, the light receiving position is in the direction opposite to the direction moved on the steering control optical sensor 17, that is, when the light receiving position moves to the right, the left direction and the left direction. When moving in the direction, the right direction is determined to be the steering direction, and an instruction is given to return the projection direction of the guiding light beam A1 to the set direction. When the light receiving state is not obtained due to the change of the projection direction to both directions, an abnormal process such as activating an alarm device is performed and the control is stopped.

Next, based on the information on the determined steering direction, the steering control optical sensor 17 causes the guidance light beam A1.
The beam light search processing is performed so that the light is received. In the beam light search process (FIG. 11), after confirming that the projection direction of the guiding beam light A1 has returned to the set direction, the four-wheel steering system is switched to the parallel steering system, and a predetermined search is performed. The steering angle is set, a predetermined vehicle speed is set to start traveling, and a timer for keeping the search range within a certain range is started. If the light-receiving state is reached before the timer time expires, the traveling is stopped, the parallel steering type is switched to the two-wheel steering type, the steering neutral position is operated, and the straight-ahead work control process is performed along the next traveling stroke. To start. If the light-reception state is not reached before the timer time expires, the search is stopped and abnormal processing such as operation of an alarm device (not shown) for notifying the abnormal state is performed and the entire processing is ended.

[Other Embodiments] In the above embodiment, when the steering control means 100 does not receive the guiding light beam A1 after the turning operation, the guiding light beam A1 is generated. Is changed from the set direction to the right or left direction, and by the change, a direction opposite to the direction in which the guiding beam light A1 moves on the plurality of light receiving positions of the steering control optical sensor 17 is manipulated. Although it is shown that the steering direction is determined to be the direction, it is not always necessary to determine the steering direction based on the moving direction.
When the steering control optical sensor 17 receives the guiding beam light A1 by changing the projection direction of No. 1, information about the projection direction changing direction and the work vehicle V for the beam light projecting means B1.
It is also possible to determine the steering direction based on the direction information. That is, for example, when the projection direction is changed from the set direction to the right direction (counterclockwise) and the light receiving state is achieved, the traveling direction of the work vehicle V is the beam light projection means B.
While the steering direction is determined to be the right direction when facing the direction 1, the steering direction is determined to be the left direction when the traveling direction of the work vehicle V is opposite to the beam light projecting means B1. is there.

Further, in the above embodiment, the case where the work vehicle V is turned 180 degrees and turned to the starting end portion of the next traveling stroke when a plurality of traveling strokes are arranged in parallel is exemplified. The present invention can be similarly applied to the case where the vehicle is turned 90 degrees and turned to the start end portion of the next traveling stroke, other than the degree turning.

Further, in the above embodiment, the end of the turning motion is judged by the change in the predetermined azimuth angle (180 degrees or the like) from the azimuth of the machine body before the turning.
For example, when two ultrasonic distance sensors are juxtaposed laterally on the rear side of the fuselage and a reference member composed of a wall or the like is installed on the ground side, and the detection distances of both ultrasonic distance sensors are the same. Alternatively, it may be determined that the turning operation is completed.

In the above embodiment, the guiding beam light 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.

Further, 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 embodiment, the case where the turning of the vehicle body is performed in the four-wheel steering type in the turning operation is illustrated, 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.

Further, in the above embodiment, the present invention is applied to the traveling control device of the work vehicle for rice planting, but it is also applicable to agricultural machines other than the rice planting machine 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 given in 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.

[0043]

[Brief description of drawings]

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

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 illustrating a traveling stroke and a turning operation.

FIG. 4 is an explanatory view of a light receiving position of a steering control optical sensor.

FIG. 5 is an explanatory diagram of a set turning pattern.

FIG. 6 is a plan view illustrating the operation of the turning control means.

FIG. 7 is a schematic plan view illustrating a steering direction determination operation.

FIG. 8 is a flowchart of control operation.

FIG. 9 is a flowchart of control operation.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

[Explanation of symbols]

 V Work vehicle A1 Guidance beam light B1 Guidance beam light projection means 17 Steering control light sensor 100 Steering control means 101 Turning control means 19 Work vehicle side communication means 27 Ground side communication means 23 Projection direction changing means

Claims (2)

[Claims] 1. A guide beam light (A1) is directed in a set direction 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. A guidance beam light projection means (B1) for projecting is provided on the ground side, and the guidance beam light (A) is provided on the work vehicle (V).
1) The steering control optical sensor (17) for receiving the light, and the work vehicle (V) along the guidance light beam (A1) based on the light reception information of the steering control optical sensor (17). Steering control means (100) for controlling the steering so that the vehicle automatically travels.
As the work vehicle (V) reaches the end portion of one travel stroke, the work vehicle (V) is set in a set turning pattern toward the start end portion of the next travel stroke adjacent to the one travel stroke. ) Is a traveling control device for a beam light guide type working vehicle, wherein the working vehicle (V) is provided with working vehicle side communication means (19). Then, on the ground side, the ground side communication means (27) for receiving the transmission information from the work vehicle side communication means (19), and the guiding beam based on the reception information of the ground side communication means (27). Projection direction changing means (23) for changing the projection direction of the light (A1) from the set direction to the right or left direction is provided, and the steering control means (100) is configured to turn in the set turning pattern. After the operation, the steering control optical sensor (1
When 7) does not receive the guidance beam light (A1), the projection direction of the guidance beam light (A1) is directed to the working vehicle side communication means (19) from the setting direction to the right or left. Command information to be changed to the guide beam light (A1) and the steering control optical sensor (17) changes the projection direction of the guide beam light (A1).
A traveling control device for a beam light guide type work vehicle configured to determine a direction opposite to the projection direction changing direction as a steering direction when receiving 1). 2. The steering control light sensor (17) is provided with a plurality of light receiving positions in the lateral direction of the machine body, and the steering control means (100) controls the direction of projection of the guidance light beam (A1). By the change, the guiding light beam (A1) is configured to determine the direction opposite to the direction in which the steering control light sensor (17) moves on the plurality of light receiving positions as the steering direction. The traveling control device for the beam light guide type working vehicle according to claim 1.