JPH08194533A - Controller for beam light guidance for mobile object - Google Patents

Abstract

PURPOSE: To surely receive beam light for guidance in a stable state by performing light receiving position control for operating a light receiving position change means so as to position the light receiving position of a beam light receiving means at the center of the scanning range of beam light for guidance based on displacement state discrimination information. CONSTITUTION: A mobile object V is provided with the light receiving position change means 20 for changing the light receiving position of the beam light receiving means S1 in a vertical direction. Then, based on the information of a time interval for which the beam light receiving means S1 receives the beam light for guidance, a controller discriminates the displacement state of the light receiving position of the beam light receiving means S1 from the center position of the scanning range of the beam light for guidance. Based on the discrimination, the light receiving position control for operating the light receiving position change means 20 so as to position the light receiving position of the beam light receiving means S1 at the center of the scanning range of the beam light for guidance is performed. Thus, the beam light for guidance is surely received in the stable state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with guide beam light projection means on the ground side for projecting a guide beam light along a longitudinal direction of a guide path of a moving body in a state of vertically scanning a predetermined angle. In the moving body, a beam light receiving means for receiving the guiding light beam, and a position in the lateral direction of the moving body with respect to the guiding path based on light receiving information of the beam light receiving means, The present invention relates to a beam light guide control device for a moving body, which is provided with a control means for controlling the steering so that the moving body moves along the guide path based on the position detection information.

[0002]

2. Description of the Related Art For example, a controller for guiding a light beam of a moving body moves a guide light beam in a vertical direction along a plurality of work steps as a guide route set in a rectangular work site (field). In addition to projecting in a state of scanning at a predetermined angle, a work vehicle for rice transplanting as a moving body is provided with a beam light receiving means provided with an optical sensor having a predetermined resolution in the lateral direction, and this optical sensor is used for the guidance. The position of the work vehicle in the lateral direction with respect to the guide route is detected based on the light receiving position information received from the light beam, and the work is performed while the steering control is performed so that the position becomes the proper position in the lateral direction based on the position detection information. The vehicle is guided to travel along each work process.

[0003]

However, in the above-mentioned prior art, the beam light scanning range of the guiding beam light projected on the ground side is fixed to a predetermined angle range in the vertical direction, and the beam light on the working vehicle side is fixed. The light receiving means was also installed in the work vehicle with the light receiving position in the vertical direction fixed. So, for example,
When the work vehicle travels to a place where the ground is highly uneven or a place where the road surface is weak, the vehicle body largely tilts up and down, and as a result, the beam light receiving means causes the beam light for guiding to guide the beam light at the end of the beam light scanning range. Light is received in the vicinity, or in the worst case, the beam light receiving means is out of the beam light scanning range and cannot receive light, so position detection information in the lateral direction with respect to the guide path cannot be obtained, and proper steering control is performed. There was a problem that it could not be done.

The present invention has been made in view of the above circumstances, and an object thereof is to solve the problems of the above-mentioned prior art regardless of the conditions such as the ground state when the moving body is moving, and the moving body side. The light beam receiving means is capable of reliably receiving the light beam for guidance projected on the ground side in a stable state.

[0005]

A first characteristic configuration of a controller for guiding a beam light of a moving body according to the present invention is a light receiving position for changing the light receiving position of the beam light receiving means in the up and down direction on the moving body. Change means is provided, the control means, based on the time interval information when the light beam receiving means received the light beam for guidance, from the center position of the light beam scanning range for guidance of the light receiving position of the light beam receiving means. The light receiving position for activating the light receiving position changing means so that the light receiving position of the beam light receiving means is located at the center of the guiding light beam scanning range on the basis of the deviation state determination information. It is configured to perform control.

The second characteristic structure is that the ground side communication means is arranged on the ground side, and the projection position is changed in the vertical direction based on the information received by the ground side communication means. Means is provided, the moving body is provided with a moving body side communication means, and the control means controls the beam light receiving means based on time interval information when the beam light receiving means receives the guiding beam light. Determining the deviation state from the center position of the light beam scanning range for the guide light,
The deviation state discrimination information is transmitted to the ground side communication means via the mobile body side communication means, and the light reception position of the beam light receiving means is transmitted so that it is located at the center of the guiding light beam scanning range. The projection position control for activating the projection position changing means is performed based on the deviation state determination information.

A third characteristic configuration is the first or second aspect described above.
In the characteristic configuration of the above, the beam light receiving means is composed of a plurality of optical sensors having light receiving positions of a predetermined resolution in the lateral direction and arranged side by side at a predetermined interval in the vertical direction, and the control means includes: A direction in which the light receiving position of the beam light receiving means is deviated from the center position of the guiding light beam scanning range as the deviation state based on time interval information when each light sensor receives the guiding light beam. The point is that it is configured to determine the deviation amount.

A fourth characteristic configuration is the same as the third characteristic configuration, wherein the plurality of optical sensors are installed at predetermined intervals also in the front-rear direction of the vehicle body, and the control means controls the respective optical sensors. On the basis of the received light information, the position detection information is configured to detect a lateral displacement and inclination of the moving body with respect to the guide path.

A fifth characteristic configuration is the first or second above.
In the above characteristic configuration, the beam light receiving means is constituted by one optical sensor having a light receiving position of a predetermined resolution in the lateral direction, and the control means is configured such that the one optical sensor is the guiding beam light. On the basis of the time interval information received, the deviation amount from the center position of the guiding light beam scanning range of the light receiving position of the light beam receiving means is determined as the deviation state, and based on the deviation amount information. As a result of performing the light receiving position control or the projection position control in one operation direction with a predetermined operation amount, when the deviation amount decreases, the light receiving position control or the projection position control is continuously performed in the operation direction. The point is that when the deviation amount increases, the light receiving position control or the projection position control is performed in a direction opposite to the operating direction thereof.

[0010]

According to the first characteristic configuration of the control unit for guiding the beam light of the moving body according to the present invention, the beam light receiving means on the moving body side is a guiding beam light which is vertically scanned in a predetermined angle range on the ground side. Respectively receive light when scanned from bottom to top and from top to bottom. When the light receiving position of the light beam receiving means is located at the center of the guiding light beam scanning range, the time intervals between the two light receiving positions are equal, but the light receiving position of the light beam receiving means is set to the guiding light beam scanning range. As the time interval between the two light receptions becomes longer as the position deviates from the center position to the upper or lower side, the other becomes shorter, while the other becomes shorter, so that the light reception time interval information indicates the light reception position of the beam light receiving means. The deviation state from the central position of the guiding light beam scanning range is discriminated, and based on the information, the light receiving position changing means is operated so that the time intervals between the both light receiving sides become equal, and the light receiving position of the light beam receiving means is changed. The light receiving position control for changing in the vertical direction is performed, and the light receiving position of the beam light receiving means is positioned at the center of the guiding light beam scanning range. Then, based on the position information in the lateral direction with respect to the guide route detected from the light reception information of the light beam receiving means at that time, the moving body is steering-controlled to move along the guide route.

According to the second characteristic constitution, first, similarly to the above-mentioned first characteristic constitution, the beam light receiving means on the moving body side moves the guiding beam light on the ground side from the bottom to the top and from the top to the bottom. When scanning, the light is received respectively, and the deviation of the light receiving position of the beam light receiving means from the center position of the guiding light beam scanning range is determined based on the information on the time interval between the two light receptions. Next, the deviation state discrimination information is transmitted to the ground side communication means via the mobile body side communication means, and the time intervals between the two light receptions are equalized on the ground side based on the received deviation state discrimination information. The projection position changing means is operated to perform projection position control for changing the projection position of the guiding light beam in the vertical direction, and the light receiving position of the light beam receiving means is positioned at the center of the guiding light beam scanning range. Then, based on the position information in the lateral direction with respect to the guide route detected from the light reception information of the light beam receiving means at that time, the moving body is steering-controlled to move along the guide route.

According to the third characteristic constitution, in the first or second characteristic constitution, when the light receiving position of the beam light receiving means is located at the center of the guiding light beam scanning range, In each of the plurality of optical sensors arranged in the light receiving means in the vertical direction at predetermined intervals, the time interval between the two light receptions when the beam light is scanned from the top to the bottom or from the bottom to the top is 2
It is repeated at three different time intervals, but the difference is within a predetermined range. However, when the light receiving position of the beam light receiving means is deviated upward from the center position of the guiding light beam scanning range, the difference between the two different time intervals is that the upper optical sensor is lower in the lower optical sensor. It becomes bigger than the
When the light receiving position of the light beam receiving means is deviated downward from the center position of the guiding light beam scanning range, the difference between the two different time intervals is smaller in the lower optical sensor than in the upper optical sensor. Therefore, the direction in which the light receiving position of the beam light receiving means is deviated from the center position of the guiding beam light scanning range is determined from this, and at the same time, the deviation is detected depending on the magnitude of the difference between the two different time intervals. The quantity is determined.

Then, based on the information of the determined deviation direction and deviation amount, the light receiving position of the beam light receiving means is changed by a predetermined amount in the upward or downward direction, or the beam light projection position is changed in the downward direction. Alternatively, the light receiving position of the beam light receiving means is used for guidance by changing a predetermined amount in the upward direction (for the same deviation information, the light receiving position changing direction and the beam light projecting position changing direction are opposite). It should be located at the center of the beam light scanning range. Then, the position in the lateral direction with respect to the guide path is detected based on the information of which of the light receiving positions provided in each optical sensor at a predetermined resolution in the lateral direction at that time, and the position is moved based on the position detection information. The body is steered to move along the guide route.

According to the fourth characteristic configuration, in the third characteristic configuration, each of the plurality of optical sensors installed at a predetermined interval in the vehicle front-rear direction is provided with a predetermined resolution in the lateral direction. The lateral deviation of the moving body with respect to the guiding path is detected based on the information on which of the light receiving positions the guiding light beam is received, and the lateral displacement of each of the optical sensors is provided with a predetermined resolution. The inclination of the moving body with respect to the guiding path is detected based on the information on which of the light receiving positions the guiding light beam is received and the installation distance information of each optical sensor in the vehicle front-back direction.

According to the fifth characteristic configuration, in the first or second characteristic configuration, when the light receiving position of the beam light receiving means is located at the center of the guiding light beam scanning range, In one optical sensor that constitutes the light receiving means, the time interval between the two light receptions when the beam light is scanned from top to bottom or from bottom to top is the same, but the light reception position of the beam light reception means is for guiding. As the light beam is deviated from the center position of the beam light scanning range to the upper side or the lower side, one of the time intervals between the two light receptions becomes longer, while the other becomes shorter. The deviation amount of the light receiving position from the center position of the guiding light beam scanning range is determined. Therefore, based on this deviation amount information, the light receiving position control for changing the light receiving position of the beam light receiving means on the mobile side upward or downward by a predetermined distance, or the projection position of the guide light beam on the ground side is lowered. The projection position control is performed to change a predetermined distance upward or upward. As a result, when the deviation amount decreases, the light receiving position control or the projection position control is continuously performed in the operation direction. On the other hand, based on the deviation amount information, the light receiving position control for changing the light receiving position of the beam light receiving means on the moving body side by a predetermined distance in the upward or downward direction,
Alternatively, as a result of performing the projection position control for changing the projection position of the guide light beam on the ground side downward or upward by a predetermined distance, if the deviation amount increases, the light receiving direction is opposite to the operating direction. Position control or the projection position control is performed.

[0016]

Therefore, according to the first or second characteristic configuration of the control unit for guiding the beam light of the moving body according to the present invention, the light receiving position of the beam light receiving means on the moving body with respect to the guiding beam light scanning range. Since the change control of the light receiving position or the beam light projecting position is performed based on the information on the deviation state, the beam light receiving means is provided with respect to the guiding beam light regardless of the conditions such as the ground state when the moving body moves. The light receiving position is positioned in the center of the beam light scanning range to reliably receive the guiding light beam in a stable state, and the moving body is appropriately operated along the guiding route based on the received light information of the guiding light beam. It became possible to move in the facing state.

Further, according to the third characteristic configuration, the deviation direction of the light receiving position of the beam light receiving means on the moving body side with respect to the guide beam light scanning range is determined based on the light reception information of the plurality of photosensors arranged side by side. Since the deviation amount is discriminated, for example, in the case of one optical sensor, the information on the deviation direction cannot be obtained. On the other hand, the light receiving position or the beam light projection position is determined based on the deviation information. By setting the changing direction, the light receiving position of the light beam receiving means can be quickly and accurately positioned in the center of the light beam scanning range, and at the same time, based on the light receiving position information of a predetermined resolution in the lateral direction of each optical sensor. The position of the moving body in the lateral direction with respect to the guide route can be accurately detected, and thus the preferable means of the first or second characteristic configuration can be obtained.

According to the fourth characteristic configuration, by installing the plurality of optical sensors in the front-rear direction of the vehicle body at predetermined intervals, the light-receiving position information of each optical sensor having a predetermined resolution in the lateral direction can be obtained. Since the lateral displacement and inclination of the moving body with respect to the guide route can be accurately detected based on this, for example, in the case of one optical sensor, only the lateral deviation can be detected and the inclination cannot be detected. Compared with the above, more accurate position detection information for the guide route can be obtained, and therefore, the suitable means of the third characteristic configuration can be obtained.

According to the fifth characteristic configuration, the deviation state of the light receiving position of the beam light receiving means on the moving body side with respect to the guiding light beam scanning range is determined based on the information determined from the light receiving information of one optical sensor. Since the light receiving position or the beam light projecting position is controlled to be changed, the light receiving position of the beam light receiving means can be simplified while simplifying the configuration of the device as compared with, for example, a device in which a plurality of optical sensors are installed to determine the deviation state. Can be positioned in the center of the beam light scanning range, and thus, the preferable means of the first or second characteristic configuration can be obtained.

[0020]

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

As shown in FIG. 1, at the upper end of one reference side M1 out of a plurality of sides surrounding a rectangular work site (field) K, the lengths of adjacent sides M2 and M3 adjacent to the reference side M1 are long. Provided with an entrance / exit Mi through which the work vehicle V enters and exits along the direction, and in the longitudinal direction of the adjacent sides M2, M3,
Adjacent sides M in a state in which both end sides of the work site K are headland parts K1 and K2 and a central part is a work target part Ks.
The work vehicle V is reciprocated along the longitudinal direction of M2 and M3 to perform the reciprocal work for the work target portion Ks. After that, in both headland portions K1 and K2, the work vehicle V is
The headland work is performed on the headland portions K1 and K2 while reciprocating along the longitudinal direction of the reference side M1.
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. It is divided by boundary lines Y and Y.

The reference side M1 in the work target portion Ks
Process R1 as a plurality of guide paths lined up in the longitudinal direction of the
In order to guide the work vehicle V along each of the above, the first as the guiding beam light projection means for projecting the guiding beam light A1 in the vertical direction by a predetermined angle along the longitudinal direction of the work stroke R1. The beam light projector B1 and the first headland part K1 adjacent to the reference side M1 of the pair of headland parts K1 and K2 and the second headland part K2 adjacent to the facing side M4 facing the reference side M1. In order to guide the work vehicle V along each of the work strokes R2 as a plurality of guide paths lined up in the longitudinal direction of the adjacent sides M2, M3, the guide beam light A2 is provided along the longitudinal direction of the work stroke R2. A second beam light projecting device B2 as a guiding beam light projecting unit for projecting in a state of vertically scanning at a predetermined angle is 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 drawing, the third beam that projects the beam light A3 parallel to the beam light A2 at a position inside the projection position of the beam light A2 from the second beam light projection device B2 in the longitudinal direction of the adjacent sides M2 and M3. A light projection device B3 is provided.
Although not described in detail, each beam light projection device B1, B2,
B3 is composed of a laser device or the like.

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

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 P1 and P2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor P3 using a potentiometer that indirectly detects 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.
And a direction sensor S4 using geomagnetism for detecting the body direction of the work vehicle V.

Further, as shown in FIGS. 2 and 3, the work vehicle V has a beam for receiving the guiding light beams A1 and A2 from the first beam light projecting device B1 and the second beam light projecting device B2. Light receiving sensor S1 for steering control as light receiving means
And the work vehicle V is the first or second beam light projection device B1, B.
The second beam light projecting device B2 or the beam light A2, A1 from the first beam light projecting device B1 that intersects the beam lights A1, A2 when automatically traveling along the beam lights A1, A2 from the second beam light A1, A2. In addition, the light receiving sensor S2 for the trigger that receives the light beam A3 from the third light beam projector B3
Are provided.

The steering control light-receiving sensor S1 has both axial cores of the front wheel 3 in plan view on both left and right sides of the front portion of the vehicle body so that it can receive the beam light A1, A2 on either side of the vehicle body. A pair of left and right sensors are provided on the connecting line, and the light receiving sensor S2 for the trigger is composed of a pair of front and rear sensors S2a and S2b located in the upper center of the left and right center of the vehicle body in a plan view. It is located a predetermined distance in front of the line connecting the axes, and the rear sensor S2
b is located on a line connecting both shaft cores of the rear wheel 4. In addition, the sensor S2 for the trigger is used for the light beam A
Only the presence / absence of light reception for 1, A2 and A3 is detected.

The light receiving sensor S1 for steering control will be described. As shown in FIG. 5, a plurality of light receiving sensors S1 are arranged side by side with a predetermined distance d in the longitudinal direction of the vehicle body and a predetermined distance in the vertical direction. That is, a pair of front and rear optical sensors S1a, S1
b. Then, each optical sensor S1a, S
Reference numeral 1b denotes a plurality of light receiving elements D juxtaposed in the lateral direction of the vehicle body so as to have a light receiving position with a predetermined resolution in the lateral direction. The position of the light receiving element D0 located at the center of the sensor in the lateral direction is used as a reference. The light receiving positions of the guiding light beams A1 and A2 in the lateral direction of the vehicle body, that is, the positions X1 and X2 of the light receiving element D, respectively, can be detected. Further, in order to be able to receive the guiding beam lights A1 and A2 from the front and rear directions of the vehicle body without any difference, the incident light from the front and rear directions of the vehicle body is detected by the two optical sensors S1a and S1a. S1b
Reflecting mirrors 18 that reflect light toward the respective light receiving surfaces are provided.

Further, as shown in FIG. 2, the light receiving sensor S1 for steering control is attached to the upper end of the movable arm 19 of the hydraulic cylinder 20 for vertically moving the sensor, which is arranged so as to extend and contract in the vertical direction. The electromagnetically operated control valve 21 for operating the hydraulic cylinder 20 is the control device 16
The drive signal is received from (see FIG. 4).
As described above, the hydraulic cylinder 20 for raising and lowering the sensor constitutes a light receiving position changing means for vertically changing the light receiving position of the light receiving sensor S1.

The control device 16 controls the light receiving sensor S.
Based on the detection information of various sensors such as 1, S2 and preset work schedule information, the work vehicle V is controlled to travel and the operation of various devices such as the planting section 6 is controlled. . Then, the control device 16 is used to detect the position of the work vehicle V in the lateral direction with respect to the work strokes R1 and R2 based on the light reception information of the light receiving sensor S1 for steering control, and the position detection information is detected. Based on work vehicle V
Control means 100 is provided for controlling the steering so that the vehicle moves along the work strokes R1 and R2.

The lateral position detection of the work vehicle V by the control means 100 with respect to the work strokes R1, R2 will be described. As shown in FIG. 5, a pair of front and rear optical sensors S1.
Based on the positions X1 and X2 of the respective light receiving elements a and S1b and the distance d in the vehicle body front-rear direction from the following equation, as the position detection information, the guiding beam lights A1 and A of the work vehicle V are obtained.
The deviation x and the inclination φ in the lateral direction with respect to the two projection directions, that is, the work strokes R1 and R2 are obtained.

[0033]

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

In this example, the lateral deviation x is set to the light receiving position of one of the front and rear photosensors S1a and S1b (S1a), but an error due to the inclination φ of the vehicle body should not occur. For this purpose, a pair of front and rear optical sensors S1a, S1
The average value of the light receiving positions X1 and X2 of each b may be used. Then, the work vehicle V is subjected to steering control by setting a target steering angle such that the deviation x and the inclination φ are both 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.

Further, the control means 100 controls the light guide sensor at the light receiving position of the light receive sensor S1 based on the time interval information when the light receiving sensor S1 for steering control receives the light beams A1 and A2 for guide. A deviation state from the center position of the light scanning range is discriminated, and based on the deviation state discrimination information, the sensor elevating / lowering unit is arranged so that the light receiving position of the light receiving sensor S1 is located at the center of the guiding beam light scanning range. It is configured to perform light receiving position control for operating the hydraulic cylinder 20. Then, the deviation state is determined based on the time interval information when the optical sensors S1a and S1b installed at intervals above and below receive the guidance beam lights A1 and A2. The direction in which the light receiving position of the sensor S1 is displaced from the center position of the guiding light beam scanning range and the displacement amount are determined.

A specific description will be given below with reference to FIGS. 6 and 7, and as shown in FIG. 6A, a pair of optical sensors S1.
Photoreceptive sensor S1 represented by the vertical position between a and S1b
When the light receiving position of is at the center position c of the guiding light beam scanning range, the upper and lower photosensors S1a and S1b are deviated by the same short distance from the center position c to the upper side and the lower side. , S1b is the guiding light beam A1,
As shown in FIG. 7A, the time interval for receiving A2 is a repetition of two time intervals with slightly different time widths, and is the same for both photosensors S1a and S1b. That is, the difference between two light receiving time intervals of the upper optical sensor S1a | t1-t
2 | and the difference | t3−t4 | between the two light receiving time intervals of the lower optical sensor S1b are equal to each other with a small value.

On the other hand, as shown in FIG. 6B, for example, when the light receiving position of the light receiving sensor S1 is largely displaced upward from the center position c of the guiding light beam scanning range, Of the respective optical sensors S1a and S1b, the distance that the upper optical sensor S1a is displaced upward from the central position c is greater than the distance that the lower optical sensor S1b is displaced upward from the central position c. Therefore, as shown in FIG. 7B, each of the optical sensors S1a and S1b is connected to the guiding beam light A1,
The time interval for receiving A2 is equal to that of both optical sensors S1a and S1b.
It will be very different. That is, the difference | t1-t2 | between the two light receiving time intervals of the upper optical sensor S1a is equal to the difference | t3- between the two light receiving time intervals of the lower optical sensor S1b.
It is significantly larger than t4 |.

Therefore, based on the information on the two light receiving time intervals of the both light sensors S1a and S1b, the direction in which the light receiving position of the light receiving sensor S1 is deviated from the guiding beam light scanning range central position c is the upward direction. And the difference between the two light-receiving time intervals of the upper optical sensor S1a | t1-t2 |
Is larger, it is determined that the upward displacement of the light receiving position is larger. Then, the deviation amount is equal to the beam light A1, A
It is calculated by a predetermined calculation formula based on the conditions such as the vertical scanning angle of 2 and the vertical distance between the optical sensors S1a and S1b. Then, based on this, the hydraulic cylinder 20 for raising and lowering the sensor is contracted by the operation amount corresponding to the deviation amount so that the light receiving position is lowered. Even when the light receiving position of the light receiving sensor S1 is shifted downward from the center position c of the guiding light beam scanning range, the light receiving position control is performed in exactly the same manner except that it is upside down.

Further, the control device 16 controls the light beam A
At the intersection of A1 and A2, the work vehicle V is guided by the beam lights A1 and A2 along one of the work paths R1 and R2, and the beam light A1 along the other guide route R1 and R2.
It is configured so as to turn and move to a state guided by A2. That is, the control device 16 causes the work vehicle V to travel forward by one stroke so that the work vehicle V performs each of the work steps R1 and R2 in the reciprocating work and the headland work in the forward state, and then the work vehicle V travels forward. When V automatically travels along the guidance beam lights A1 and A2, the guidance beam light A
1, based on the light reception information of the trigger sensor S2 that receives the light beams A2 and A1 that intersect with A1 and A2, 18 from the end of each stroke to the start of the next stroke adjacent to the stroke.
It is configured to set the start position of the turning motion of 0 degree or 90 degrees.

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, the work stroke R1 farthest from the entrance Mi except for the relay work site portion R1b is taken on the right boundary line Y indicating the work start position of the start end portion thereof. It starts from the Pst point in the left direction of the figure. Therefore, along the route shown in the drawing, the vehicle is stopped at the Nh point on the way and the first seedling replenishment is performed, while the vehicle travels forward to the Pst point in the non-working state. Even after this, when the work vehicle V is stopped at the starting end of the work strokes R1 and R2 on the side of the reference side M1, the seedlings are appropriately replenished according to the consumption state of the seedlings. P
When reaching the st point, the planting device 6 is driven to start the planting work, and thereafter, the headland portions K1 and K2 on the left and right are 18
While reciprocating in each work stroke R1 while turning 0 degree, based on the detection information of the light receiving sensor S1 for steering control on the right side in the final work stroke R1 (second stroke from the top of the figure) of the work target portion Ks. While being guided by the guiding light beam A1, the vehicle travels to the end position Pen on the right boundary line Y.

After this, of the pair of headland parts K1 and K2, the first headland part K1 adjacent to the reference side M1 and the second headland part K adjacent to the opposite side M4 opposite to the reference side M1.
The above-mentioned headland work for working 2 is performed, and in the headland work, during the transition between the first headland part K1 and the second headland part K2, while the relay work site part R1b is running, Work on the relay work site part R1b, and finally, from the second headland part K2 toward the entrance Mi, the final work site part R1
It is set to work the final work site portion R1a while traveling a.

Specifically, first, in order to move from the end position Pen to the start end portion of the inner working stroke R2 of the two working strokes R2 of the second headland portion K2, the light receiving sensor S1 on the right side receives light. While being guided by the guidance beam light A1 based on the information, the vehicle moves backward from the end position Pen to the position where the front side sensor S2a receives the guidance beam light A2 on the far right side in the figure, and then switches to the forward state 90 Turn to the right, and further switch the light receiving sensor S1 to the left side, and while being guided by the guiding beam light A2 based on the light receiving information of the left light receiving sensor S1, the guiding beam light A1 projected from the side is used as a trigger. The vehicle travels in the backward state from the position where the rear sensor S2b receives the light to a position of a predetermined distance to reach the planting start position. Then, the work process R2 is automatically traveled in the forward state while being guided by the guiding beam light A2 based on the light reception information of the left light receiving sensor S1.

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

[Other Embodiments] In the above embodiment, the plurality of optical sensors constituting the beam light receiving means S1 are composed of a pair of upper and lower optical sensors, that is, two optical sensors S1a and S1b.
It may be composed of more than one optical sensor. In this case, based on the light receiving time interval information of the plurality of optical sensors, the deviation of the light receiving position with respect to the guiding beam light scanning range central position c with higher accuracy. The state can be determined.

Next, in order to control the light receiving position of the beam light receiving means (light receiving sensor S1 for steering control) that receives the guiding beam lights A1 and A2 to be located at the center of the guiding beam light scanning range. Another means of the first alternative embodiment (Fig. 8 ~
11) and a second alternative embodiment (FIGS. 12 to 13).

In the first alternative embodiment, as in the above embodiment,
On the ground side, the guide route of the work vehicle V (work strokes R1, R2)
A guide beam light projection means (first and second beam light projecting devices B1 and B2) for projecting the guide beam lights A1 and A2 in the vertical direction along the longitudinal direction of the above is provided. Furthermore, each beam light projection device B
A beam light control device 23 for centrally controlling 1 and B2 is provided, and this beam light control device 23 is provided with a ground side communication device 24 as a ground side communication means and a control device 25. The control device 25 inputs the reception information of the ground communication device 24, and outputs the laser light generator 26 provided in each of the beam light projection devices B1 and B2 and the laser light from the laser light generator 26 in the vertical direction. The control signal is output to the drive circuit 29 of the galvanometer mirror 28 that scans the.
Then, by using the control device 25, the ground communication device 24
Projection position changing means 101 for changing the projection position of the guiding light beams A1, A2 in the vertical direction based on the reception information of
Is configured.

On the other hand, in the work vehicle V, as in the above embodiment, the beam light receiving means (light receiving sensor S1 for steering control) is provided.
And a control means 100, and a work vehicle side communication device 22 as a mobile body side communication means.
Then, the control means 100 is similar to the above embodiment (see FIG. 6).
7 and FIG. 7), the light receiving position of the light receiving sensor S1 is deviated from the center position of the guiding light beam scanning range based on the time interval information when the light receiving sensor S1 receives the guiding light beams A1 and A2. To determine. Next, the control means 100 transmits the deviation state determination information to the ground side communication device 24 via the work vehicle side communication device 22 so that the light receiving position of the light receiving sensor S1 is the guiding beam light scanning range. The projection position control for operating the projection position changing means 101 is performed based on the transmitted deviation state determination information so that the projection position changing unit 101 is located at the center of the position. Specifically, in this projection position control, in the drive signal supplied from the drive circuit 29 to the galvano mirror 28, the DC level is changed while the amplitude of the AC signal for scanning is made the same, This is performed by moving the light beam scanning range up and down as indicated by a dotted line in FIG.

In the second embodiment, the control means 100 similar to the above embodiment is provided, but the beam light receiving means S is used.
1 is different from the above embodiment in that one optical sensor (for example, the optical sensor S described above) having a light receiving position with a predetermined resolution in the lateral direction is provided.
The optical sensor S1c) has the same configuration as that of 1a, and
Means (the hydraulic cylinder 20) for changing the light receiving position of the optical sensor S1c in the vertical direction is provided (FIG. 1).
3). Then, the control means 100 sets the guiding beam light scanning range of the light receiving position of the optical sensor S1c as the deviation state based on the time interval information when one optical sensor S1c receives the guiding beam lights A1 and A2. When the deviation amount from the central position is determined and the light receiving position control is performed with a predetermined operation amount in one operation direction based on the deviation amount information, when the deviation amount decreases, the operation direction is changed. Subsequently, the light receiving position control is performed, and when the deviation amount increases, the light receiving position control is performed in the direction opposite to the operating direction.

A concrete description will be given below with reference to FIGS. 14 and 15. As shown in FIG.
When the light receiving position of c is at the center position c of the guiding light beam scanning range, the optical sensor S1c of the guiding light beam A1,
The time interval for receiving A2 is the same time interval t0 as shown in FIG. On the other hand, as shown in FIG. 14B, for example, when the light receiving position of the light receiving sensor S1c is deviated to the upper side from the guiding beam light scanning range central position c, the light receiving of the light sensor S1c is performed. The interval is shown in FIG.
As shown in (b), two time intervals t5 having different time widths
It is the repetition of t6, and the difference of the time intervals | t5-t6
The larger the |, the larger the deviation amount of the optical sensor S1c from the guiding beam light scanning range central position c. Here, if the light receiving position is moved upward by a predetermined distance, the time interval difference | t5-t6 | becomes large and the amount of deviation increases. Therefore, if the light receiving position is lowered downward by a predetermined distance. , The time interval difference | t5-t6 | becomes smaller and the amount of deviation decreases, so that the light receiving position is continuously controlled downward. As a result, the time interval difference | t5-t
6 | becomes 0, and the light receiving position of the optical sensor S1c is located at the center position c of the guiding light beam scanning range. Even when the light receiving position of the light receiving sensor S1c is deviated to the lower side from the guiding beam light scanning range central position c, it can be similarly controlled to be positioned at the guiding beam light scanning range central position c.

In the description of the second alternative embodiment, the light receiving position control is shown, but the projection position control may be performed as in the first alternative embodiment. That is, in this case, the control means 100 determines that the optical sensor S1c is in the deviation state based on the time interval information when the one optical sensor S1c receives the guiding beam lights A1 and A2. The deviation amount from the central position c of the guiding light beam scanning range of the position is discriminated, and the projection position control is performed with a predetermined operation amount in one operation direction based on the deviation amount information. When the amount decreases, the projection position control is performed continuously in the operation direction, and when the deviation amount increases, the projection position control is performed in the direction opposite to the operation direction. In the second embodiment, the guide route (working process R1,
The lateral deviation x with respect to R2) can be detected, but the inclination φ cannot be detected. Instead, for example, the azimuth detection information of the azimuth sensor S4 is used, or only the lateral deviation x is detected. It may be the position detection information.

In the above embodiment, the light sensors S1a and S1b forming the light beam receiving means S1 have a light receiving position with a predetermined resolution in the lateral direction, but a plurality of light receiving elements D are arranged side by side in the lateral direction of the vehicle body. However, the present invention is not limited to this, and may include, for example, a light receiving portion that is continuous in the horizontal direction and a light passage window that has a predetermined area and that moves the front surface of the light receiving portion in the horizontal direction at a predetermined timing. .

Further, in the above embodiment, the guiding light beam A
Although the beam light projecting means B1 and B2 for projecting 1 and A2 are constituted by laser light generators or the like, they may be devices that generate beam light other than laser light.

In the above embodiment, the work vehicle R travels along the guide route while performing work such as rice planting work.
Although the configuration shown in FIG. 2 is shown, the route may be a route for guiding a moving body that simply moves without working.

In the above embodiment, the present invention is applied to the work vehicle V for rice planting as a moving body.
It can be applied to agricultural work vehicles other than rice planting and various work vehicles other than agricultural work, and the specific configuration of each part at that time is appropriately changed according to the purpose and working conditions of the work vehicle. .

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.

[Brief description of drawings]

FIG. 1 is a plan view showing an entire guide path and a projection position of a guide 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 beam light receiving means.

FIG. 4 is a block diagram of a control configuration on the work vehicle side.

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

FIG. 6 is a side view for explaining the deviation state determination of the light receiving position.

FIG. 7 is a timing chart for explaining the deviation state determination of the light receiving position.

FIG. 8 is a plan view showing an entire guide path and a projection position of a guide light beam according to a first embodiment.

FIG. 9 is a schematic side view of a work vehicle and a guiding beam light projection means of a first alternative embodiment.

FIG. 10 is a block diagram of a control configuration on the work vehicle side according to the first alternative embodiment.

FIG. 11 is a block diagram of a control configuration for changing a projection position according to the first alternative embodiment.

FIG. 12 is a schematic side view of a work vehicle and a guiding beam light projection means of a second alternative embodiment.

FIG. 13 is a block diagram of a control configuration on the working vehicle side according to a second alternative embodiment.

FIG. 14 is a side view for explaining the deviation state determination of the light receiving position according to the second alternative embodiment.

FIG. 15 is a timing chart for explaining the deviation state determination of the light receiving position of the second alternative embodiment.

[Explanation of symbols]

 V moving body B1, B2 guiding beam light projecting means S1 beam light receiving means 100 control means 20 light receiving position changing means 24 ground side communication means 101 projection position changing means 22 moving body side communication means S1a optical sensor S1b optical sensor S1c optical sensor

Claims (5)

[Claims] 1. A guide beam light projecting means (B1,) for projecting a guide beam light on the ground side along a longitudinal direction of a guide path of a moving body (V) in a state of vertically scanning a predetermined angle.
B2) is provided, and the beam light receiving means (S1) for receiving the guiding beam light and the beam light receiving means (S) are provided on the moving body (V).
The position of the moving body (V) in the lateral direction with respect to the guide route is detected based on the light reception information of 1), and the moving body (V) moves along the guide route based on the position detection information. And a control means (100) for controlling the steering so as to control the beam light of the moving body, and the light receiving position of the beam light receiving means (S1) to the moving body (V). Light receiving position changing means (2
0) is provided, and the control means (100) controls the beam light receiving means (S).
1) discriminates the deviation state of the light receiving position of the light beam receiving means (S1) from the central position of the light beam scanning region for guidance based on the time interval information of receiving the light beam for guidance, and the deviation thereof. The light receiving position changing means (20) is arranged so that the light receiving position of the light beam receiving means (S1) is located in the center of the guiding light beam scanning range based on the state discrimination information.
A controller for guiding a light beam of a moving object, which is configured to perform a light receiving position control that activates the. 2. A guidance beam light projection means (B1, for projecting a guidance beam light on the ground side along a longitudinal direction of a guidance path of a moving body (V) in a state of vertically scanning a predetermined angle.
B2) is provided, and the beam light receiving means (S1) for receiving the guiding beam light and the beam light receiving means (S) are provided on the moving body (V).
The position of the moving body (V) in the lateral direction with respect to the guide route is detected based on the light reception information of 1), and the moving body (V) moves along the guide route based on the position detection information. A controller for controlling a beam light of a moving body, which is provided with a control means (100) for controlling the steering so that the ground side communication means (24) and the ground side communication means (24) are provided on the ground side. ) Projection position changing means (1) for changing the projection position of the guiding light beam in the vertical direction based on the received information of (1).
01) is provided, the mobile body (V) is provided with a mobile body side communication means (22), and the control means (100) is provided with the beam light receiving means (S).
1) discriminates the deviation state of the light receiving position of the light beam receiving means (S1) from the central position of the light beam scanning region for guidance based on the time interval information when the light beam for guidance is received. The position state determination information is transmitted to the ground side communication means (24) via the mobile body side communication means (22), and the light receiving position of the beam light receiving means (S1) is at the center of the guiding light beam scanning range. A controller for guiding a light beam of a moving body, which is configured to perform a projection position control for operating the projection position changing means (101) based on the transmitted deviation state determination information so as to be positioned. 3. A plurality of optical sensors (S1a, S1), wherein said beam light receiving means (S1) has a light receiving position of a predetermined resolution in the lateral direction and is arranged in parallel at a predetermined interval in the vertical direction.
b), the control means (100) includes the optical sensors (S1a, S1a,
The light receiving position of the beam light receiving means (S1) is deviated from the center position of the guiding light beam scanning range as the deviation state based on the time interval information when S1b) receives the guiding light beam. The control device for guiding a beam of a moving body according to claim 1 or 2, which is configured to determine a direction and a deviation amount. 4. The plurality of optical sensors (S1a, S1)
b) is also installed at a predetermined interval in the front-rear direction of the vehicle body, and the control means (100) includes the optical sensors (S1a, S1a,
The lateral displacement and inclination of the moving body (V) with respect to the guide path are detected as the position detection information based on the light reception information of S1b).
A controller for guiding a light beam of a moving body as described above. 5. The light beam receiving means (S1) comprises a single optical sensor (S) having a light receiving position with a predetermined resolution in the lateral direction.
1c), the control means (100) includes the one optical sensor (S1).
c) sets the beam light receiving means (S) as the deviation state based on the time interval information when the guiding beam light is received.
The amount of deviation of the light receiving position of 1) from the center position of the guiding light beam scanning range is determined, and the light receiving position control or the projection position control is performed in one operation direction by a predetermined operation amount based on the deviation amount information. As a result of the above, when the deviation amount decreases, the light receiving position control or the projection position control is continuously performed in the operation direction, and when the deviation amount increases, the operation direction is opposite to the operation direction. The beam light guiding control device for a moving body according to claim 1 or 2, which is configured to perform the light receiving position control or the projection position control.