JPH0876842A - Light receiving device for beam light guide type working vehicle - Google Patents

Abstract

PURPOSE: To accurately detect the position shift and the tilt of the body of a working vehicle in the width direction of the vehicle body by suppressing the variance of the light receiving position that is caused by the rolling or the pitching of the vehicle body. CONSTITUTION: A pair of light reception sensors S1 and S2 having a resolution are placed side by side along the lengthwise direction of a long light receiving surface D with a space secured between them. A pair of light reflection means H1 and H2 reflect the guide beam light at almost the same positions set in the horizontal and vertical directions of the body of a working vehicle and make the reflected light incident on the surface D. When the projecting direction of the guide beam light is set orthogonal to the lengthwise direction of the surface D in terms of the planar view, the means H1 and H2 reflect the guide beam light at the same positions in the lengthwise direction of the surface D. Meanwhile, the means H1 and H2 reflect the guide beam light at different positions in the lengthwise direction of the surface D when the projecting direction and the lengthwise direction of the surface D are tilted against the orthogonal state of them in terms of the plane view. Furthermore, the distance between the reflecting positions of both means H1 and H2 increases to the surface D as the tilt angle increases.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a beam light guide type work vehicle for receiving the guide beam light in order to detect a position and an inclination in a direction orthogonal to the projected guide beam light in plan view. The present invention relates to a light receiving device.

[0002]

2. Description of the Related Art In the light receiving device for a beam light guide type work vehicle of the above type, conventionally, for example, in order to guide the work vehicle to automatically travel along each of a plurality of travel paths, a guide beam is used. Light is projected along the longitudinal direction of the travel,
A pair of light-receiving sensors for detecting light-receiving positions in a direction orthogonal to the guiding light beam (for example, a vehicle widthwise direction) are spaced from each other in the vehicle body front-rear direction, and one light-receiving sensor is a beam to the other light-receiving sensor. In order to prevent the incidence of light from being impeded, they were arranged side by side in a vertically shifted position. By the way, based on the light receiving positions of the pair of light receiving sensors and the distance information in the longitudinal direction of the vehicle body, the positional deviation of the work vehicle in the direction orthogonal to the guiding light beam (for example, the lateral direction of the vehicle body) and the inclination of the vehicle body with respect to the longitudinal direction of the traveling stroke. Is detected,
The work vehicle is steered and controlled so as to follow each traveling stroke on the basis of the detection information of the positional deviation and the vehicle body inclination, and travels along the plurality of traveling strokes to perform work.

[0003]

However, in the above-mentioned prior art, the guiding light beam is received by the pair of light receiving sensors which are arranged at intervals in the longitudinal direction of the vehicle body and are vertically displaced from each other. , There were the following problems. That is, when rolling of the vehicle body (inclination in the lateral width direction) occurs during traveling, the sensor located on the upper side is more affected by the rolling than the sensor located on the lower side. When the vehicle pitches more greatly (inclination in the front-rear direction) while traveling, the distance between the front-side sensor and the rear-side sensor in the front-rear direction of the vehicle in plan view becomes smaller. A shift of the light receiving position occurs due to the reduction. for that reason,
Based on the light reception information of the pair of light reception sensors, a detection error is to be generated when detecting the positional displacement and inclination of the vehicle body in the vehicle body lateral width direction.

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 without being affected by rolling or pitching of the vehicle body which occurs during traveling as much as possible. An object of the present invention is to provide a light-receiving device for a beam light guide type working vehicle, which can accurately detect the positional deviation of the working vehicle in the lateral direction of the vehicle body and the inclination of the vehicle body.

[0005]

A first characteristic structure of a light receiving device for a beam light guide type working vehicle according to the present invention is a pair of light receiving devices having resolution along the light receiving surface longitudinal direction of a long light receiving surface. The sensors are arranged side by side with a space therebetween, and a pair of light reflecting means for reflecting the guiding beam light at substantially the same position in the front-rear direction and the up-down direction of the vehicle body to enter the light-receiving surfaces is provided, and the pair of light beams is provided. The reflecting means reflects the guiding beam light to the same position in the light receiving surface longitudinal direction of each of the light receiving surfaces when the projection direction of the guiding light beam and the light receiving surface longitudinal direction are orthogonal to each other in a plan view. When the projection direction of the guiding light beam and the light receiving surface longitudinal direction are tilted from the orthogonal state in a plan view, the guiding light beam is reflected to different positions in the light receiving surface longitudinal direction of each light receiving surface. And that In that it is configured to reflect a state of increasing the distance between the reflection position with respect to the respective light-receiving surface by the light reflecting means larger the inclination angle.

In a second characteristic configuration, the pair of light receiving sensors are arranged in the vertical direction, and the pair of light reflecting means is provided between the pair of upper and lower light receiving sensors in the vertical direction. Arranged with an upper reflector for the upper sensor of the sensors and a lower reflector for the lower sensor, the distance from the upper reflector to the upper sensor, and the lower reflector to the lower sensor. It is set to be different from the distance to the sensor.

A third characteristic configuration is that one of the two reflectors, which has a shorter distance to the upper or lower sensor, is a flat reflector, and the one having a longer distance. Is that the reflector is composed of a convex reflector.

In the fourth characteristic configuration, as the pair of light reflecting means, two types are provided corresponding to the respective guiding light beams whose projection directions with respect to the respective light receiving surfaces are opposite in plan view. It is in.

[0009]

According to the first characteristic configuration of the present invention, as shown in FIGS. 6 and 7, the light receiving surfaces of the pair of light receiving sensors S1 and S2 arranged side by side at right angles are orthogonal to each other in plan view. The guiding beam light A1 (shown by a dotted line in FIG. 7) projected in this state is reflected by the pair of light reflecting means H1 and H2 at substantially the same positions in the vehicle front-rear direction and the up-down direction, and the pair of light-receiving sensors S1. , S2 are incident on the same position in the light receiving surface longitudinal direction of each light receiving surface D. On the other hand, the guiding beam light A1 (shown by the one-dot chain line in FIG. 7) that is obliquely projected from a state orthogonal to the light-receiving surface longitudinal direction of the pair of light-receiving sensors S1 and S2 in a plan view includes a pair of light-reflecting means H1. It is reflected by H2 at almost the same position in the front and rear and up and down directions of the vehicle body,
As the tilt angle φ increases, the pair of light receiving sensors S1 and S1 of the pair of light receiving sensors S1 and S2 are located at different positions in the light receiving surface longitudinal direction.
The light enters in a state in which the distance X1-X2 between the reflection positions X1 and X2 with respect to each light receiving surface D of S2 increases.

Assuming that the vehicle body is tilted in the lateral direction at a rolling angle θr as shown in FIG. 10, the guiding beam light A1 incident on each of the pair of light receiving sensors S1 and S2 is directed in the vertical direction of the vehicle body. Since the light is reflected at substantially the same position, the difference Δx between the light receiving positions of the pair of light receiving sensors S1 and S2 caused by rolling of the vehicle body becomes small enough to be ignored. Assuming that the vehicle body is tilted in the front-rear direction by pitching as illustrated in FIG. 11, the guiding beam light A1 is reflected by the reflecting means H1 and H2 at substantially the same position in the front-rear direction of the vehicle body. After that, the light enters from the reflection position to each of the pair of light receiving sensors S1 and S2 via each distance d1 and d2, and the pitch d of the vehicle body changes the distance d between the pair of light receiving sensors S1 and S2 (the difference between the distances d1 and d2). Without this, the light receiving positions of the light receiving sensors S1 and S2 do not change (see FIGS. 6 and 7). Therefore, for example, a case where the positional deviation in the lateral direction of the vehicle body is detected based on an average value of the light receiving positions of the pair of light receiving sensors S1 and S2 and the light receiving positions of the pair of light receiving sensors S1 and S2, and Difference (X1-X2) between the light receiving positions of the light receiving sensors S1 and S2 in the lateral direction of the vehicle body and the pair of light receiving sensors S1 and S2.
On the basis of the information of the interval d (d1-d2) of two, for example, when detecting the inclination of the vehicle body with respect to the longitudinal direction of the traveling stroke, it is possible to suppress the influence of detection error due to rolling of the vehicle body and pitching. it can.

Further, according to the second characteristic configuration, as shown in FIGS. 6 and 7, the pair of light receiving sensors S1 and S2, which are arranged side by side in the vertical direction, are longitudinally aligned with the light receiving surfaces of the pair of light receiving sensors S1 and S2. Beam light A projected orthogonally at
1 (indicated by a dotted line in FIG. 7) is reflected by the upper reflector M1 and the lower reflector M2 at substantially the same positions in the front-rear direction and the vertical direction of the vehicle body, respectively, and then passes through different distances d1 and d2, and Although the light is incident on each light receiving surface D of the sensors S1 and S2, the light reflected from each of the reflectors M1 and M2 is orthogonal to the light receiving surface longitudinal direction in a plan view, and thus the upper and lower sensors S1 and S2. The light is incident on the same position in the longitudinal direction of each light receiving surface. On the other hand, the guiding beam light A1 (indicated by the one-dot chain line in FIG. 7) projected obliquely from the state orthogonal to the light receiving surface longitudinal direction of the pair of light receiving sensors S1 and S2 in a plan view is
After being reflected by the upper reflector M1 and the lower reflector M2 at substantially the same positions in the front-rear direction and the vertical direction of the vehicle body, different distances d
Although the light is incident on each of the light receiving surfaces D of the upper and lower sensors S1 and S2 via 1 and d2, the reflectors M are projected at an angle from the orthogonal state in a plan view with the light receiving surface longitudinal direction.
Reflected light from M1 and M2 includes sensors S1 and
Incidents at different positions in the longitudinal direction of each light receiving surface of S2 are such that the greater the above-mentioned tilt angle φ, the greater the distance X1-X2 between the reflection positions X1, X2 with respect to each light receiving surface D of each light receiving sensor S1, S2 becomes. To do.

Further, according to the third characteristic configuration, as shown in FIG. 6, the guiding beam light A1 is provided with a convex reflector M1 which is an upper reflector and a lower reflector at substantially the same positions in the front-rear direction and the vertical direction of the vehicle body. After being reflected by the plane reflector M2 which is a side reflector, the distance d1 where the light reflected by the convex reflector M1 (upper reflector) reaches the light receiving surface of the upper sensor S1 is lower than the plane reflector M2 (lower The light reflected by the side reflector) is the sensor S2 on the lower side.
The light reflected by the convex reflector M1 and the planar reflector M2 is incident on the light receiving surface D of each of the light receiving sensors S1 and S2 in a state of being longer than the distance d2 to the light receiving surface.

Assuming that the vehicle body is inclined in the front-rear direction by pitching as illustrated in FIG. 12,
The guiding beam light A1 is incident with an angle θ1 upward or an angle θ2 downward with reference to the incident direction (horizontal direction) when there is no pitching. Then, as shown in (a), if a flat reflector HM indicated by a chain double-dashed line in the figure is installed instead of the convex reflector M1, the angle θ1 is inclined upward and the angle θ2 is inclined downward. The incident light beams A1a and A1b have inclination angles θ1 and θ2,
The respective reflected lights A1a 'and A1b' are reflected in a direction not incident on the light receiving sensor S1, whereas the convex reflector M1 works to reduce the deviation of the reflection direction due to the inclination angles θ1 and θ2. The reflected light is incident on the light receiving sensor S1. On the other hand, as shown in (b), in the other plane reflector M2, the distance d2 to the light receiving sensor S2.
Is short, even if there is a deviation in the reflection direction due to the tilt angles θ1 and θ2, the state where the light does not enter the light receiving sensor S2 does not occur.

Further, according to the fourth characteristic configuration, when the guiding beam light is projected from one side to each light receiving surface of the pair of light receiving sensors in plan view, a pair of two light reflections are provided. One pair of light reflecting means of one of the means reflects the guiding light beam toward each light receiving surface, and the guiding light beam is projected from the one side in a plan view in the projection direction of the guiding light beam. When projected from the opposite side, the other pair of light reflecting means of the two types of light reflecting means provided reflects the guiding beam light toward each light receiving surface.

[0015]

As described above, according to the first characteristic configuration of the present invention, even if rolling or pitching of the vehicle body occurs during traveling, it is possible to suppress fluctuations in the light receiving positions of the pair of light receiving sensors. Therefore, based on the light receiving position information of the pair of light receiving sensors, it is possible to detect the position shift of the working vehicle in the lateral direction of the vehicle body, the inclination of the vehicle body, etc. as accurately as possible.

Further, according to the second characteristic configuration, by arranging the pair of light receiving sensors in the vertical direction, a particularly planar installation space of the light receiving device can be made small, and various other types can be mounted on the work vehicle. A sufficient space for installing the device can be ensured, and therefore, a suitable means for implementing the first characteristic configuration can be obtained.

According to the third characteristic configuration, for example, the distance from the upper or lower reflector to the light receiving sensor is greater than that when both the upper and lower reflectors are flat reflectors. The far side can be reflected by a convex reflector so that the beam light can be surely made incident on the light receiving sensor, and for example, one of both reflectors is a convex reflector and the other is a concave reflector. In comparison, since at least one of them is a flat reflector, the device can be simplified, and a suitable means for implementing the second characteristic configuration can be obtained.

According to the fourth characteristic configuration, the guiding beam light projected in the opposite direction (for example, from the front side of the vehicle body and the rear side of the vehicle body) is received by the light receiving sensor in plan view, and Since it is possible to detect the position and inclination of the work vehicle in the direction orthogonal to the guidance light beam, for example, when the guidance light beam is projected in one direction in the longitudinal direction of a plurality of traveling strokes in which the work vehicle travels. In addition, the work vehicle can be smoothly reciprocated along each travel path, and therefore, suitable means for implementing the first, second, or third characteristic configuration can be obtained.

[0019]

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

As shown in FIG. 4, in a plurality of work traveling strokes set in a field parallel to each other, the rice planting work vehicle V is guided so as to automatically travel along each of the traveling strokes. In order to do so, the guiding laser beam projector B1 for projecting the guiding beam light A1 which serves as a guide for the traveling along the longitudinal direction of the traveling stroke is provided with a pair of adjacent traveling strokes among the plurality of traveling strokes. The guide beam light A1 is provided between the pair of traveling strokes in a state of being shared by the two, so that the guiding beam light A1 can be projected in each of a plurality of parallel traveling strokes. Although not described in detail, the guiding beam light A1 is scanned within a predetermined angle range in the vertical direction (see FIG. 5).

Further, the turning beam light A2 for indicating the positions of both end portions in the longitudinal direction of the traveling stroke and for indicating the starting position of the turning operation for the next traveling stroke is the guiding beam light A1. A laser beam projection device for turning B2 for projecting in a direction orthogonal to the direction of projection of is provided at a lateral position in the field where the traveling strokes are aligned, corresponding to both ends in the longitudinal direction of the traveling strokes. There is. As a result, as the working vehicle V reaches the end portion of each traveling stroke, the working vehicle V is turned by 180 degrees toward the starting end portion of the next traveling stroke and reciprocally travels each traveling stroke. The planting work in a predetermined range of fields can be continuously and automatically performed.

Explaining the structure of the work vehicle V,
As shown in FIGS. 4 and 5, a seedling planting device 6 is provided at a rear portion of a vehicle body 5 including a pair of left and right front wheels 3 and rear wheels 4 so that the seedling planting device 6 can be moved up and down and can be stopped. Further, as shown in FIG. 1, the front and rear wheels 3 and 4 are composed of a pair of left and right wheels so that the front and rear wheels can be individually steered, and steering hydraulic cylinders 7 and 8 and electromagnetic operation type cylinders for them are provided. Control valve 9,
And 10 are provided. In other words, a two-wheel steering system that steers only one of the front wheels 3 or the rear wheels 4, the front and rear wheels 3,
It is now possible to select and use three types of steering types: a four-wheel steering type that steers 4 in the opposite phase and at the same angle, and a parallel steering type that steers the front and rear wheels 3, 4 in the same phase and at the same angle. There is.

In FIG. 1, 11 is a hydraulic continuously variable transmission that shifts the output from the engine E to drive the front and rear wheels 3 and 4 at the same time, 12 is an electric motor for gear shifting operation, 1
3 is a hydraulic cylinder for raising and lowering the planting device 6, 14 is a control valve thereof, 15 is an electromagnetically-operated planting clutch for intermittently driving the planting device 6 by the engine E, 16 is traveling of the work vehicle V, and A control device using a microcomputer for controlling the operation of the planting device 6, wherein the shifting motor 12 and the control valves 9, 1 are based on detection information from various sensors described later.
0, 14 and the planting clutch 15 are each activated.

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

Further, as shown in FIGS. 4 and 5, in the plan view, the guiding light beam A1 projected as described above.
Steering control as a light receiving device for receiving the guiding beam light A1 in order to detect the deviation of the steering position, that is, the position and inclination of the vehicle body 5 in the direction (horizontal width direction of the vehicle body) orthogonal to the guiding beam light A1. The optical sensor 17 is provided on the right side in the lateral direction of the work vehicle V on the front side of the vehicle body. Further, a turning optical sensor S3 for receiving the turning beam light A2.
However, the turning beam light A2 from either side of the vehicle body
Are provided on the left and right sides of the vehicle body on the front side of the steering control optical sensor 17, respectively. 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 in more detail. As shown in FIGS. 5 to 7, a resolution is provided along the light-receiving surface longitudinal direction of the elongated light-receiving surface D (lateral direction of the vehicle body). The pair of light receiving sensors S1 and S2 are arranged side by side in a state of being spaced apart in the vertical direction. Further, the guiding beam light A1 is reflected between the pair of upper and lower light receiving sensors S1 and S2 at substantially the same position in the front-rear direction and the up-down direction of the vehicle body and is incident on each light-receiving surface D of the light receiving sensors S1 and S2. The pair of light reflecting means H1 and H2 are provided as a pair of light receiving sensors S.
1 and S2, the upper reflector M1 for the upper sensor S1 and the lower reflector M2 for the lower sensor S2 are provided. Then, the pair of light reflecting means H
1 and H2, which correspond to the respective guidance beam lights whose projection directions with respect to the respective light receiving surfaces D are opposite in plan view.
6, that is, a pair of light reflecting means H1 and H2 corresponding to the guiding light beam A1 from the left side of FIG. 6 and a pair of light reflecting means H1 ′ corresponding to the guiding light beam A1 ′ from the right side of FIG. , H2 ′ are provided. The pair of right side light reflecting means H1 ′, H2 ′ is composed of an upper reflector M1 ′ for the upper sensor S1 and a lower reflector M2 ′ for the lower sensor S2.

The above-mentioned two types of pair of light reflecting means have the same structure except that they are symmetrical, and hereinafter, the pair of light reflecting means corresponding to the guiding beam light A1 from the left side of FIG. The specific configuration will be described by taking H1 and H2 as an example. The distance d1 from the upper reflector M1 to the upper sensor S1 and the lower reflector M2 to the lower sensor S2.
Is set to be different from the distance d2 (specifically d1> d2). Then, the both reflectors M1 and M2
The reflector S2, which has a shorter distance to the lower sensor S2, is composed of a plane reflector composed of a plane mirror, and the reflector M1 having a longer distance is formed from a semi-cylindrical convex mirror. It is composed of a convex reflector.

The resolution of each light receiving surface D of the pair of light receiving sensors S1 and S2 will be described. As shown in FIG.
Each light receiving surface D is divided into a plurality of light receiving positions Dn having a predetermined width along the longitudinal direction, and the plurality of light receiving positions Dn are formed.
With reference to the center position D0 in the longitudinal direction of n, the positions in the light receiving surface longitudinal direction of the light receiving positions D1 and D2 that have received the guiding beam light A1 are detected as distances X1 and X2 from the center position D0. It is configured to be able to.

Then, the pair of light reflecting means H1, H2
When the projection direction of the guiding beam light A1 and the light receiving surface longitudinal direction are orthogonal to each other in a plan view (state shown by a dotted line in FIG. 7), the guiding beam light A1 is received on each light receiving surface D. When the light is reflected at the same position Dn in the longitudinal direction and the projection direction of the guiding beam light A1 and the light-receiving surface longitudinal direction are inclined from the orthogonal state in a plan view (the state shown by the chain line in FIG. 7), The beam light A1 for light is received at different positions D1 and D2 in the longitudinal direction of the light receiving surface D (one light reflecting means H1
(The reflection position by D1 is D1 and the reflection position by the other light reflecting means H2 is D2), and the inclination angle φ is larger, the reflection positions D1, D2 of the respective light reflecting means H1, H2 with respect to each light receiving surface D are It is configured to reflect with a large distance | X1-X2 | between them.

The control device 16 is configured to detect the position and inclination of the work vehicle V with respect to the guiding beam light A1 based on the light reception information of the steering control optical sensor 17. The detection of the position and the tilt will be described. As shown in FIG. 7, different reflection positions D1 and D1 on the light receiving surfaces D of the light receiving sensors S1 and S2, respectively.
The distances X1 and X2 of D2, the distance d1 from the upper reflector M1 to the upper sensor S1 and the lower reflector M.
Based on the difference d of the distance d2 from 2 to the sensor S2 on the lower side, the position x and the inclination φ in the lateral direction of the vehicle body with respect to the projection direction of the guiding beam light A1 are obtained from the following equation (1). By the way, in the equation of the inclination φ, it is understood that the larger the inclination angle φ, the larger the distance | X1-X2 | between the different reflection positions D1 and D2 on the light receiving surfaces D of the light receiving sensors S1 and S2.

[0031]

## EQU1 ## φ = tan ^-1 (| X1-X2 | / d) x = (X1 + X2) / 2) ... (1)

Then, the control device 16 controls the position x
Further, the work vehicle V is configured to travel along each of the plurality of travel strokes while controlling the steering based on the detection information of the inclination φ. That is, when the vehicle travels straight along each traveling stroke, the target steering angle is set so that both the inclination φ and the position x become zero, and steering control is performed in a two-wheel steering manner. When the vehicle travels from the end of the vehicle toward the beginning of the next traveling stroke, the work vehicle V is turned in the set turning pattern. Specifically, FIG. 8 and FIG.
As shown in FIG. 5, the point where the turning optical sensor S3 detects the turning beam light A2 is defined as e, and from this point e, a point f traveled a distance a based on the detection information of the encoder S4. The set turning pattern is set so that the paths e to h starting the turning operation of 180 degrees and reaching the end point h of the turning operation via the predetermined turning section g are the desired turning loci. The steering control in the turning traveling is started in the latter half of the turning section g when the position x and the inclination φ of the work vehicle V can be detected based on the information of the steering control optical sensor 17. It

Next, the operation of the control device 16 will be described with reference to the flow charts shown in FIGS. 2 and 3. In the work vehicle V, the guiding laser beam projection device B1 is used.
In the state in which the guiding beam light A1 projected from the vehicle is received from the rear side of the vehicle body, the first traveling stroke set on one end side of the field starts traveling from one end side to the other end side along the longitudinal direction thereof. (See FIG. 4).

After the start of traveling, the inclination φ of the vehicle body 5 and the lateral position x detected by the steering control sensor 17 based on the received light information of the guiding light beam A1 are both set to zero. As described above, the steering control of the front wheels 3 is performed by the two-wheel steering system. Then, as the turning optical sensor S3 travels a set distance from the time when the turning beam light A2 projected on one end side of the traveling stroke is received and reaches the planting start position, the planting device is installed. 6 is lowered and the driving is started, and the planting work is started.

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

Then, the turning operation is continued until it passes through the midpoint of the turning section g, and in the latter half of the turning section g after passing through the midpoint, the steering control sensor 17 outputs the guiding light beam A1. While checking whether light is received, the turning operation is continued until the turning end point (point h). Turn end point (h
When the guidance beam light A1 is received before reaching the point), the four-wheel steering system is switched to the two-wheel steering system and the steering based on the light reception information of the steering control sensor 17 in the next traveling stroke. Start control.

On the other hand, if the guidance beam light A1 is not received before the turning end point (point h) is reached, the guidance beam light A1 is received by switching from the four-wheel steering system to the parallel steering system. Move the car body laterally. The direction in which the vehicle body is laterally moved when the guide light beam A1 is not received is the right side of the vehicle body traveling direction. Then, when the guidance beam light A1 is received, the parallel steering system is switched to the two-wheel steering system and the steering control based on the light reception information of the steering control sensor 17 in the next traveling stroke is started.

[Other Embodiments] In the above embodiment, although each of the light receiving sensors S1 and S2 has resolution along the longitudinal direction of the elongated light receiving surface D, the light receiving surface D has a plurality of light receiving areas of a predetermined width. Although the divided structure is shown at the position Dn, the present invention is not limited to this. For example, the elongated light receiving surface D constitutes one photodetector as a whole, and a shutter in which the light transmitting portion moves along the light receiving surface longitudinal direction is provided in front of the elongated light receiving surface D. It may be possible to detect that the guiding beam light A1 is received at a plurality of positions in the longitudinal direction of the light receiving surface based on the position information of the light transmitting portion of the shutter and the light receiving information of the light receiving surface D.

In the above embodiment, the pair of light receiving sensors S1,
Although S2 is arranged vertically in the vertical direction, it does not necessarily have to be the vertical direction. For example, S2 may be arranged obliquely in the vertical direction slightly inclined to the vehicle front side or the rear side from the vertical direction.

In the above embodiment, the distances d1 from the upper reflector M1 to the upper sensor S1 are changed from the lower reflector M2 to the lower sensor S2 in order to make the distances from the respective reflectors to the light receiving sensor different. The distance d2 from the lower reflector M2 to the lower sensor S2 is larger than the distance d1 from the upper reflector M1 to the upper sensor S1. May be longer.

In the above embodiment, of the two reflectors M1 and M2, the reflector M2, which has a shorter distance to the light receiving sensor (lower sensor S2), is a flat reflector, and the distance is long. Although the reflector M1 of the other side is configured by the convex reflector, it is not limited to this combination. For example, both the reflectors M1 and M2 may both be plane reflectors, or the reflector having the shorter distance may be a concave reflector and the reflector having the longer distance may be a convex reflector. , Various combinations are possible.

In the above embodiment, the pair of light reflecting means H1,
As H2, the guiding light beams A1 and A1 ′ whose projection directions with respect to the light receiving surface D of the light receiving sensor S are opposite in plan view
Although two types corresponding to each are provided, only one type (for example, one corresponding to the guiding beam light A1 from the front side of the vehicle body) may be provided without providing two types. In this case,
It is necessary to reverse the projection direction of the guidance light beam A1 in the adjacent travel processes.

In the above embodiment, the pair of light reflecting means H is used.
One reflector M1 and one reflector M2 provided for H2
1, M2 (flat mirror or convex mirror),
Other than a mirror, for example, a prism or the like can be used as long as it is a means for reflecting light, and the number of reflectors may not be one but may be a plurality of reflectors.

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.

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 optical sensor 17 for receiving the guidance beam light A1 is provided on the right side in the lateral direction of the vehicle body. Not on the left side. Alternatively, the guiding beam light A1 may not be shared by a pair of adjacent strokes, and one guiding beam light A1 may be projected in each traveling stroke. In this case, the steering control light sensor 17 is used. Is not necessarily provided on one side in the lateral direction of the vehicle body, and may be provided at the central upper position.

Further, in the above embodiments, the present invention is applied to the light receiving device for the beam light work vehicle for rice planting, but it is also applicable to agricultural machines other than rice planting machines and various traveling work vehicles. Then, the specific configuration of each part in that case can be variously changed.

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

[Brief description of drawings]

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

FIG. 2 is a flowchart of control operation.

FIG. 3 is a flowchart of control operation.

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

FIG. 5 is a schematic side view showing a work vehicle and a guidance light beam projection state.

FIG. 6 is a schematic side view showing the configuration of a light receiving device.

FIG. 7 is a schematic plan view showing a light receiving sensor and a light receiving position on its light receiving surface.

FIG. 8 is a plan view illustrating a turning operation.

FIG. 9 is an explanatory diagram of a set turning pattern.

FIG. 10 is a front view for explaining the operation of the light reflecting means.

FIG. 11 is a side view illustrating the operation of the light reflecting means.

FIG. 12 is a side view for explaining the operation of the light reflecting means.

[Explanation of symbols]

 D Light receiving surface S1 Light receiving sensor S2 Light receiving sensor H1 Light reflecting means H2 Light reflecting means M1 Lower reflector M2 Upper reflector

Claims (4)

[Claims] 1. A light receiving device for a beam light guided working vehicle, which receives the guiding light beam for detecting a position and an inclination in a direction orthogonal to the projected guiding light beam in plan view. A pair of light-receiving sensors (S1, S2) having resolution along the light-receiving surface longitudinal direction of the long light-receiving surface (D) are arranged side by side with an interval, and the guiding beam light is transmitted to the front and rear and up and down of the vehicle body. A pair of light reflecting means (H1, H2) for reflecting the light at substantially the same position in the direction to enter each of the light receiving surfaces (D) is provided, and the pair of light reflecting means (H1, H2) is seen in a plan view. When the projection direction of the guiding light beam and the light receiving surface longitudinal direction are orthogonal to each other, the guiding light beam is reflected at the same position in the light receiving surface longitudinal direction of each of the light receiving surfaces (D), and in plan view. Projection direction of the guiding light beam And the light receiving surface longitudinal direction are tilted from the orthogonal state, the guiding beam light is reflected at different positions in the light receiving surface longitudinal direction of each light receiving surface (D), and the tilt angle is large. A light receiving device for a beam light guide type work vehicle, which is configured to reflect light in a state where a distance between reflection positions of the light reflecting means (H1, H2) with respect to the light receiving surfaces (D) is increased. 2. The pair of light receiving sensors (S1, S2)
Are arranged in the vertical direction, and between the pair of upper and lower light receiving sensors (S1, S2), the pair of light reflecting means (H1, H2) is the upper side of the pair of light receiving sensors (S1, S2). The upper reflector (M1) for the sensor (S1) and the lower reflector (M2) for the lower sensor (S2), the upper reflector (M1) to the upper sensor (S1).
2. The light-receiving device for a beam light guided working vehicle according to claim 1, wherein a distance from the lower reflector (M2) to a distance from the lower sensor (S2) are different from each other. 3. The reflector (M2) having a shorter distance to the upper or lower sensor (S1, S2) of the two reflectors (M1, M2) is a flat reflector. The light-receiving device for a beam light guided work vehicle according to claim 2, wherein the reflector (M1) having the longer distance is formed of a convex reflector. 4. The pair of light reflecting means (H1, H2) are provided in two types corresponding to the respective guiding beam lights whose projection directions with respect to the respective light receiving surfaces (D) are opposite in plan view. A light receiving device for a beam light guide type working vehicle according to claim 1, 2 or 3.