JPH09222324A - Position information detection device of working car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify the configuration of a device for detecting position information within the horizontal surface of a working car and the height information of a part to be measured of the working car. SOLUTION: A detection device has a pair of light projection means LE for projecting beams from the setting height of two setting reference positions toward horizontal direction so that the direction can be changed freely and a ground side communication means GT for communicating with a working car V at the ground side and the working car V has a light reception means 54 for detecting the light reception height of the above beams and a working car side communication means WT for communicating with the ground side communication means GT. Then, the height information of the above part to be measured is detected based on the detection information of the light reception means 54 and a position within the horizontal plane of the working car V is detected from a light projection azimuth when the light reception means 54 receives the above beams for each of a pair of light projection means LE.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position information detecting device for a work vehicle for detecting position information on a horizontal surface of a work vehicle performing agricultural work or civil engineering work, and height information of a measurement target portion of the work vehicle. .

[0002]

2. Description of the Related Art A position information detecting device for such a work vehicle detects position information in a horizontal plane of a work vehicle traveling while carrying out some work such as agricultural work or civil engineering work, and height information of a measurement target location of the work vehicle. This information is obtained, and the obtained information is used for steering control and work height control of the work vehicle. As a structure for obtaining the position information in the horizontal plane, for example, as described in Japanese Patent Publication No. Sho 64-2900, a laser beam is rotationally scanned from two reference points in the horizontal plane, and a light receiver provided for a work vehicle is provided. Detects the scanning angle when the laser beam is received with respect to each of the two reference points, and from the detected two scanning angles and the distance between the two reference points, the so-called triangulation principle of the work vehicle in the horizontal plane is used. Techniques for obtaining position information have been considered.

As a structure for obtaining the height information of the measurement target portion of the work vehicle, for example, the work vehicle is equipped with a light receiving device in which a plurality of light receiving elements are arranged in the height direction, and the reference height is set from the ground side. By projecting a horizontal beam of light to the receiver,
A technique for obtaining height information of a measurement target position based on which position of the light receiver receives the horizontal light beam is considered. Conventionally, the device for obtaining the position information in the horizontal plane and the device for obtaining the height information have been provided as separate devices.

[0004]

Therefore, the equipment structure is complicated and large, and an improvement has been desired. The present invention has been made in view of the above circumstances, and an object thereof is to provide a configuration of an apparatus for detecting position information in a horizontal plane of a work vehicle and height information of a measurement target location of the work vehicle. There is a point to simplify it.

[0005]

According to the structure described in claim 1, the light beam is projected horizontally from the two set reference positions by the pair of projecting means. The light beams projected by the pair of light projecting means are changeable in direction within a horizontal plane so that they can be received by a light receiver provided in the work vehicle. The azimuth detecting means detects the light emitting azimuth of the pair of light emitting means when the light receiver of the work vehicle receives the light beam, and the light emitting azimuth information for position detection is input to the horizontal position detecting means.

The horizontal position detecting means obtains the position information of the work vehicle in the horizontal plane from the inputted position detecting projection direction information and the distance information between the two set reference positions by the principle of triangulation. Since the position detection projection direction information is input to the horizontal position detection means, the position detection is performed between the work vehicle side communication means provided on the work vehicle and the ground side communication means provided on the ground side. Information about the light emitting direction information is transmitted and received. On the other hand, the light receiver provided in the work vehicle can detect the light receiving height of the light beam, and since the light projecting means projects the light beam in the horizontal direction from the set height, the height information detecting means The height information of the measurement target portion of the work vehicle can be detected using the height at which the light beam is projected as a reference height. In other words, a beam of light that is projected in the horizontal direction is required for both the purpose of detecting the position information of the work vehicle in the horizontal plane and the purpose of detecting the height information of the measurement target location of the work vehicle. In view of the fact that both objectives can be achieved by installing a light receiver on the work vehicle, the configuration for achieving both objectives could be reasonably simplified.

Further, by providing the structure according to claim 2, the height information detecting means provided in the work vehicle detects the height information of the measurement target portion of the work vehicle, and the work performed by the work vehicle, for example. The height of the work vehicle is adjusted, and the horizontal position detecting means also included in the work vehicle detects position information of the work vehicle in the horizontal plane and is used for steering control of the work vehicle, for example. That is, by configuring the work vehicle to obtain the position information and the height information in the horizontal plane required for the work vehicle, it is possible to perform accurate control.

Further, by providing the structure according to claim 3, the moving range of the work vehicle exists on one side with respect to the virtual line connecting the two set reference positions. In such an arrangement, the light beams projected from the pair of light projecting means are rotated at the same angular velocity, and the light beams projected from one of the reference positions are directed to the virtual line of the work vehicle. When projecting to the moving range side, by projecting the beam light projected from the other set reference position to the side where the working range of the work vehicle on the opposite side to the virtual line does not exist, The light receiver alternately receives the light beams projected by the pair of light projecting means regardless of the position of the work vehicle. Therefore,
It is possible to specify from which light projecting means the light beam received by the light receiver is projected. Although it is possible to specify which of the light projecting means is the light beam, for example, the heights of the light beams projected by the pair of light projecting means are different from each other. Considering the height variation of the receiver, it is necessary to make the difference between the heights of the two beam lights sufficiently large, and the size of the receiver also increases accordingly, resulting in an increase in the size and cost of the receiver. On the other hand, in the above-described configuration, there is no such restriction, and the size and cost of the light receiver can be reduced.

Further, by providing the structure according to the above-mentioned claim 4, the ground side communication means and the work vehicle side communication means are spread spectrum for inputting the position detection light emitting direction information to the horizontal position detection means. It is wirelessly communicated by the method. Since the spread spectrum communication method is resistant to noise and the like and the information transmission speed is high, it is possible to suppress the occurrence of an error in the position detection projection direction information due to a time delay due to communication as much as possible. Since the communication can be performed accurately, it can contribute to the improvement of the detection accuracy of the position information detection device of the work vehicle.

Further, by providing the configuration according to claim 5, the ground side communication means and the work vehicle side communication means are provided with two sets for the work vehicle side to communicate with each of the two set reference positions separately. It is equipped with a spread spectrum wireless device. Then, the two sets of wireless devices start transmitting and receiving on the front side in which the projecting directions of the corresponding light beams fall within the planned range of existence of the work vehicle, and obtain the above-mentioned position detecting projecting direction information. Transmission and reception are stopped after the end of communication. The spread spectrum type wireless device cannot maintain the communication state continuously, and is designed to stop the communication once the fixed amount of information is reached. There is also a risk that the communication may be interrupted while the necessary information is being transmitted and received between and the work vehicle side communication means. Therefore, by setting the timing of starting and stopping transmission and reception as described above, the communication state is reliably maintained within the range in which communication is planned between the work vehicle side communication means and the ground side communication means. In addition, the communication is temporarily stopped within a range in which the communication state is not necessarily maintained continuously, so that proper communication can be performed.

With the structure according to the sixth aspect, the light beams projected from the pair of light projecting means rotate in opposite directions at the same angular velocity and project from one reference position. When the light beam emitted is on the moving range side of the work vehicle with respect to the virtual line, the beam light emitted from the other set reference position is on the opposite side of the virtual line. The light is projected to the side where the moving range of the car does not exist.

The two setting reference positions are a pair of straight lines which are perpendicular to the virtual line connecting the two setting reference positions and pass through the two setting reference positions in relation to the detection accuracy of the position information. It is often set to move mainly in the area surrounded by. Therefore, when each of the light beams is rotationally scanned in the above-described manner, each of the pair of light projecting means alternately rotationally scans the existence side of the moving range of the work vehicle with respect to the virtual line, and the existence thereof. Since the rotation angle from the start of the rotational scanning on the side until the light beam is detected by the light receiver is close between the pair of light projecting means, the light receiver of the work vehicle is operated by each of the pair of light projecting means. The light receiving timings are separated as much as possible. On the side of the work vehicle, it is necessary to identify one of the two sets of wireless devices and input the position detection light emitting azimuth information to the horizontal position detection means as the beam light is received. However, since the light receiving timings are separated as much as possible as described above, the margin for the above processing is increased, and the operation can be stabilized.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an embodiment of the present invention will be described in which an agricultural tractor V (hereinafter referred to as a work vehicle V), which is an example of a work vehicle as a work machine, is installed in a field F as a work area within a predetermined range. A case will be described in which plowing work or the like is performed while automatically traveling along a plurality of work strokes L as the planned travel route provided.

Outside the field F, as shown in FIGS. 2 and 6, a laser projecting device 40, which is a pair of projecting means LE,
41 are installed at two set reference positions on the ground side whose positions in the horizontal plane are known. Laser projecting device 4
0 and the laser projecting device 41 have basically the same configuration,
The light beam is configured to be rotatable and scanned in the horizontal direction.
For the sake of convenience, the setting reference position where the laser projecting device 40 is installed is referred to as a reference position A, and the setting reference position where the laser projecting device 41 is installed is referred to as a reference position B. The positional relationship between the farm field F and the two reference positions A and B is the work vehicle V.
The farm field F, which is the movement range of, is located on one side of the virtual line C connecting the two reference positions.

Next, the structure of the work vehicle V will be described.
As shown in FIGS. 2 and 3, a vertically movable top link 26 and a pair of left and right lower links 27 that constitute a three-point link mechanism are supported by a mission case 25 on the rear side of the vehicle body 5. Through the links 26 and 27, the rotary type tiller 6 is detachably connected, and is vertically movable and tiltable. Power is transmitted to the tilling device 6 from the drive shaft 28 at the rear of the machine body, and the tilling claws inside rotate.

A pair of left and right lift arms 29 swingably driven up and down by a lifting hydraulic cylinder 13 are provided above the mission case 25. The pair of lift arms 29 and the lower link 27 form a lift rod 36 and a lower link 27. They are connected via a double-acting tilting hydraulic cylinder 23.
Here, the raising / lowering position of the tilling device 6 with respect to the vehicle body 5 can be changed by operating the lifting / lowering hydraulic cylinder 13, and the tilting hydraulic cylinder 23 can be operated to activate the vehicle body 5 of the tilling device 6.
Can be changed (the tilt in the lateral direction of the machine body around the connection point with the lift rod 36) can be changed. At the base end of one of the lower links 27, a lifting / lowering position detection sensor S1 using a potentiometer for detecting the lifting / lowering position of the tilling device 6 with respect to the vehicle body 5 as a swing angle of the lower link 27 is provided. A stroke sensor S2 is provided to detect the inclination of the tilt hydraulic cylinder 23 with respect to 5 in the machine width direction as the amount of expansion and contraction of the tilt hydraulic cylinder 23.

As shown in FIGS. 4 and 5, a rear end side of the three-point link mechanism has a connecting frame 37 which is substantially A-shaped in rear view.
Are connected to each other.
And a connecting arm 39 provided on the upper part of the tillage device 6 is provided with an engaging pin 39 for engaging with the hook 38.
a is fixed. In addition, a connecting portion 46 including a connecting pin 46a horizontally installed and fixed to the lower portion of the connecting frame 37.
And a pair of left and right plate-like engaging members 47 having a recess 47a that engages with the connecting pin 46a is fixed to the lower side of the connecting arm 39. Accordingly, when the lift arm 29 is swung upward and the tiller 6 is lifted in a state where the engagement pin 39a on the connecting arm 39 side is engaged with the hook 38 on the connecting frame 37 side, the connecting arm 39 side is lifted. The recess 47a has the connecting pin 4 on the side of the connecting frame 37.
6a, and the connecting member 46a is locked by the lock member 48.
The engagement with the recess 47a is prevented from being disengaged. That is, another working unit can be attached to the work vehicle V instead of the cultivating device 6, and the working unit is a plurality of different working units that are detachable from the vehicle body 5, that is, the cultivating device 6, FIG. 9, and FIG. It is composed of a drug spraying device 60 and the like as shown in FIG.

As shown in FIG. 1, a pair of left and right front wheels 3 and rear wheels 4 provided on the vehicle body 5 are arranged so that each pair of left and right wheels can be steerably operated separately, and steering hydraulic cylinders 7 and 8 are provided. Electromagnetically operated control valves 9 and 10 are provided. That is, a two-wheel steering system in which only the front wheels 3 are steered, and four wheels in which the front and rear wheels 3, 4 are steered in opposite phases and at the same angle.
Two types of wheel steering types can be selectively used. In addition, when traveling straight along each work stroke L, a two-wheel steering system is used in which only the front wheels 3 are steered.

In FIG. 1, E is an engine and 11 is an engine E.
, A hydraulic continuously variable transmission for simultaneously driving each of the front and rear wheels 3, 4; 12, an electric motor for gear shifting operation; 13, a hydraulic cylinder for raising and lowering; Is a hydraulic cylinder for tilting, 24 is a control valve thereof, and 15 is an electromagnetically operated plowing clutch for intermittently driving the engine E to the plowing device 6. Reference numeral 16 denotes a control device using a microcomputer for controlling the traveling of the work vehicle V, the operation of the tilling device 6, and the like. The control device 16 stores information detected by the elevation position detection sensor S1, the stroke sensor S2, and various sensors described below, Based on the work data obtained, the speed change motor 12, the control valves 9, 10, 1
4, 24, the tilling clutch 15 and the like are operated.

As sensors mounted on the work vehicle V, as shown in FIG. 1, steering angle detection sensors R1 and R2 using potentiometers for detecting steering angles of front and rear wheels 3 and 4, respectively.
A potentiometer-based vehicle speed sensor R3 for indirectly detecting the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11, and counting the number of revolutions of the output shaft of the transmission 11 to detect the traveling distance. An encoder S3 and a geomagnetic direction sensor S4 for detecting a body direction are provided.

In addition to the various sensors described above, the control device 16 of the work vehicle V includes two SS radio devices 5 which are spread spectrum type radio devices as the work vehicle communication means WT.
0, 51 and a light receiver 54 as a light receiving means are connected,
Among these SS wireless devices 50 and 51, as a communication partner with the SS wireless device 50, an SS wireless device 52, which is also a spread spectrum wireless device, is installed at the reference position A on the ground side. As a communication partner of 51,
The SS wireless device 53 is installed at the reference position B, and the SS wireless devices 52 and 53 constitute the ground side communication means GT. Therefore, two sets of spread spectrum wireless devices are installed in the entire system. The light receiver 54 includes, as shown in FIG.
Each of 4b is attached to both front and back surfaces of the support portion 54c in the vehicle front-rear direction. Light receiving panel 54a,
Both 54b are configured by arranging a large number of light receiving elements in the vertical direction, and the light receiving position can be detected in the height direction.

Each of these SS radio devices 50, 51, 52,
53 and the light receiver 54 are the laser projecting device 40,
Together with 41, it is used to detect the position information of the work vehicle V traveling in the field F in the horizontal plane and the height information of the measurement target location of the work vehicle V. Hereinafter, the process of detecting the position information and the like of the work vehicle V in the horizontal plane by these devices will be described. First, detection of position information of the work vehicle V in the horizontal plane will be described. The laser projecting device 40 and the laser projecting device 41 are synchronously operated by a synchronizing circuit (not shown) so as to rotate and scan the beam light by 360 degrees in the opposite directions at the same angular velocity. In order to detect the projection azimuth of the rotationally scanned light beam, absolute type rotary encoders 42 and 43 connected to the rotary shaft for the rotary scanning are provided as a pair of azimuth detecting means DD. Laser projecting device 4
The light beam emitted by 0 and the light beam emitted by the laser projecting device 41 are, at a certain point in time, as shown in FIG.
The phase relationship is set so as to have the same direction along a virtual line C connecting the reference position A and the reference position B. From this point,
As shown in (b), FIG. 7 (c) and FIG. 7 (d), the light beam at the reference position A is rotationally scanned in the clockwise direction, and the light beam at the reference point B is rotationally scanned in the counterclockwise direction. .

In the state where the light beam is shown in FIG. 7A, the SS wireless device 50 of the work vehicle V is in the data transmission state by the transmission command from the SS wireless device 52 at the reference position A, and the SS wireless device at the reference position A is in the data transmission state. The device 52 is in a data receiving state. On the other hand, the SS wireless device 51 of the work vehicle V and the SS wireless device 53 of the reference position B temporarily stop transmitting and receiving data after the state shown in FIG. From the state shown in FIG.
When the light beam is rotationally scanned to the state shown in FIG. 7B, the light receiver 54 of the work vehicle V receives the light beam from the reference position A. As shown in FIG. 8, a control device 1 for the work vehicle V
When the horizontal position detector 16a provided in 6 receives the light reception signal from the light receiver 54, the data being transmitted to the SS wireless device 52 at the reference position A is composed of data different from the transmission data up to that point. A light reception signal is sent, and the fact that the light receiver 54 has received light is transmitted. Since the work vehicle V side alternately receives the light beam from the reference position A and the light beam from the reference position B, whether the received light beam is from the reference position A or from the reference position B. It can be specified.

The control device 55 provided at the reference position A is
From the output of the rotary encoder 42 at the time when the light receiving signal is detected from the demodulated signal, the beam light and the projection direction are obtained and stored as the direction in which the moving vehicle V exists, that is, the position detection direction information α. While such processing is being performed between the work vehicle V and the reference position A, the light beam from the reference position B rotationally scans the virtual line C on the opposite side to the side where the field F exists. During this time, the azimuth information β for position detection, which is the azimuth in which the work vehicle V is obtained while scanning the field F immediately before, is transmitted to the work vehicle V.

From the state shown in FIG. 7B, the state shown in FIG.
When the rotary scanning is performed up to the state shown in Fig. 5, the data transmission / reception between the SS wireless device 50 of the work vehicle V and the SS wireless device 52 of the reference position A is temporarily stopped, and then the SS wireless device 52 of the reference position A is transmitted from the work vehicle The position detection direction information α stored in the control device 55 is transmitted to the V SS wireless device 50. On the other hand, between the SS wireless device 53 at the reference position B and the SS wireless device 51 at the work vehicle V, a transmission command from the SS wireless device 53 at the reference position B is sent on the near side to the state of FIG. 7C. In response to this, the SS wireless device 51 of the work vehicle V shifts to the data transmission state.

When the state shown in FIG. 7C is rotationally scanned from the state shown in FIG. 7D, the beam light from the reference position B is incident on the light receiver 54, and the beam shown in FIG. Similarly to the case of (3), the controller 56 provided at the reference position B stores the position detection direction information β newly detected. This FIG.
By repeating the processes of (a) and (2), the horizontal position detection unit 16a of the work vehicle V receives the position detection direction information α from the reference point A and the position detection direction information β from the reference point B. The horizontal position detection unit 16a sequentially inputs the position detection direction information α and β and the previously input distance W between the reference positions A and B on the horizontal plane of the work vehicle V on the principle of triangulation. Seek location information at.

The output values of the rotary encoders 42 and 43 when the light beam is in the direction along the imaginary line C, which serves as a reference for the light beam projection direction, are detected when the work of the work vehicle V is started. In order to detect the light emitting direction that is the reference,
The laser light projecting devices 40 and 41 are respectively provided with light receivers 40a and 4a.
1a is provided in the vicinity of the emission position of the light beam, and the light beams from the reference positions A and B are rotated and scanned as described above to the light receiver 54 of the work vehicle V. By transmitting and receiving at the time when each of the light receivers 40a and 41a receives the light beam of the other side by the SS wireless devices 52 and 53 by the same method as detecting the projection direction at the time when the light beam enters. , Detects the reference projection direction.

Further, an SS radio device for communicating between the reference position A and the reference position B is separately provided so that the reference azimuth is not detected only when the work is started as described above. It is also possible to detect every rotation. By doing so, even if the detection error of the projection direction due to the time delay of the data transmission between the SS wireless devices fluctuates due to temperature or the like, the fluctuation can be compensated.

Next, the detection of height information of the measurement target portion of the work vehicle V will be described. In addition, in this Embodiment, the said measurement object location is the tilling apparatus 6 of the working vehicle V. FIG. When the light receiver 54 of the work vehicle V receives the light beam from the reference position A or the reference position B, the light reception signal of the light receiver 54 is also input to the height information detection unit 16 b of the control device 16.
As described above, the light receiver 54 can detect the light receiving position in the height direction, and the light receiving position is also input to the height information detecting unit 16b. Since the height information detection unit 16b sets the height of the light beam to a known set height and stores the information in advance, the information on the light receiving position from the light receiver 54 indicates the work vehicle V The absolute height information of the vehicle body 5 can be detected.
In addition, the tilling device 6 is detected based on the detection information of the up-and-down position detection sensor S1.
Since the height of the cultivating device 6 with respect to the vehicle body 5 is known, the absolute height of the tiller 6 can be detected.

Therefore, the horizontal position detecting section 16a of the control device 16 of the work vehicle V functions as the horizontal position detecting means HD for detecting the position information of the work vehicle V in the horizontal plane, and the height information detecting section 16b operates It functions as height information detecting means VD for detecting height information of the measurement target portion of the vehicle V. The position information of the work vehicle V in the horizontal plane obtained as described above is used for the work vehicle V to travel along the work stroke L of the field F, and specifically, the position information in the horizontal plane. The control valves 9 and 10 for steering control are controlled so that the deviation between the work stroke L stored as and the actually detected position information in the horizontal plane falls within the set range.

With such steering control, the work vehicle V
6 starts traveling from the start point St of the first work stroke L located on the rightmost side in FIG. 6, travels straight along each stroke by two-wheel steering, and is adjacent from the end portion of each work stroke L. Routes e to f that start a turning operation of 180 degrees after traveling straight for a predetermined distance from the end point e toward the start end of the work stroke L and reach the end point f of the turning operation via a predetermined turning section g are desired. In the turning pattern which is the turning locus, the turning operation is performed by the four-wheel steering, and after turning, the reciprocating traveling in the opposite direction is repeated to travel the entire range of the field F. Then, based on the height information of the measurement target location of the work vehicle V, the lifting hydraulic cylinder so that the absolute height of the tilling device 6 maintains the set height at the appropriate work location in each work stroke L. The control valve 14 of 13 is controlled.

[Other Embodiments] Other embodiments will be listed below. In the above-mentioned embodiment, the pair of light projecting means LE is constituted by the two laser projecting devices 40 and 41 completely independently, but one laser light source is divided into two by the half mirror. Each of the light beams may be projected from the reference positions A and B. In the above-described embodiment, the control device 16 of the work vehicle V obtains the position information of the work vehicle V in the horizontal plane. However, the control devices 55 and 56 on the ground side obtain the position information of the work vehicle V to perform the work. The steering control command may be transmitted to the vehicle V.

In the above embodiment, the laser projecting devices 40 and 41 are configured to rotate and scan the beam light.
The light receiver 54 of the work vehicle V is configured by, for example, PSD,
The deviation of the position of the light beam received by the light receiver 54 from the standard position is transmitted as an error signal to the ground side, and the projection direction of the laser projecting devices 40 and 41 is controlled by the error signal, whereby the laser The light beams emitted by the light projecting devices 40 and 41 may be configured to automatically track the work vehicle V. In the above-described embodiment, the position detection azimuth information α and β corresponding to the reference positions A and B are transmitted to the SS wireless devices 52 and 5, respectively.
However, the light beams may be modulated at high speed before being transmitted. In the above embodiment, the light beams from the reference positions A and B are alternately applied to the light receiver 54 to specify from which reference position the light beams are emitted. May be modulated at high speed with different signals to specify from which reference position the light beam is. In the above embodiment, an agricultural tractor is illustrated as the work vehicle V, but the work vehicle V can also be applied to an excavation work vehicle for civil engineering work such as a backhoe.

Incidentally, although reference numerals are given in the claims for convenience of comparison with the drawings, 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 work vehicle according to an embodiment of the present invention.

FIG. 2 is a side view showing the light projecting means of the work vehicle according to the embodiment of the present invention.

FIG. 3 is a perspective view showing a main part of the work vehicle according to the embodiment of the present invention.

FIG. 4 is a side view showing a main part of the work vehicle according to the embodiment of the present invention.

FIG. 5 is a front view showing a main part of the work vehicle according to the embodiment of the present invention.

FIG. 6 is a plan view showing a work stroke of the work vehicle according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram of position detection according to the embodiment of the present invention.

FIG. 8 is a block diagram of a main part according to the embodiment of the present invention.

FIG. 9 is a side view showing a configuration example of the work vehicle according to the embodiment of the present invention.

FIG. 10 is a plan view showing a configuration example of a work vehicle according to an embodiment of the present invention.

[Explanation of symbols]

 54 Light receiving means DD Direction detecting means GT Ground side communication means HD Horizontal position detecting means LE Light projecting means V Work vehicle VD Height information detecting means WT Work vehicle side communication means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Koji Yoshikawa 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72) Ryozo Kuroiwa 64, Ishizukita-machi, Sakai City, Osaka Kubota Sakai Manufacturing Co., Ltd. (72) Inventor Hiroshi Suzuki 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72) Inventor Atsushi Masudome 64, Ishizukita-machi, Sakai City, Osaka Prefecture (72) Invention Person Masanori Fujiwara 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd.

Claims (6)

[Claims] 1. A position information detecting device for a work vehicle, which detects position information of a work vehicle (V) in a horizontal plane and height information of a measurement target portion of the work vehicle (V), wherein From a set height at each of the two set reference positions, a pair of light projecting means (LE) for projecting the beam light in a horizontal direction so that the light beam can be redirected, and a light projecting means of each of the pair of light projecting means (LE). A pair of azimuth detecting means (DD) for detecting the azimuth and a ground side communication means (GT) for communicating with the work vehicle (V) are provided, and the work vehicle (V) has a reception height of the light beam. A light receiving means (54) capable of detecting the ground and the ground side communication means (GT)
And a work vehicle side communication means (WT) for communicating with the work vehicle side, and each of the pair of light projecting means (LE) outputs the light beam so that the light beam is received by the light receiving means (54). Height information detection means (VD) configured to change the direction of light projection and for detecting height information of the measurement target portion of the work vehicle (V) based on the detection information of the light receiving means (54). ) Is provided, and a pair of position detection light emitting azimuth information, which is the light emitting azimuth when the light receiving means (54) receives the light beam, for each of the pair of light emitting means (LE). , The work vehicle (V) from the distance information between the two set reference positions.
A horizontal position detecting means (HD) for detecting the position of the vehicle in the horizontal plane is provided, and the position detecting projection direction information is communicated between the ground side communication means (GT) and the work vehicle side communication means (WT). A position information detection device for a work vehicle configured to be obtained by the above and input to the horizontal position detection means (HD). 2. The position information detection device for a work vehicle according to claim 1, wherein the height information detection means (VD) and the horizontal position detection means (HD) are provided on the work vehicle (V). 3. The moving range of the work vehicle (V) is set so as to exist on one side with respect to an imaginary line connecting the two set reference positions, and the pair of light projecting means (LE) comprises: Each of the light beams projected from them is rotated in the projection direction at the same angular velocity, and the light beams projected from one set reference position are applied to the work vehicle (V) with respect to the virtual line. The light beam projected from the other set reference position is projected to the opposite side to the virtual line when projecting to the moving range side of FIG. Alternatively, the work vehicle position information detection device described in item 2. 4. The position information detecting device for a work vehicle according to claim 3, wherein the ground side communication means (GT) and the work vehicle side communication means (WT) are configured by a spread spectrum wireless device. 5. The two sets of spectrums are provided by the ground-side communication means (GT) and the work vehicle-side communication means (WT) corresponding to the light beams projected from the respective two set reference positions. Each of the two sets of wireless devices is configured to include a diffusion type wireless device, and the transmission directions of the corresponding beam lights start transmission and reception on the front side of the working vehicle (V) within the planned existence range. The position information detecting device for a work vehicle according to claim 4, wherein the transmission / reception is stopped after the communication for obtaining the position detection light emitting direction information is completed. 6. The position of the work vehicle according to claim 5, wherein the pair of light projecting means (LE) is configured to rotate the respective light beams projected from the light projecting means in directions opposite to each other. Information detection device.