JPH0937608A - Control information detector of working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the device capable of stably detecting the height of a working device on a beam projected on the side of the ground without being affected by the conditions of soil surface, ground surface, etc. SOLUTION: A working device 6 is attached to a vehicle body 5 in a state capable of being lifted on the basis of the vehicle body with an actuator 13 for lifting the working device, and a beam-projecting means B1 for projecting a standard beam A1 in a vertically scanning state in a set cycle and at a set angle is disposed on the side of the ground. A beam-receiving means 17 for receiving the standard beam A1 is installed on the working device 6, and the height of the working device 6 on the beam is determined on the basis of a light-receiving time interval information of the beam-receiving means 17 about the standard beam A1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control information detecting device for a work vehicle in which a work device is attached to a vehicle body such that the work device can be moved up and down by an elevator actuator.

[0002]

2. Description of the Related Art A control information detecting device for a work vehicle described above is a seedling planting device (working device) that is moved up and down by a hydraulic cylinder or the like that is an actuator for raising and lowering the body of a work vehicle for rice planting that runs in a field. (Equal to), to obtain the height information such as the ground height of the seedling planting device, for example, as control information for automatically controlling so that the seedling planting device is maintained at an appropriate height. Conventionally, for example, the vertical position of a float sensor floating on a mud surface, or the height is detected based on the detection information of an ultrasonic sensor that detects the distance based on the time difference when the projected ultrasonic waves are reflected from the ground. Was.

[0003]

However, in the above-mentioned prior art, for example, in the float sensor, when the mud surface sways due to traveling of the work vehicle, the vertical position fluctuates under the influence of the swing of the mud surface, and The ultrasonic type sensor is affected by the unevenness of the ground and the detected value fluctuates. In any case, it is easily affected by the disturbance, and the height of the working device (planting device) can be detected stably. could not. Therefore, there is a problem in properly performing height control such as maintaining the working device at a predetermined height based on the height detection information.

The present invention has been made in view of the above circumstances, and a first object thereof is to eliminate the problems of the above-mentioned prior art without being affected by conditions such as mud and ground, It is an object of the present invention to provide a control information detection device for a work vehicle that can stably detect the height of the work device.

The second purpose is to use the means for achieving the first purpose, and control information required when the work vehicle automatically travels along the guide route set in the field. Another object of the present invention is to provide a control information detecting device for a work vehicle capable of detecting the lateral position and the longitudinal distance of the vehicle body with respect to the guide route.

[0006]

In order to achieve the first object, according to the structure of claim 1, the light receiving means installed in the working device attached to the vehicle body in a state in which the lifting actuator can freely perform the lifting operation. However, on the ground side, the reference beam light projected in the state of being vertically scanned at the set angle at the set period is received when being scanned from the bottom to the top and from the top to the bottom. At that time, for example, when the light receiving means is located at the center of the beam light scanning range, the time intervals between the two light receptions are equal, but the height of the working device changes from this state to the upper side or the lower side. When the light receiving means is displaced to the upper side or the lower side from the center position of the beam light scanning range, one of the time intervals between the two light receptions becomes longer and the other becomes shorter as the deviation state becomes larger. From the above, the vertical position of the light receiving means, that is, the height with respect to the light beam of the working device is obtained from the light receiving time interval information of the light receiving means.

Therefore, since the height of the working device attached to the vehicle body with respect to the beam light is obtained based on the information received from the reference beam light projected on the ground, compared with the conventional float sensor or ultrasonic sensor, The height of the working device can be stably detected without being affected by the mud surface or the ground condition, and the lifting actuator is operated based on the height detection information to maintain the working device at a predetermined height. It is possible to properly control the height of the above.

Further, according to the structure of claim 2, in the structure of claim 1, for example, the upper light receiving part of the pair of light receiving parts installed at a predetermined distance in the vertical direction is the center of the beam light scanning range. , The time interval between the two light receptions when the light beam is scanned from the top to the bottom or from the bottom to the top is equal to that of the work device of the working device from this state. When the height is changed to the upper side or the lower side and the upper light receiving portion 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 above two light receptions becomes long and the other becomes short. At this time, the difference in the light receiving timing of both light receiving units,
For example, as illustrated in FIG. 9, the light receiving timing of the lower light receiving section S2 follows the light receiving timing of the upper light receiving section S1 because the time interval is long when the light is shifted upward. On the other hand, when the deviation occurs in the lower part of the interval t2 (the starting point of t3 in (b) of FIG. 9) at the beginning of the interval t2, the beginning of the interval t1 having the shorter time interval. Occurs during the period (starting point of t3 in FIG. 9C). From this, for example, when the upper light receiving portion S1 is located in the center of the beam light scanning range as a reference position, the deviation direction of whether the height of the working device has become higher or lower is determined.

Therefore, based on the light receiving information of the pair of light receiving portions which are located apart from each other in the vertical direction, the height of the working device is deviated from the reference position in either the upper direction or the lower direction. Since it can be determined that only one light receiving unit is deviating, but the direction of the deviation cannot be determined, it is possible to obtain more accurate height information of the working device. For example, the height control for maintaining the working device at the proper height can be more accurately performed based on the information on the deviation direction, and the preferable means of the configuration of claim 1 can be obtained.

According to the structure of claim 3, in the structure of claim 2, for example, when the upper light receiving portion is located at the center position of the light beam scanning range, the light receiving time interval of the light receiving portion is
Although the time interval of the same time width is repeated,
And as illustrated in (b) or (c) of FIG. 9, as the working device is displaced to the upper side or the lower side and the displacement amount is larger,
The time difference between the two light receiving time intervals t1 and t2 of the upper light receiving section S1 becomes large. Then, the time difference becomes a value determined by a predetermined calculation formula based on the conditions such as the vertical scanning angle of the light beam and the vertical distance between the light receiving units S1 and S2. From this, as the height information of the working device, for example, the upper light receiving portion S
The height of the working device when 1 is located in the center of the scanning range of the beam light is set as the set height within the scanning range of the reference light beam, and the deviation amount at which the working device is deviated from the set height. Are discriminated together with the information on the deviation direction.

Therefore, as the height information of the working device, for example, the direction deviated from the reference position and the amount of the deviation can be detected, so that more accurate height information of the working device can be obtained. Based on the information on the deviation direction and the deviation amount, the height control for maintaining the working device at the proper height can be more advantageously performed, and the preferable means of the configuration of claim 2 can be obtained.

Next, in order to achieve the above second object,
According to the structure of claim 4, in the structure of claim 1, 2 or 3, the reference beam light is projected in a state along the longitudinal direction of the guide route for guiding the work vehicle in plan view, and the reference beam light is projected. Is received by at least one of the pair of light receiving portions at a light receiving position of a predetermined resolution provided in a direction intersecting the projection direction of the reference beam light in plan view, and based on the information of the light receiving position, A position such as a lateral deviation with respect to the guide path is detected.

Therefore, the position of the vehicle body with respect to the guide path is detected by using the light beam on the ground side and the light receiving means on the vehicle body side provided for detecting the height of the working device. Therefore, using the position detection information, It is possible to control the work vehicle to automatically run while properly steering along the guide route, and thus the preferable means of the configuration of claim 1, 2 or 3 can be obtained.

Further, according to the structure of claim 5, in the structure of claim 4, the reference beam light along the longitudinal direction of the guide path for guiding the work vehicle is installed at a predetermined distance in the longitudinal direction of the vehicle body. In both of the pair of light receiving units, light is received at a light receiving position of a predetermined resolution provided in a direction intersecting with the projection direction of the reference beam light in a plan view, and light receiving position information about the reference beam light of both light receiving units and Based on the distance information in the vehicle front-rear direction, the inclination of the vehicle body in the beam projection direction, that is, the guidance path in plan view can be obtained.

Therefore, since both the position in the lateral direction with respect to the guide route and the inclination in plan view are detected as the position information for the guide route of the vehicle body, for example, only the position in the lateral direction with respect to the guide route is detected. In comparison with the above, when the work vehicle is automatically driven along the guide route using the position detection information, more accurate steering operation can be performed,
Therefore, the preferable means of the constitution of the above-mentioned claim 4 can be obtained.

According to the structure of claim 6, in the structure of claim 4 or 5, as illustrated in FIG. 10, the distance a1 from the beam light projection means B1 is equal to the set angle of the reference beam light A1 ( Scan angle 2θ) and set cycle (scan cycle T)
And a coefficient k1 determined from the difference (time difference) Δt in the light receiving timings of the pair of light receiving portions S1 and S2 that are separated by the vertical distance b, and the height detection information H of the working device, that is, the pair of light receiving portions S1 and S2.
It is calculated by the formula below.

[0017]

## EQU00001 ## a1 = (k1.b.T / 4) / (tan θ.Δt)

Therefore, the distance from the light beam projecting means, that is, the position of the vehicle body in the longitudinal direction of the guide path is detected by utilizing the light beam on the ground side and the light receiving means on the vehicle body side, so that another distance detecting means is provided. Without providing a wheel encoder or the like, it is possible to determine that the vehicle arrives at the end of the route, for example, and perform control such as moving from the end to the beginning of the next route. Therefore, it is possible to obtain the preferable means of the configuration of claim 4 or 5.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a case where the control information detecting device for a work vehicle according to the present invention is applied to a work vehicle for rice planting will be specifically described with reference to the drawings.

As shown in FIG. 1, in order to automatically drive the work vehicle V along each of the work paths L as a plurality of guide paths set in the field and arranged in parallel with each other, the work path L is automatically traveled.
A state in which the guiding light beam A1 is scanned in the up-down direction at a set period T at a set angle 2θ along the longitudinal direction of the (see FIG. 2).
The beam light projection device B1 as the beam light projection means for projecting at is shared by a pair of adjacent work steps L of the plurality of work steps L.

Explaining the structure of the work vehicle V,
As shown in FIGS. 1 to 3, a pair of left and right front wheels 3 and rear wheels 4 are provided.
A seedling planting device 6 as a working device is attached to the rear part of the vehicle body 5 provided with the 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. The front and rear wheels 3 and 4 are configured so that each pair of left and right wheels can be steered independently, and steering hydraulic cylinders 7 and 8 and electromagnetic control valves 9 and 10 for them are provided. That is, a two-wheel steering system that steers only one of the front wheels 3 or the rear wheels 4, a four-wheel steering system that steers the front and rear wheels 3, 4 in opposite phases and at the same angle, and the front and rear wheels 3, 4 in the same phase. In addition, it is possible to selectively use three types of steering types, that is, a parallel steering type that steers at the same angle.

In FIG. 3, 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. A hydraulic cylinder for raising and lowering as an ascending / descending actuator that operates 6 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, and 16 traveling and planting of the work vehicle V. A control device using a microcomputer for controlling the operation of the device 6, which is based on detection information from various sensors to be described later and work data stored in advance, the shift motor 12, the control valves 9, 10, 14 , And each of the planting clutch 15 are controlled.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 3, steering angle detection sensors R1 and R2 using potentiometers for detecting steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor R3 that uses a potentiometer to indirectly detect the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission device 11, and an encoder S4 for detecting the traveling distance by counting the number of rotations of the output shaft of the transmission device 11.
And a direction sensor S5 using geomagnetism for detecting the body direction of the work vehicle V.

As shown in FIGS. 1 and 2, in order to detect the deviation of the steering position in the lateral direction of the vehicle body with respect to the guiding light beam A1, the beam light is used in order to be detected based on the light receiving position in the lateral direction of the vehicle body. Guiding light beam A from the projection device B1
Steering control optical sensor 17 as light receiving means for receiving 1
Is installed at the right end of the seedling planting device 6.

The steering control optical sensor 17 will be described in more detail. As shown in FIG. 4, a pair of light receiving portions are arranged at a predetermined distance d in the longitudinal direction of the vehicle body and at a predetermined distance in the vertical direction. The optical sensors S1 and S2 are provided as a plurality of light receiving elements D1 and S2. Light receiving element D located in the center of the sensor
With reference to the position of 0, the light receiving position of the guiding light beam A1 in the lateral direction of the vehicle body, that is, the positions X1 and X2 of the light receiving element D can be detected. Further, in order to be able to receive the guiding beam light A1 from any direction before and after the vehicle body with no difference, the incident light from each direction before and after the vehicle body is respectively received by both optical sensors S1 and S2. A reflecting mirror 18 that reflects the light toward the light receiving surface is provided.

The control device 16 controls the traveling of the work vehicle V based on the detection information of various sensors such as the steering control optical sensor 17 and the preset work schedule information, and the planting section 6 and the like. Is configured to control the operation of the various devices of Then, using the control device 16, position detecting means 102 for detecting the position of the vehicle body 5 with respect to the work stroke L based on the light receiving position information of the steering control light sensor 17 with respect to the guiding beam light A1. Is configured.

The position detection by the position detecting means 102 will be described in detail. As shown in FIG. 4, the position X1 of each light receiving element of the front and rear photosensors S1 and S2 is detected.
Based on X2 and the distance d in the vehicle front-rear direction, the work stroke L of the vehicle body 5 is calculated as the position detection information from the following equation.
The inclination φ in plan view with respect to the (beam projection direction), and
The lateral deviation x with respect to the work stroke L is determined.

[0028]

## EQU2 ## 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 S1 and S2 (S1), but an error due to the inclination φ of the vehicle body should not occur. Therefore, the average value of the light receiving positions X1 and X2 of the front and rear photosensors S1 and S2 may be used.

Then, the control device 16 sets the target steering angle of the work vehicle V so that the deviation x and the inclination φ are both zero, and is a two-wheel steering type in which only the front wheels 3 are steered. The vehicle travels along each work stroke L, and when each work stroke L is reached, a turning operation is performed in the set turning pattern toward the starting end portion of the next work stroke L. Specifically, as shown in FIG. 5, the vehicle travels a predetermined distance from the terminal end of the work stroke L (indicated by point e) based on the detection information of the encoder S4, and then makes a 180 degree turning motion from the point f. Paths e to h that start and go to the end point h of the turning motion through a predetermined turning section g
The turning pattern is set so that is the desired turning trajectory.

Further, by using the control device 16, the height of the seedling planting device 6 with respect to the beam light is set based on the light receiving time interval information on the reference beam light A1 of the steering control optical sensor 17. The required height detecting means 100 is configured. That is, the height detection means 100 detects the seedling planting device 6 from the light receiving time interval information of one of the pair of light receiving portions S1 and S2 and the light receiving timing difference information of the pair of light receiving portions S1 and S2. Determine the height for the light beam. Specifically, the height detection means 100 determines, as the height information, the deviation amount and the deviation direction in which the planting device 6 deviates from the set height within the scanning range of the reference beam light. To do.

Referring to FIGS. 8 and 9, hereinafter, as shown in FIG. 8A, for example, the upper light receiving portion S1 of the pair of light receiving portions S1 and S2 installed vertically at a predetermined distance. Is located at the center c of the beam light scanning range, the time intervals t1 and t2 between the two light receptions when the light beam is scanned from the top to the bottom or from the bottom to the top in the light receiving portion S1 on the upper side thereof. However, as shown in (b), when the height of the planting device 6 is increased and the upper light receiving portion S1 is deviated from the central position c of the beam light scanning range to the upper side, the time interval between the two light receptions is increased. One t2 becomes long and the other t1 becomes short. At this time, the difference between the light receiving timings of the two light receiving portions S1 and S2, that is, the light receiving timing of the lower light receiving portion S2 follows the light receiving timing of the upper light receiving portion S1 (start point of t3 in the figure). Is the interval t of the longer time interval.
The interval t1 that occurs in the first period of 2 and has a shorter time interval
Does not occur in On the contrary, when the height of the planting device 6 is lowered and the upper light receiving portion S1 is deviated downward from the central position c of the beam light scanning range, as shown in (c), the upper light receiving portion S1 The light receiving timing of the light receiving portion S2 on the lower side with respect to the light receiving timing follows (start point of t3 in the figure)
It occurs in the beginning period of the interval t1 having the shorter time interval, and does not occur in the interval t2 having the longer time interval. Than this,
When the upper light receiving portion S1 is located at the center c of the beam light scanning range, the deviation direction of whether the height of the planting device 6 has become higher or lower is determined with the reference position as the reference position.

Further, as shown in (a) of FIGS. 8 and 9,
The light receiving time interval of the light receiving section S1 at the center position c of the light beam scanning range is a repetition of the time intervals t1 and t2 having the same time width, but as shown in (b) or (c), When it is deviated to the upper side or the lower side, the degree (time difference) in which the time widths of the two time intervals t1 and t2 of the light receiving unit S1 on the upper side are different increases as the deviation amount increases. Then, the time difference becomes a value determined by a predetermined calculation formula based on the conditions such as the vertical scanning angle 2θ of the light beam A1 and the vertical distance b between the light receiving units S1 and S2. From this, as the height information of the planting device 6, for example, the planting device 6 when the upper light receiving portion S1 is located at the center c of the beam light scanning range.
Is set as the set height within the scanning range of the reference light beam, and the displacement amount by which the planting device 6 is displaced from the set height is determined together with the displacement direction determined as described above. .

Further, by using the control device 16, the set angle 2θ of the reference beam light A1 and the set period T are set.
The distance a1 from the light beam projection device B1 is detected based on the information, the difference Δt information of the light reception timings of the pair of light receiving portions S1 and S2, and the height detection information for the light beam of the seedling planting device 6. The distance detecting means 102 is configured. Hereinafter, the distance detection will be described in detail. As illustrated in FIG. 10, the pair of light receiving units S1 and S1.
2 is located at a distance a1 from the beam light projection device B1, there is a relationship of the following expression (1) between the distance a1, the scanning angle 2θ, and the beam scanning width a2. The vertical distance b between the light receiving portions S1 and S2, the beam scanning width a2,
The scanning cycle T and the working device, that is, the pair of light receiving portions S1,
The difference (time difference) Δt between the light receiving timings of the pair of light receiving portions is expressed by the following equation (2) by the coefficient k1 determined from the height detection H information of S2. Therefore, from equations (1) and (2), a2
Is turned off, the distance a from the light beam projection means B1
1 will be detected as represented by equation (3).

[0035]

[Formula 3] 2 · a1 · tan θ = a2 (1) Δt = k1 · (b / a2) · T / 2 (2) a1 = (k1 · b · T / 4) / (tan θ · Δt ) …… (3)

Next, the operation of the control device 16 will be described with reference to the flowcharts of FIGS. 11 and 12. The work vehicle V lowers the seedling planting device 6 (but does not drive it), and the steering control optical sensor 17 guides the beam light A.
1 is received, the first work stroke L set at one end side (left end in FIG. 1) of the field is traveled along the longitudinal direction from the stroke start end (lower end in FIG. 1) toward the end side. Start. After traveling, while controlling the steering of the front wheels 3 in a two-wheel steering manner so that both the deviation x and the inclination φ become zero, as the planting start position at the start end of the work stroke L is reached, The drive of the seedling planting device 6 is started.

Work vehicle V is at the end of work stroke L (point e)
When it reaches, the driving of the planting device 6 is stopped and the planting work is stopped. Although not described in detail, when it is determined that the work is completed based on the number of times of turning, etc., the next turning operation is not performed and the traveling is stopped to complete the entire work. If the work is not completed, the set point 6 is moved straight from the point e toward the point f, and when the work arrives at the point f, the planting device 6 is raised, and
Switching from the two-wheel steering type to the four-wheel steering type, the work vehicle V is directed toward the starting end side of the next work stroke L1.
A turning operation is performed along the turning section g so as to change the direction by 80 degrees.

When the turning end point (point h) is reached, the planting device 6 is stopped once and the planting device 6 is lowered to check whether the steering control optical sensor 17 receives the guiding beam light A1. If not, the steering mode is switched to the parallel steering type and moved in the lateral direction so that the light is received. When the light-receiving state is reached, the vehicle is switched to the two-wheel steering type and the steering control of the work vehicle V along the next work stroke L is started.

[Another Embodiment] The light receiving means 17 may be composed of three or more light receiving portions instead of the pair of light receiving portions S1 and S2. In this case, one of the plurality of light receiving portions is used.
The work device 6 with higher accuracy based on one light receiving time interval information and the light receiving timing difference information of the plurality of light receiving portions.
The height with respect to the beam light can be determined.

The light receiving means 17 may be composed of one light receiving portion (for example, the same light receiving portion as the upper light receiving portion S1). In this case, one light receiving portion S1 is used as the reference beam light A1.
The height of the work device 6 is determined based on the time interval information of the received light. Hereinafter, a specific description will be given based on FIGS. 6 and 7.

As shown in FIG. 6 (a), when the height of the working device 6 is the set height, assuming that the light receiving portion S1 is at the center position of the beam light scanning range, the light receiving interval is as shown in FIG. )
, The same time interval t0 is obtained. On the other hand, as shown in FIG. 6B, for example, when the height of the working device 6 changes upward and the light receiving section S1 is deviated upward from the center position c of the light beam scanning range, the light receiving interval is As shown in FIG. 7B, two time intervals t5 and t6 having different time widths are repeated, and the larger the difference between the time intervals | t5-t6 |, the central position of the light beam scanning range of the light receiving unit S1. It is determined that the deviation amount from c is large, that is, the height of the work device 6 deviates from the set height. Therefore, in order to control the height of the work device 6 to be maintained at the set height, when the work device 6 is moved upward by a predetermined amount, the time interval difference | t5-t6 | increases and the deviation occurs. Then, when the working device 6 is lowered downward by a predetermined distance, the difference | t5-t6 | between the time intervals becomes small and the deviation amount decreases, so that the working device 6 is continuously lowered downward. Control is performed so that the time interval difference | t5-t6 | becomes zero.

Even when the light receiving means 17 is composed of one light receiving portion S1, it is configured so as to have a light receiving position of a predetermined resolution in a direction intersecting the beam projection direction of the reference beam light in plan view. , The position with respect to the reference light beam (guide path) can be detected.

The beam light projecting means B1 is composed of a laser light generator or the like, but may be a device which generates a light beam other than laser light.

In the above-mentioned embodiment, the guide route is shown as the work path L in which the work vehicle V travels while performing work such as rice planting work, but it is also possible to use a route for guiding a work vehicle that simply moves without work. Good.

Further, the present invention is not limited to being applied to the work vehicle V for rice planting described in the embodiments, but can also be applied to agricultural work vehicles other than rice planting and various work vehicles other than agricultural work. In this case, the working device at that time is not the seedling planting device 6 for rice planting. For example, in the case of a combine, the cutting pretreatment device corresponds to the working device, and the lifting actuator is electrically operated other than the hydraulic cylinder 13. A motor or the like may be used, and the specific configuration of each of the other parts may be appropriately changed according to the purpose of the work vehicle, work conditions, and the like.

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 light beam.

FIG. 2 is a schematic side view of a work vehicle and a beam light projection means.

FIG. 3 is a block diagram of a control configuration on the work vehicle side.

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

FIG. 5 is a plan view showing the turning operation of the work vehicle on the end side of the work stroke.

FIG. 6 is a side view illustrating height detection.

FIG. 7 is a timing chart illustrating height detection.

FIG. 8 is a side view illustrating height detection.

FIG. 9 is a timing chart illustrating height detection.

FIG. 10 is a side view illustrating distance detection.

FIG. 11 is a flowchart of control operation of the work vehicle.

FIG. 12 is a flowchart of control operation of the work vehicle.

[Explanation of symbols]

 13 Elevating actuator 5 Vehicle body 6 Working device B1 Beam light projecting means 17 Light receiving means 100 Height detecting means S1 Light receiving part S2 Light receiving part 101 Position detecting means 102 Distance detecting means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Katsumi Ito 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory

Claims (6)

[Claims] 1. A control information detection device for a work vehicle, wherein a work device (6) is attached to the vehicle body (5) so that the work device (6) can be freely moved up and down by a lift actuator (13). A beam light projecting means (B1) for projecting the beam light in a vertical direction at a set cycle at a set angle is provided, and a light receiving means (17) for receiving the reference beam light is installed in the working device (6). And a height detecting means (100) for obtaining the height of the working device (6) with respect to the light beam based on the light receiving time interval information on the reference light beam of the light receiving means (17). Vehicle control information detection device. 2. The light receiving means (17) comprises a pair of light receiving portions (S1, S2) installed at a predetermined distance in the vertical direction, and the height detecting means (100) comprises the pair of light receiving portions. (S
1, S2), the height of the working device (6) with respect to the light beam is discriminated from the light receiving time interval information and the difference in light receiving timing between the pair of light receiving units (S1, S2). The control information detection device for a work vehicle according to claim 1, wherein the control information detection device is configured as follows. 3. The height detecting means (100) uses, as height information for the light beam of the working device (6), a height set by the working device (6) within a scanning range of the reference light beam. The control information detecting device for a work vehicle according to claim 2, wherein the control information detecting device is configured to determine the amount of deviation and the direction of deviation. 4. The beam light projecting means (B1) projects the reference beam light in a state along a longitudinal direction of a guide path for guiding a work vehicle in a plan view, and the pair of light receiving portions (S1, S2). At least one of the reference beams of the at least one light receiving unit (S1, S2) is configured to have a light receiving position of a predetermined resolution in a direction intersecting the beam projection direction of the reference beam light in plan view. The control information detection of the work vehicle according to claim 1, 2 or 3, further comprising: position detection means (101) for detecting a position of the vehicle body (5) with respect to the guide path based on light reception position information regarding light. apparatus. 5. The pair of light receiving portions (S1, S2) are installed at a predetermined distance in the front-rear direction of the vehicle body, and both light receiving portions (S1, S2) are viewed in plan view in the beam projection direction of the reference beam light. The position detecting means (101) is configured to have a light receiving position having a predetermined resolution in a direction intersecting with the pair of light receiving portions (S
1, S2) The tilt of the vehicle body (5) in plan view with respect to the beam projection direction is detected based on the light receiving position information for each of the reference light beams and the distance information in the vehicle front-back direction. The control information detecting device for a work vehicle according to claim 4, 6. The set angle and the set cycle information of the reference light beam, information on the difference in light receiving timing of the pair of light receiving portions (S1, S2), and the height of the working device (6) with respect to the light beam. 6. The control information detecting device for a work vehicle according to claim 4, further comprising a distance detecting means (102) for detecting a distance from the beam light projecting means (B1) based on the detected information.