JPS63301306A - Guiding device using beam light for work wagon - Google Patents

Abstract

PURPOSE:To simplify the constitution of a guiding device using beam light for work wagon without changing the direction of an optical sensor, by transmitting the beam light to a light receiving surface via a reflecting means even in case the beam light is projected from the front or back side of the body of the work wagon. CONSTITUTION:For instance, a work wagon V containing a planting device 2, a pair of front wheels 1F and a pair of rear wheels 1R is driven reciprocatively with 180 deg. rotations for a rice-planting job. In this case, a pair of light receivable optical sensors S1 and S2 are attached onto the wagon V and the beam light A is projected to both optical sensors from a laser light emitter 3 set on a stage 4 installed at a place other than a rice field. The sensors S1 and S2 attached to arms 6 and 7 consist of reflectors 7 having V-shaped side faces and light receiving elements D respectively. The light A is made incident on the side face of the reflector 7 and the reflected light is made incident on the element D even though the light A is projected from either one of both V-shaped side faces. Thus it is possible to detect the light with no error without changing the direction of the element D.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a beam light for guiding a working vehicle that is projected from one end of the working path toward the other end along the length of the working path. The present invention relates to a working vehicle guiding device using beam light, which includes a working vehicle equipped with an optical sensor that detects a light receiving position in the width direction of the vehicle body.

[Conventional technology]

The above-mentioned type of work vehicle guidance device using a beam light moves from one end of the work journey to the other end along the length direction of the work journey so that the work vehicle travels along the guiding beam light. An optical sensor is provided to detect the light receiving position in the width direction of the vehicle body with respect to the beam light for guiding the work vehicle projected toward the vehicle body.

By the way, when the working vehicle is configured as a working vehicle for rice planting, the working vehicles must travel back and forth while changing direction by 180 degrees at the end of the working process adjacent to each other. The light receiving direction of the sensor is reversed in each work process.

Therefore, even if the direction of the work vehicle with respect to the projection direction of the beam light is reversed, the light-receiving surface of the light sensor can be set to face the front side of the vehicle body or to the rear side of the vehicle body, so that the light sensor can receive the beam light. However, conventionally,
The optical sensor was designed to be rotated horizontally around the vertical axis with respect to the vehicle body (see Japanese Patent Application No. 61-293681).

[Problem that the invention seeks to solve]

According to the above-mentioned conventional configuration, the optical sensor is rotated to reverse the direction of light reception, which has the disadvantage of complicating the device configuration.

Also, if the position of the optical sensor in the width direction is not changed regardless of whether the direction is changed from front to back, even if the position of the vehicle body is the same, the light receiving position in the width direction of the vehicle body may be different between the front and rear. There is a risk that it will be detected. If the light receiving positions in the vehicle width direction differ between the front and rear, a disadvantage arises in that the position in the vehicle body width direction with respect to the beam light is detected as being shifted, even though the position in the vehicle width direction is not actually shifted.

The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to simplify the device configuration while making it difficult for the light receiving position to shift.

[Means for Solving the Problems] The characteristic configuration of the work vehicle guiding device using beam light according to the present invention is that the beam light is projected from the front side of the vehicle body or from the rear side of the vehicle body. Even in the state
A light reflecting means for reflecting the light beam toward the light receiving surface of the optical sensor is provided on the working vehicle, and its functions and effects are as follows.

[For production]

The light reflecting means reflects the beam light toward the light-receiving surface of the optical sensor in both the state in which the light beam is projected from the front side of the vehicle body and the state in which the light beam is projected from the rear side of the vehicle body. Even if the beam light is projected onto the vehicle body from either the front or rear direction, the light beam can be received without changing the direction of the optical sensor itself.

〔Effect of the invention〕

Therefore, it is possible to receive light beams from both the front and rear directions of the vehicle body without changing the direction of the optical sensor, thereby simplifying the device configuration. Furthermore, since there is no need to change the direction of the optical sensor back and forth, it is possible to prevent errors in the light receiving position relative to the beam light.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figures 1 and 2, a pair of left and right front wheels (IF
) and a pair of left and right rear wheels (IR) at the rear of the vehicle body.
For planting, a rice planting device (2) is attached so that it can be raised and lowered, thereby forming a working vehicle (V) for rice planting. and,
The guiding beam light (A) projected from one end of the working process toward the other end is projected from the front side of the vehicle body or from the rear side of the vehicle body, and the beam A pair of front and rear optical sensors (Sl) and (sz) capable of receiving light (A) are attached to the sideways portion of the vehicle body.

The guiding beam light (^) is transmitted to the pair of optical sensors (
s+) and (sz), as shown in FIGS. 1 and 4,
) by scanning a laser beam vertically at a predetermined angle at one starting end side of the work process of reciprocating the work vehicle (V). A laser emitter (3) that emits light toward the optical sensors (Sl) and (Sz) is installed. However, in this embodiment, in order to cause the work vehicle (V) to travel back and forth while changing direction by 180 degrees at both ends of each work stroke, the laser light emitting device (3) is connected to the beam light ( The planting is carried out during the work of the device (2) so that the planting can be moved laterally by the working width of the device (2) with the direction A) being parallel to the length direction of the working stroke. It is installed on an installation stand (4) that is placed across the width.

Then, as the work vehicle (V) reaches the end of each work stroke, it automatically changes direction by 180 degrees, and
By sequentially moving the laser emitter (3) by the working width in the width direction of the vehicle body every other working process, planting in a predetermined range of fields is performed automatically while the machine runs automatically. .

In FIG. 1, (5) is an ultrasonic sensor that detects and operates as the work vehicle (V) approaches the ridge, which is the end of the work stroke, within a set distance; Car (V)
When the robot detects that it has reached the end of a working stroke, it obtains control information for automatically changing direction toward the starting end of the next working stroke.

To explain the pair of optical sensors (Sl) and (St), as shown in FIGS. 1 to 3, their light receiving surfaces are arranged vertically so that they can simultaneously receive the beam light (A). 2, and at a predetermined interval <i> in the longitudinal direction of the vehicle body.

That is, the light-receiving surface of the light sensor (Sl) on the front side of the vehicle body faces above the vehicle body, and the light-receiving surface of the light sensor (S2) on the rear side of the vehicle body faces the vehicle body. It is attached to the tip of each arm (6) extending outward when the vehicle body is turned sideways so as to face downward.

In both the state where the beam light (A) is projected from the front side of the vehicle body and the state where the beam light (A) is projected from the rear side of the vehicle body, the beam light (^) is transmitted to the optical sensor (Sr).
, (Sz) as a light reflecting means for reflecting the light toward the light receiving surface of the optical sensor (Sl),
(SZ) It is attached to the sideways portion of the vehicle body, with each light receiving surface located on the front side.

As shown in FIG. 3, the reflecting mirror (7) is formed in a V-shape when viewed from the side, and when the beam light (^) is projected from the front side of the vehicle body, The beam light (
A) is reflected on an inclined surface on the front side of the vehicle body, and when the beam light (A) is projected from the rear side of the vehicle body, the beam light (A) is reflected on an inclined surface on the rear side of the vehicle body. Even if the beam light (A) is projected from either the front or rear direction of the vehicle body, the reflected light is reflected by the light sensor (
S1) and (SZ) are arranged so that the light is incident on their respective light receiving surfaces.

The pair of optical sensors (Sl), (in order to enable the Sli to receive the beam light (A) at the same time,
For the light sensor (Sl) on the front side of the vehicle body, which is installed with the light receiving surface facing upward, the light receiving surface is set such that the light in the longitudinal direction of the vehicle body is reflected downward and incident on the light receiving surface. The light sensor (S2) on the rear side of the vehicle, which is attached with its surface facing downward, reflects light in the longitudinal direction of the vehicle upward and makes it incident on its light-receiving surface.

Therefore, even if the beam light (A) is projected from either the front or rear direction of the vehicle body, the optical sensors (Sl) and (SZ) can direct the beam light (A) back and forth without changing the direction of their light-receiving surfaces. Therefore, light can be received with no difference.

However, in order to prevent the beam light (A) from being blocked by the device (2) or the operator on board, the arm (6) should be placed above the vehicle body and on the outside of the vehicle body. (See Figures 1 and 2).

As shown in FIGS. 2 and 4, even if the traveling direction of the vehicle body is reversed, the beam light projector (3) does not move during one reciprocation between two adjacent work strokes. In order to be able to receive the beam light (A), the position in the projection direction of the beam light (A) and the pair of optical sensors (Sl) are determined.

For planting, the sensor center position in the width direction of (S2) is located on the most unplanted side with respect to the vehicle body, with respect to the seedling row.
The planting in the width direction of the vehicle body is done so that the plants protrude toward the unplanted side by a distance corresponding to approximately half of the spacing.

If we add an explanation to the means for determining the position in the vehicle body direction and width direction with respect to the projection direction of the beam light (A) based on the light receiving position information of the pair of light sensors (s+) and (S2), FIG. As shown, a plurality of light receiving elements (D) are arranged side by side in the vehicle width direction, and the light receiving element (Do) located at the center of the vehicle body is set as a reference position. element(
mouth. ) receives the beam light (A) as a state in which there is no deviation in the width direction of the vehicle body, and when the light receiving positions of the pair of light sensors (Sl) and (SZ) are the same in the front and rear, the vehicle body It is designed to determine that there is no deviation in direction. In other words, the light receiving element located at the center of the sensor (
The beam light (A) is determined based on which light-receiving element located on the left and right of the
The vehicle body is configured to be able to quantitatively detect a large deviation in the direction and width direction of the vehicle body with respect to the projection direction.

That is, each light receiving position (XI), (xz) with respect to the position of the light receiving element (Do) located at the center of each of the pair of photosensors (s+), (St) and the pair of photosensors (Sl), ( SZ) is installed in the longitudinal direction of the vehicle body by calculating the deviation (ψ) in the vehicle body direction using the following formula based on the distance (2).

However, for the deviation (χ) of the position in the vehicle width direction, the value of the light receiving position (XI) with respect to the sensor center of the light sensor (Sl) on the front side of the vehicle body is used as is.

To explain the structure of the working vehicle (V), as shown in FIG. 6, the front and rear wheels (IF) and (II?) are as follows:
The steering hydraulic cylinders (8F) and (8R) and their control valves (9
F), (9R) is provided. In addition, a hydraulic continuously variable transmission (10) capable of freely switching between forward and backward speeds and capable of forward and reverse speed change is interlocked and connected to the engine (E), and a speed change pedal (11) for on-board operation and a speed change pedal (11) for automatic driving are connected to the engine (E). A speed change motor (12) is interlocked and connected to a speed change arm (13) of the speed change device (10) so that any speed can be changed freely. Additionally, a steering handle (11) is provided for boarding and maneuvering.

A steering position detection potentiometer (Ro, (R1)) that detects the steering position of each of the front and rear wheels (IF) and (IR), and the speed change arm (13).
A shift state detection potentiometer (R1) is provided for detecting the position of the gear shift state, that is, the shift state. Detection signals from the potentiometers (R+), (Rz), and (R3), and the pair of front and rear optical sensors (SI).

The light receiving position information of (SZ) is input into a control bag W (14) using a microcomputer.

In addition, in Fig. 6, (Ro) is the steering handle (
This is a potentiometer that detects the operation position of H), that is, the target steering position during boarding maneuver.

In other words, during automatic driving, the pair of optical sensors (Sl)
, (h), control valves (9F), (
9R), and also controls the operation of the variable speed motor (12) based on preset traveling control information and detection information of the ultrasonic sensor (5),
V) is configured to automatically travel at a set speed and along the guiding beam (^), and automatically change direction by 180 degrees as it reaches the end of one working stroke. It is.

Next, the operation of the control device (14) will be explained based on the flowchart shown in FIG.

That is, as the steering control is activated, it is determined whether or not the ultrasonic sensor (5) is activated to detect the ridge.

If the ultrasonic sensor (5) is not operating,
Based on the light receiving position information from the pair of optical sensors (Sl) and (SZ), as described above, the deviation (ψ) in the orientation of the vehicle body and the deviation (in the width direction) of the vehicle body with respect to the projection direction of the beam light (A) are determined. χ), and both deviations (ψ) and (χ
) becomes zero, that is, the pair of optical sensors (Sυ
, the light receiving element (Do) located at the center of the sensor of (SZ)
the front and rear wheels (IF) so that they are in a state of receiving the beam light (A).

(IR) will be used for steering control.

On the other hand, as the ultrasonic sensor (13) detects and operates the ridge, the front and rear wheels (IF) and (IR) are steered in the opposite direction at the maximum angle for a set time, so that the next Turn the machine 180 degrees in the direction of the working process.

After the vehicle body orientation is reversed by 180 degrees, the above-mentioned steering control is restarted as the optical sensors (St) and (SZ) receive the beam light (A), thereby starting the next work process. Planting work will be restarted.

However, every time two parallel and adjacent work strokes are reciprocated, the vehicle body direction returns to the same direction as the original traveling direction, and as a result, the light sensor (S
l), (SZ) is moved to a position where the planted part is moved by the working width of the device (2) in the direction of the non-planted part with respect to the projection direction of the beam light (A). The projector (3) is moved by the working width in a direction perpendicular to the working stroke every time the working vehicle (V) makes one reciprocation.

To explain the steering control, if there is a deviation (ψ) in the direction of the vehicle body, the front and rear wheels (IF), (I
R) is operated in the opposite direction to correct the vehicle's orientation using four-wheel steering to make sharp turns. On the other hand, if there is a positional deviation (χ) in the width direction, the front and rear wheels (IF).

The vehicle body position is corrected using a parallel steering system in which the (IR) is turned in the same direction and moved in parallel.

In addition, when manually controlling the vehicle when moving, etc.,
Select the steering type to be used and set the target steering angle by the steering handle (11) and the steering hook angle detection potentiometers (R1), (R
2), the vehicle is steered so that it matches the current steering angle, and the speed change arm (13) is directly operated using the speed change pedal (11) to artificially adjust the traveling speed.

[Another example]

In the above embodiment, if there is a deviation (ψ) in the direction of the vehicle body, the vehicle is steered using the four-wheel steering method, and if there is a deviation (χ) in the width direction, the vehicle is steered using the parallel steering method. For example, the front and rear wheels (I
F) and (IR) with different steering angles,
It is possible to correct both the direction and position at the same time, or the work vehicle (V) is configured to be steered using a two-wheel steering system that steers only the front wheels (IF), so that both deviations can be corrected. The target steering angle may be set based on (ψ) and (χ) (the specific configuration for steering operation can be changed in various ways).

Further, in the above embodiment, the direction is automatically changed when one work process is completed, but the direction may be changed manually. Further, for example, the work vehicle may be configured to be remotely controlled by radio control or the like, so that operations when moving the vehicle body or changing direction can be remotely controlled.

In addition, in the above embodiment, the reflecting plate (7) that reflects the light on the light receiving surface of the optical sensor (Sl), (sz) is used to reflect the light beam (A) projected from either the front or rear of the vehicle body. Although the case where the light beam (S) is reflected to the side has been exemplified, for example, as shown in FIG.
l), the light receiving surface of (SZ) is provided so as to directly receive the beam light (A) from the front side or the rear side of the vehicle body, and the reflecting plate (7) is provided so as to directly receive the beam light (A) projected from the rear side or the front side of the vehicle body. The light reflecting means may be configured to reflect only the beam light projected from one of the front and rear sides of the vehicle body so as to reflect the light beam (A) toward the light receiving surface facing the front side or the rear side of the vehicle body. The specific configuration of can be changed in various ways.

Further, in the above embodiment, two optical sensors are provided at a distance from each other at the front and rear of the vehicle body, and both the direction with respect to the guiding beam light (A) and the position in the width direction are detected, and the detected information is used. Although a case has been exemplified in which the steering is automatically controlled based on the steering angle, it is also possible to provide - number of optical sensors so as to be able to detect only the position in the width direction. Further, a display device or the like for displaying the detected information may be provided to manually operate the device, and the specific configuration of the optical sensor and the specific configuration of the equipment that uses the detected information can be changed in various ways.

Further, in the above embodiment, the case where the working vehicle is configured as a working vehicle for rice planting is illustrated, but the present invention can be applied to various working vehicles, and the specific configuration of each part can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings by the reference numerals.

[Brief explanation of drawings]

The drawings show an embodiment of the working vehicle guiding device using beam light according to the present invention, in which FIG. 1 is a side view of the working vehicle, FIG. 2 is a rear view thereof, and FIG. 3 is an enlarged side view of the light reflecting means. Figure 4 is a schematic plan view showing the positional relationship between the guiding beam light and the optical sensor;
6 is a block diagram showing the control configuration, FIG. 7 is a flowchart showing the operation of the control device, and FIG. 8 is another embodiment of the light reflecting means. FIG. (A)...Guiding beam light, (Sυ, <
St>... Light sensor, (V)... Working vehicle, (7)... Light reflecting means.

Claims (1)

[Claims] A beam of light (A
A working vehicle guiding device using beam light is provided with a working vehicle (V) equipped with optical sensors (S_1) and (S_2) for detecting a light receiving position in the width direction of the vehicle body with respect to the beam light (
The light beam (A) is directed toward the light receiving surfaces of the optical sensors (S_1) and (S_2) in both the state in which the light beam (A) is projected from the front side of the vehicle body and the state in which it is projected from the rear side of the vehicle body. A working vehicle guiding device using beam light, wherein a light reflecting means (7) for reflecting light is provided on the working vehicle (V).