JPS63308609A - Working vehicle guide device using beam light - Google Patents

Abstract

PURPOSE:To easily attain the setting of the projection direction and the projection position of a beam light by providing plural marks for aligning the projection direction of the beam light at other edge side of a working process to project the beam light corresponding to respective work processes. CONSTITUTION:A laser light projecting device 1 to project a beam light A for guiding a working vehicle from one edge side toward other edge side along the length direction of a working process is mounted to a moving vehicle 2 used also as the seedling tray to convey the seedling for supplying to a working vehicle V for rice-planting. Wires 3a and 3b are attached along the direction where plural working processes are arranged at respective of one edge side and other edge side of the working process to provide the device 1. At the wire 3a, first plural reflecting plates 4a on a flat plate as a mark to show the projection position of a beam light A and at the wire 3b, second plural reflecting plates 4a as the mark for aligning the projection direction of a beam light A are respectively fitted to the position opposite to plural reflecting plates 4a. Thus, the projection direction of the laser beam and the projection position of the beam light can be easily set.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a beam light projection means for projecting a guiding beam light from one end side to the other end side along the length direction of the working process. The present invention relates to a work vehicle guiding device using beam light that is movably installed so as to project the beam light in each of a plurality of parallel working strokes.

[Conventional technology]

This type of work vehicle guidance device using beam light is used, for example, as a guide to indicate the traveling direction of agricultural work vehicles such as rice transplanters and tractors, and construction work vehicles to move straight along the work process. The beam light is projected from one end to the other end along the length of the work process, but the beam light is projected so that the beam light projection direction in each work process is parallel. It is necessary to set the projection direction of the beam light in each of the plurality of work strokes while moving and installing the projection means by the work width in the width direction of the work stroke.

Therefore, conventionally, a means for projecting a reference beam light in the width direction of a plurality of work processes is provided, and a means for receiving the reference beam light is provided on the side of the means for projecting a guiding beam light. A method has been proposed in which the reference beam light is used to adjust the projection direction of the guiding beam light so that it is parallel to each other in each work process (Japanese Patent Application No. 167136/1986). reference).

[Problem that the invention seeks to solve]

However, in the above-mentioned conventional means, a means for projecting a reference beam light is required in addition to a means for projecting a beam light for guidance, which not only has the disadvantage of making the device configuration complicated and expensive, but also requires the use of parallel work processes. Because there is no guide for when moving and installing the width, it is difficult to accurately move the work width for each work process and project the guiding beam light in parallel. Met.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to easily set the projection direction of the guiding beam light so that it is parallel, and the projection interval is a predetermined interval. The purpose is to do so.

[Means for solving problems]

A characteristic configuration of the work vehicle guiding device using beam light according to the present invention is that a plurality of marks for positioning in the projection direction of the beam light are provided on the other end side of the work path opposite to the installation side of the beam light projection means. The operation and effects are as follows.

[For production]

On the other end of the work process where the beam light is projected, a plurality of marks for positioning the beam light projection direction are provided corresponding to each work process. The projection direction and projection position of the beam light can be easily set using the mark as a target.

〔Effect of the invention〕

Therefore, in each of the plurality of work strokes, the guiding beam light projected in the length direction of the work stroke becomes parallel, and the projection interval of the beam light in the width direction of the work stroke becomes parallel to each other. It has now become possible to accurately and easily move and install the beam light projection means so as to correspond to the above.

〔Example〕

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

As shown in FIG. 1, a laser beam projection device (as a beam light projection means) that projects a beam light (A) for guiding a working vehicle from one end side to the other end side along the length direction of the working process.
1) is a mobile cart (2) that also serves as a seedling platform for transporting seedlings to be supplied to the rice planting work vehicle (V) described below.
so as to project the beam light (A) in each of a plurality of mutually parallel working processes,
It is installed so that it can be moved freely.

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, a plurality of jobs are performed each time the work vehicle (V) makes a reciprocation. The work vehicle (V)
The planting is performed by moving two strokes corresponding to the width, so that the projection direction of the beam light (A) projected from the laser beam projection device (1) is parallel to the length direction of the working stroke. The situation is as follows.

That is, as the work vehicle (V) reaches the end of each work stroke, it automatically changes direction by 180 degrees, and
By moving the laser beam projection device (1) in the width direction of the vehicle body by a distance corresponding to the working width of two strokes each time the work vehicle (V) makes one reciprocation between adjacent working strokes,
Planting in a predetermined area of the field is done so that the work can be done automatically and the robot can run automatically.

Wires (3a) are installed at one end and the other end of the working stroke where the laser beam projection device (1) is installed, respectively, along the direction in which the plurality of working strokes are lined up.

(3b) is installed, and the wire (3a) on one end side is
A plurality of flat first reflecting plates (4a) serving as marks indicating the projection position of the beam light (A) are attached at intervals corresponding to two strokes of movement of the laser light projection device (1). , a plurality of second reflecting plates (4b) as marks for alignment in the projection direction of the beam light (A) are attached to the wire (3b) on the other end side, and a plurality of second reflecting plates (4b) are attached to the first reflecting plate (4a).
It is attached at a position facing the , with an interval of two strokes between the two.

As shown in FIGS. 2 and 3, at the center of the upper end of the first reflecting plate (4a) and the second reflecting plate (4b),
A mark (5) indicating the projection position or center of the projection direction of the beam light (^) is provided.

However, as shown in FIG. 3, the second reflecting plate (4b) includes a light reflector (6) using a corner cube prism or the like that reflects the incident light in the direction of incidence. It is attached with its reflective surface facing toward one end of the working stroke so that the beam light (^) projected from one end of the working stroke is reflected in the projection direction.

To explain the laser beam projection device (1), the fourth
As shown in FIG. 7 and FIG. 7, the laser light source (7) and the light reflector (6 )
A light receiver (8) that receives light reflected by the light receiver (8) is mounted on the trolley (2) in a state where it can freely rotate around a vertical axis by an electric motor (9). ), the beam light projected from the laser light source (7) is controlled by controlling the electric motor (9) based on information received by the laser light source (7).
A) A control device (10) using a microcomputer is provided to control the projection direction.

Note that (11) in the figure is a limit switch for detecting an initial state in which the projection direction of the beam light (A) is directed toward the starting end of the first working stroke, which will be described in detail later. It is pushed by a protrusion (not shown) attached to the output shaft of the electric motor (9).

Next, control the laser beam projection device (1) based on the flowchart shown in FIG. While explaining the operation (10), the procedure for setting the projection direction of the beam light (A) in each work process will be explained in detail.

That is, the trolley (2) is replaced by the first reflector (4a).
Using the mark (5) provided at , move the work vehicle (V)
The electric motor (9) for rotating the laser light source (7) was rotated in reverse until the limit switch (11) for detecting its initial position was activated. After that, by stopping the light beam (^), the projection direction of the light beam (^) is directed toward the starting end of the first working stroke.

As the electric motor (9) stops, normal rotation is started, and the number of times (M) that the light receiver (8) receives the reflected light from the second reflecting plate (4b) is set to "0". ”, and add “l” to the value of the counter that counts the number of strokes (N) of the current working stroke, which is the projection direction of the beam light (A), and set the other end of the current working stroke. The position of the second reflecting plate (4b) located at , that is, the projection direction of the beam light (A) is set as how many units are counted from the first working process.

The light receiver (8) is connected to the second reflection plate (4b).
Each time the reflected light is received from the
l'' is added, and it is determined whether or not the value has reached the number of strokes (N).
), the electric motor (9) is stopped.

That is, as shown in FIG. 5, a plurality of work processes are lined up on the cart (2), using the mark (5) of the first reflective plate (4a) provided at one end of the work process as a landmark. By moving in the direction, the projection position of the guidance beam (A) by the laser beam projection device (1) is set, and the beam light (A) projected from this laser beam projection device (1) is set. The projection direction, that is, the number of light receptions CM) of the light receiver (8) has reached the current number of strokes (N) with reference to the second reflector (4b) located at the other end of the first working stroke. By stopping the electric motor (9) in this state, the projection directions of the light beams (A) become parallel to each other in each work process.

Next, a control configuration for guiding the working vehicle (V) straight from one end side to the other end side of the working stroke using the beam light (^) will be explained.

As shown in FIGS. 7 and 8, the work vehicle (V) is
A pair of left and right front and rear wheels (12F), (12R) wo(i
R, t A rice planting device (13) is attached to the rear of the rice-planting vehicle so that it can be raised and lowered, forming a rice-planting work vehicle (V). A pair of front and rear optical sensors (SL), (S
so that both can receive the beam light (A) at the same time,
With the seven light-receiving surfaces spaced apart in the vertical direction, and using the electric motor (14) for changing the direction, the vertical axis center can be adjusted so that the seven light-receiving surfaces face toward the front of the vehicle body and those facing toward the rear of the vehicle body. It is attached to the surrounding area so that it can be rotated 180 degrees forward and backward.

Further, an ultrasonic sensor (S,) for emitting ultrasonic waves in the horizontal direction and measuring distance based on the time difference from the point of emission to receiving the reflected waves is connected to the electric motor (1).
5), the pair of optical sensors (S
L), (provided at the bottom of S).

In other words, based on the detection distance information of the ultrasonic sensor (S3), the work vehicle (V) detects the first reflector (4a) or the second reflector (4b) provided at both ends of the work stroke.
When it detects that the object has approached within a set distance, the direction is automatically changed toward the starting end of the next work process as described later, and the planting is done by the device ( 13) The planting is performed in such a way as to obtain control information for controlling the stop and start of work.

However, as shown in FIG. 8, the pair of optical sensors (51
), (S2) is such that even if the traveling direction of the work vehicle (V) is reversed, the laser beam projection device (1) is not moved during one round trip between two adjacent work strokes. In order to fully receive the beam light (Δ), the position in the projection direction of the beam light (A) and the center position of the sensor in the width direction of the pair of optical sensors (Sl) and (S2) are set on the vehicle body. On the other hand, the planting located on the farthest unplanted side is in a position that projects toward the unplanted side by a distance corresponding to approximately half of the spacing when planting in the width direction of the vehicle body with respect to the seedling row. In addition, the ultrasonic sensor (S,) is also designed so that it can measure the distance to the first reflector (4a) or the second reflector (4b) without malfunction, regardless of whether the distance measurement direction is reversed. A pair of optical sensors (SL) are mounted below the sensor center position in the width direction of the SL.

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 (SL) and (sz), FIG. As shown, a plurality of light receiving elements (D) are arranged side by side in the width direction of the vehicle body, and
With the position of the light receiving element (D,) located at the center of the vehicle body width direction as a reference position, the state in which the light receiving element (Do) located at the center of this sensor receives the beam light (A) is determined by the deviation in the vehicle body width direction. In addition, when the light receiving positions of the pair of optical sensors (SL) and (Sz) are the same in the front and rear, it is determined that there is no deviation in the direction of the vehicle body. In other words, the beam light (A) is determined based on which light receiving element located on the left or right of the light receiving element (Do) located at the center of the sensor receives the beam light (A).
) is configured to quantitatively detect large deviations in the orientation and width direction of the vehicle body with respect to the projection direction.

That is, each light receiving position (X+), (XZ) with respect to the position of the light receiving element (Do) located at the center of each of the pair of photosensors (SL), (Sz) and the pair of photosensors (SL), ( For installation in the longitudinal direction of the vehicle body in S2), the deviation (ψ) in the direction of the vehicle body is determined by 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 (xl) with respect to the sensor center of the light sensor (S,) 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. (16F), (16R) and their control valves (17F), (17R) are provided. or,
Hydraulic continuously variable transmission device that can freely switch forward and backward, and can freely change forward and reverse speeds! ! (18), engine (E
), and the speed change pedal (1) for boarding operation.
9) and a speed change motor (20) for automatic driving are interlocked and connected to the speed change arm (21) of the speed change device (18) so that speed can be changed freely by either of them.

Additionally, a steering handle (11) is provided for boarding and maneuvering.

Steering position detection potentiometers (R1) and (RZ) that detect the steering positions of the front and rear wheels (12F) and (12R), respectively, and the speed change arm (
A shift state detection potentiometer (R1) is provided to detect the position 21), that is, the shift state. And those potentiometers (R+), (Rz), (R3)
and the pair of front and rear optical sensors (Sl
) and (SZ) are input into a control device (22) using a microcomputer.

In addition, in the figure, (Ro) is the steering handle (H)
This is a potentiometer that detects the operating position of the vehicle, that is, the target steering position during boarding maneuvers.

In other words, during automatic driving, the pair of optical sensors (Sυ,
Based on the light receiving position information of (St), the control valve (17F) of the hydraulic cylinder (16F), (16R),
(17R), and also controls the speed change motor (20) based on preset travel control information and detection information of the ultrasonic sensor (S,), so that the work vehicle (V) can set the speed, and the guiding beam light (A)
The robot is configured to automatically travel along the same route and automatically change direction by 180 degrees as it reaches the end of one working stroke.

Next, the operation of the control device (22) on the work vehicle (V) side will be explained based on the flowchart shown in FIG.

First, the light receiving surfaces of the pair of optical sensors (Sυ, (St) are directed toward the direction in which the beam light projection device (1) is located, and the ultrasonic sensor (S,) is directed toward the front of the vehicle body. The first reflecting plate (4a) or the second reflecting plate (
Set to measure the distance to 4b), start traveling from one end of the working path to the other end, and start the planting work.

After starting to drive, the detection distance (jf) of the ultrasonic sensor (S3) is set to a set distance ( 2
, ), the planting position of the planting device (13) is determined, and it is determined whether the preset planting position has reached the work stop position ( 12th
(see figure).

If the detection path 1% It (jf) of the ultrasonic sensor (S,) does not reach the set distance (Il+), based on the light receiving position information by the pair of optical sensors (Sl) and (sz), , as described above, determine the deviation (ψ) in the direction of the vehicle body and the deviation (χ) in the position in the width direction with respect to the projection direction of the beam light (A), and then determine if both deviations (ψ) and (χ) are zero. In other words, the pair of optical sensors (Sl),
Steering control is performed to operate the front and rear wheels (12F) and (12R) so that the light receiving element (D,) located at the center of the sensor (SZ) is in a state where it receives the beam light (A). become.

On the other hand, as the measurement distance (1 m) of the ultrasonic sensor (S,) reaches the set distance (lυ), the planting operation by the planting device (13) is stopped, and the current number of strokes is is an odd number or an even number, etc., to determine whether the next step is a step that requires moving the laser beam projection device (1) that is the light source of the beam light (A). If the light source is moving, the vehicle body is temporarily stopped and placed on standby until the light source movement is completed.

In other words, 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 optical sensor (
Sl) and (St) are moved to a position where the planted part is moved by the working width of the device (13) in the direction in which the unplanted part is moved with respect to the projection direction of the beam light (A). It is necessary to move the projection device (1) by the working width in a direction perpendicular to the working stroke each time the working vehicle (V) makes a reciprocating motion. The vehicle stops running and waits until the light source movement is completed and a command to start running is received.

However, if the light source is not moving, the electric motor (14) for changing the direction of the optical sensor (Sl)l(St) and the electric motor (14) for changing the direction of the ultrasonic sensor (S,) are operated without stopping the light source. The direction of the light receiving surfaces of the pair of optical sensors (Sl) and (SZ) and the distance measurement direction of the ultrasonic sensor (S,) are adjusted to the front and rear of the vehicle by driving both of the electric motors (15). After switching, the vehicle body is turned 180 degrees toward the direction of the next work stroke.

Then, after the directions of the light receiving surfaces of the pair of optical sensors (Sυ, (SZ) are reversed by 180 degrees, the process for changing the direction is completed as the beam light (A) is received. Then, the steering control based on the light reception position information by the pair of optical sensors (st) and (sg) is restarted, and the first reflection sensor, which is located on the rear side of the vehicle body due to the front-back reversal of the vehicle body orientation, is restarted. plate (4a) or second reflective plate (4
Detection distance (2) of the ultrasonic sensor (S3) with respect to b)
m), but the direction is reversed by 180 degrees and the planting is carried out by the device (1
Set path AI (3) corresponds to the position where planting stopped.
fz) is reached, the planting for the next operation will automatically restart the operation (see FIG. 12).

However, after starting planting, the ultrasonic sensor (S
, ) is in a state where it detects the distance to the first reflector (4a) or the second reflector (4b) located on the front side of the vehicle body after the direction change. I will let you do it.

When the work is finished, leave the planting in the stopped position and move the work vehicle (
The decision is made artificially by selecting whether or not to issue a command to start running when the vehicle (V) is temporarily stopped.

To explain the steering control, if there is a deviation (ψ) in the direction of the vehicle body, the front and rear wheels (12F), (
12R) 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 deviation (χ) in the position in the width direction, the front and rear wheels (12F).

The vehicle body position is corrected using a parallel steering system in which the (12R) is turned in the same direction and moved in parallel.

To explain the process for changing the direction, the direction is changed while manually operating the steering wheel, and the operating states of the front and rear wheels (12F) and (121?) during that time are used for detecting the steering position. Botensimeter (R
The turn pattern is taught by sampling the values of υ, (nt) at set distances or set times and sequentially storing them. Then, when the direction change process is started, the teaching information is reproduced, so that the traveling direction is reversed by 180 degrees against the axis according to the taught pattern.

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 (formerly) and the steering hook angle detection potentiometer (R1), (R2
) to match the current steering angle, and the speed change arm (2) is directly operated using the speed change pedal (19) to artificially adjust the traveling speed.

[Another precedent]

In the above embodiment, the flat second reflecting plate (4b) provided with the light reflector (6) is used as a mark for alignment in the projection direction of the beam light (A), and is oriented in the direction in which the work process is lined up. Although the case where it is provided on the constructed wire (3b) is illustrated,
For example, a light receiver (
8), and the light receiver receives the beam light (A).
) may be constructed of a lamp or the like that lights up when light is received, and the specific configuration of the positioning mark and the specific configuration of its installation means 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.

Furthermore, in the above embodiment, the optical sensor (Sυ, (SZ)) and the ultrasonic sensor (S3) are automatically reversed forward and backward. You can do it like this.

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 above-described structure, - number of optical sensors may be provided so that only the position in the width direction can be detected. In addition, a display device or the like that displays the detected information may be provided to manually control the work vehicle. The specific configuration for guiding can be modified 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 the drawing]

The drawings show an embodiment of the work vehicle guiding device using beam light according to the present invention, in which Fig. 1 is a schematic plan view of the working process, Figs. 2 and 3 are front views of alignment marks, and Fig. 4 is a schematic plan view of the working process. 5 is an explanatory diagram of the beam projection direction, FIG. 6 is a flowchart for controlling the setting of the beam projection direction, and FIG. 7 is a side view of the work vehicle. Figure 8 is a rear view of the same, Figure 9 is a block diagram showing the control configuration, and Figure 1.
The θ diagram is an explanatory diagram of the light receiving position of the optical sensor with respect to the guidance beam light, and Figure 11 is a flowchart of the travel control of the work vehicle.
FIG. 12 is an explanatory diagram of direction change. (A)...Beam light for guidance, (1)...
... Beam light projection means, (4b) ... Mark for positioning.

Claims (1)

[Claims] Beam light projection means (
1) is a work vehicle guiding device using a beam light, which is movably installed so as to project the beam light (A) in each of a plurality of work strokes parallel to each other,
A plurality of marks (4b) for alignment in the projection direction of the beam light (A) are provided on the other end side of the working path opposite to the installation side of the beam light projection means (1). A work vehicle guidance device that uses beam light is provided corresponding to each work process.