JPS63311413A - Guiding device using beam light for working vehicle - Google Patents

Abstract

PURPOSE:To automatically stop a traveling vehicle at the positions corresponding to each working process by stopping the vehicle automatically every time a mark detecting means detects one of those marks which indicates the stop positions of the vehicle set along a guide line. CONSTITUTION:Plural marks (m) are put along a guide line L in response to the working processes of a traveling vehicle V1 respectively and show the stop positions of the vehicle V1. While the vehicle V1 contains a mark detecting means 100 for marks (m) and a stop control means 101 which stops the vehicle V1 based on the detection information of the means 101. Thus it is possible to stop automatically the vehicle V1 at the positions of those marks (m). Then the beam light projecting positions of a beam light projection means 1 can be set at the positions corresponding to the working processes respectively.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention is directed to directing the beam light in the longitudinal direction of the working strokes so that the guiding light beams are projected in each of a plurality of parallel working strokes. A beam light projection means for projecting light from one end side to the other end side along the line is provided on a moving vehicle that moves along a moving guide installed along a direction in which the plurality of work processes are lined up. This invention relates to a work vehicle guidance device using beam light.

[Conventional technology]

The above-mentioned type of work vehicle guidance device using beam light uses a plurality of beam light beams for guiding agricultural work vehicles such as rice transplanters and tractors, and construction work vehicles to move straight along the work process. In each of the working strokes, the beam can be projected from one end to the other end along the length of the working stroke.
The beam light projection means is provided in a moving vehicle that moves along a moving guide installed along the direction in which a plurality of work strokes are lined up (see Japanese Patent Publication No. 50-38477).

By the way, in each of a plurality of work strokes, in order to project the guiding beam light in the length direction of the work stroke at a position corresponding to the position of the work stroke,
It is necessary to stop the moving vehicle at a position corresponding to the interval between work strokes, but conventionally, the stopping position of the moving vehicle has been adjusted manually.

Therefore, it is troublesome to adjust the beam projection position relative to the stopping position of the moving vehicle, that is, the working stroke.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to automatically stop a mobile vehicle for moving a beam light projection means at a position corresponding to each work process. It's about doing.

[Means for solving problems]

A characteristic configuration of the work vehicle guiding device using beam light according to the present invention is such that a plurality of marks indicating the stop position of the mobile vehicle are guided along the guide in a state corresponding to each of the plurality of work strokes. The mobile vehicle is provided with a mark detection means for detecting the mark, and a stop control means for stopping the mobile vehicle based on the detection information of the mark detection means, and the operation thereof is as follows. The effects are as follows.

[For production]

The mark detection means detects a plurality of marks provided along the guide indicating the stop position of the moving vehicle, and as the marks are detected, the moving vehicle is automatically stopped.

〔Effect of the invention〕

Therefore, the moving vehicle can be automatically stopped at a position where a mark indicating the stop position of the moving vehicle is provided, so that the beam light projection position of the beam light projection means corresponds to each of the plurality of work processes. Now we can control the position.

〔Example〕

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

As shown in FIG. 5, 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 mounted on a moving vehicle (V,) that can automatically travel along a moving guide (L) installed at one end of the working process along the direction in which the plurality of working processes are lined up; With that,
In each of a plurality of work processes parallel to each other, the beam light (A) is transmitted to a light receiver () for detecting the position of the beam light (A) in the width direction of the vehicle body provided on the side of the rice planting work vehicle (v2). 2) is configured so that it can be projected toward.

The work vehicle (v2) has 1 at both ends of each work stroke.
It changes direction by 80 degrees, and travels back and forth while being steered so as to go straight in the length direction of the working process based on information about the light beam (A) received by the light receiver (2). Planting in a predetermined range of fields will be performed automatically.

However, in order to be able to guide the laser beam projection device (1) without moving while the work vehicle (V) makes one reciprocation in the adjacent work process, the light receiver (2) on the work vehicle (v2) side is
) so that the direction of the light-receiving surface of the laser beam can be freely reversed by 180 degrees back and forth, and each time the working vehicle (v2) makes one reciprocation of the working stroke, the laser beam projection device (1) is adjusted to a working width of two strokes. It is designed to move the corresponding distance in the width direction of the vehicle body.

The moving guide (L) is formed of a wire stretched along the direction in which a plurality of work strokes are lined up, and is configured to control the projection position of the beam light (A) in each work stroke. A plurality of flat marks (m) indicating the stop position of the mobile vehicle (Vl) are spaced apart by two strokes for moving the laser beam projection device (1), and are arranged on the guide (L). is attached to.

To explain the mark (+n), as shown in Fig. 3, a flat plate made of resin or metal is attached to the guide (L) with its surface facing the working process side. , a large cut portion (3) extending in the vertical direction is formed at a central portion along the length of the guide (L) corresponding to the stop position of the moving vehicle (V1).

To explain the configuration of the moving vehicle (V,), as shown in FIGS. 3 and 4, by scanning a laser beam vertically over a set angle, a guiding beam light ( The laser beam projection device (1) configured to project A) in the length direction of the working process is configured such that the beam projection direction is directed toward the other end of the working process.
It is mounted horizontally in the center of the vehicle.

Mark detection means (
An optical sensor (So) as 100) detects the beam light (
It is provided on the side of the center of the vehicle body, which corresponds to the projection direction in A).

The optical sensor (So) is configured such that a light emitting part and a light receiving part are located on both left and right sides of the guide (L) and face each other, As the mobile vehicle (V,) moves along the guide (L), the mark (m) provided on the guide (L) cuts off the light emitting part and the light receiving part, and the beam becomes 0FFL. light(
When the projection position of A) matches the position of the large cutout (3) formed on the mark (m), the light shielding between the light projecting part and the light receiving part is released and the light is turned ON. It is composed of

Further, as a steering control sensor that detects a positional deviation in the width direction of the vehicle body with respect to the guide (L) and a deviation in the direction of the guide (L) in the longitudinal direction, Four limit switches (S
Wt), (SWt), (SWri.

(SL) are provided as a pair at both front and rear ends of the vehicle body, and the guides (L) are located between the two pairs of switches at the outer side of the vehicle body. It is mounted towards.

To explain the control configuration for automatically driving the moving vehicle (V1) along the guide (L), as shown in FIG. The four limit switches (SL), (SWz) - (SWs), (SWn
) based on the detection information of the front and rear wheels (4), (5
) actuators (6), (
7), and operates the transmission (8) that drives the front and rear wheels (4) and (5) based on the detection information of the optical sensor (S,), thereby moving the mark (m). A control device (9) using a microcomputer is provided, which constitutes a stop control means (101) for automatically stopping the moving vehicle (Vl) at the installation position.

In the figure, (So indicates that after the moving vehicle (Vl) stops, the moving vehicle (Vl) moves towards the position corresponding to the next work process.
(10) is a driving unit for driving the front and rear wheels (4) and (5) via the transmission (8); , engines and electric motors will be used.

Next, the stop control means (101) will be described in detail while explaining the operation of the control device (9) based on the flowchart shown in FIG.

First, the length of the guide (L) of the mobile vehicle (Vl) is adjusted so that the optical sensor (So) is positioned above the cutout (3) formed on the mark (m). Adjust the position in the vertical direction.

When the start switch (S,) is turned on, the transmission (8) is operated to start running at a preset running speed.

However, the time required for the optical sensor (So) to move between the cutout portion (3) of the mark (m) and the end of the mark (m) in the traveling direction of the mobile vehicle (Vl) is Until the set time elapses, a timer is used to monitor the elapsed time after the start of travel in order to ignore the operating state of the optical sensor (S,).

After the set time has elapsed after starting running, it is determined whether the optical sensor (So) is in the ON state or not, thereby determining whether the detection light is blocked at the mark (+a). to judge.

When the optical sensor (So) is in the ON state, the moving vehicle (Vυ is in the mark (s+
) is in a state where the optical sensor (S6) is traveling between the arranged areas, and after the light for detection is blocked at the mark (m), the optical sensor (S6) arrives at the position of the cutout part (3). Then, the state of the flag (N) for determining whether the shutoff is released again is determined.

The flag (N) is marked (
Corresponding to the state where the detection light is blocked in
1'', the transmission device (8) is operated to stop traveling.

After stopping running, the start switch (Sl) is turned on.
It will remain in a stopped state until it is operated.

On the other hand, if the optical sensor (So) is not ON, it is determined that the mark (m) has arrived at the installation position,
In order to improve the accuracy of the stopping position of the moving vehicle (V) by the above-mentioned stopping process, the transmission (8) is operated to reduce the speed to a low-speed running state, and the flag (N) is
is set to “1”.

After switching to the low speed running state and setting the flag (N) to 1", or when the optical sensor (So) is in the ON state and the flag (N) is not "1", the moving vehicle ( The four limit switches (SJ) and (S
Based on the detection information of Wz), (sW3), and (sW,), the front and rear wheels (4) and (5) are steered and controlled.

That is, the four limit switches (sl, (S
Whether or not the first switch (sW,), which is located on the front side of the vehicle body and on the outside side of the vehicle body with respect to the guide (L), among Wz), (SW3), and (s!A4) is turned on. If it is turned on, it is determined whether a third switch (S6) located at the rear of the vehicle body and on the same side as the first switch (SWl) is turned on.

When both the first switch (sh + ) and the third switch (SWs) are ON, □ the guide ( It is determined that the vehicle is shifted to the right with respect to L), and the front and rear wheels (4) and (5) are steered to the left using a parallel steering method that changes the orientation of the front and rear wheels (4) and (5) in the same direction.

The first switch (sWI) is ON, but the third switch (sWI) is ON.
When the switch (SW3) is OFF, it is determined that the direction of the guide (L) of the moving vehicle (Vl) with respect to the length direction is shifted to the right, and the front and rear wheels (4)
(5) A four-wheel steering system that changes direction in the opposite direction, steering the vehicle to the left.

When the first switch (sh, ) is OFF, it is determined whether a second switch (Slb) disposed on the right side of the first switch (SWl) is ON.

When the second switch (S6) is ON, it is determined whether a fourth switch (SW4) on the rear side of the vehicle body, which is disposed on the same side as the second switch (SWG), is ON or OFF.

The second switch (S6) and the fourth switch (sW
4) are both ON, the moving vehicle (V1)
It is determined that the position of the guide (L) is shifted to the left with respect to the guide (L), and the steering operation is performed to the right using the parallel steering method.

If the second switch (SWZ) is ON but the fourth switch (SL) is OFF, the orientation of the moving vehicle (V1) relative to the guide (L) is shifted to the left. Judging, with the 4-wheel steering type mentioned above,
Steer to the right.

However, if the second switch (S6) is OFF but the third switch (S6) is ON, the second switch (S6) is ON and the fourth switch (S6) is ON.
sh, ) is OFF, the guide (L
), it is determined that the vehicle (L) is deviated to the left, and the vehicle (L) is steered to the right using the four-wheel steering method.

Further, the second switch (SL) and the third switch (s
W3) are both OFF, but the fourth switch (sw
If i) is ON, it is determined that the vehicle orientation is shifted to the right, and the vehicle is steered to the left using a four-wheel steering system.

And the four switches (SWI), (S 匈2).

As all of (SWs) and (sw) are turned off, the front and rear wheels (4) and (5) are returned to neutral, which is a neutral steering state. 1. In other words, the moving vehicle (Vl) travels automatically while both the position and direction in the width direction of the vehicle body with respect to the guide (L) are automatically corrected, and the cut portion (of the mark (m)) 3) When the mobile vehicle (vl) stops at the location where the light beam (A) is located, the projection direction of the light beam (A) is maintained in a constant direction with respect to the guide (L). , the beam light projection directions in each work process are controlled to be parallel.

By the way, since the laser beam projection device (1) scans in the vertical direction, even if the moving vehicle (V,) is tilted in the width direction of the vehicle body, the light receiver (V8) of the working vehicle (V8) 2) cannot receive the beam light (A) (although there is no possibility that this will happen, if the moving vehicle (Vl) is stopped with the vehicle body tilted in the longitudinal direction, the projected beam light (A) Even if the working vehicle (v8) is in an appropriate position with respect to the projection direction of the beam light (A), there is a risk of the light receiving position in the vehicle body width direction being incorrect. The light projection device (1) is configured to automatically maintain a horizontal posture in the longitudinal direction of the vehicle body.

That is, as shown in FIG. 6, the laser beam projection device!
ffi (1) is mounted on a table (11) that is pivotably supported around an axis (X) extending in the width direction with respect to the vehicle body of the moving vehicle (Vl), and the table (
11) is provided with an electric motor (12) for vertically swinging it around the axis (X), and a tilt sensor (13) for detecting the tilt in the longitudinal direction of the vehicle body is attached to the table (11). The electric motor (12) is configured to operate in forward, reverse, and stop directions based on information detected by the inclination sensor (13) so that the table (11) remains horizontal.

Next, a configuration for guiding the working vehicle (v8) straight from one end of the working path to the other end using the light beam (A) will be briefly described.

As shown in Figures 4 and 5, the work vehicle (v2) has a planting device (15) that can be raised and lowered at the rear of the vehicle body, which is equipped with a pair of left and right front and rear wheels (14F) and (14R). It is attached to a rice-planting work vehicle (V8). Then, the guiding beam light (A
) A pair of front and rear optical sensors (53), (Sa) constituting the light receiver (2) that receives the light beam (A) are spaced apart in the vertical direction so that they can simultaneously receive the light beam (A), and , an electric motor (16) for changing the direction is attached so that the light-receiving surfaces thereof can be rotated back and forth by 180 degrees around the vertical axis so that the light-receiving surfaces thereof face toward the front side of the vehicle body and those facing toward the rear side of the vehicle body.

However, the pair of optical sensors (53) and (Sa) are
Even if the traveling direction of the work vehicle (v2) is reversed, the beam light (A
), the beam light (A)
the position in the projection direction of and the pair of optical sensors (Ss),
The sensor center position in the vehicle width direction of (Sa) is
The planting located on the farthest unplanted side with respect to the vehicle body should be in a position that protrudes toward the unplanted side by a distance equivalent to approximately half of the distance between the seedling rows, and the planting in the width direction of the vehicle body. .

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 (Ss) and (Sa) will be explained. A state in which the elements are arranged in parallel in the vehicle width direction, and the light receiving element located at the center of the sensor receives the beam light (A), with the position of the light receiving element located at the center in the vehicle body width direction being the reference position. A state in which there is no shift in the width direction is determined, and a state in which there is no shift in the direction of the vehicle body is determined when the light receiving positions of the pair of optical sensors (Ss) and (Sa) are the same in the front and rear.

In other words, the orientation of the vehicle body with respect to the projection direction of the beam light (A) and The deviation in each width direction is quantitatively detected.

Therefore, the work vehicle (v2) is moved straight along the light beam (A) by the pair of optical sensors (Sri,
Based on the light-receiving position information of (SJ), the pair of optical sensors (S3) and (SJ) are steered so that the light-receiving elements located at the center of each sensor maintain a state of receiving the beam light (A). It will be controlled. However, although not shown, it is possible to determine when the end of one work process has been reached based on preset travel control information, etc., and detection information from various sensors, etc. for detecting that the end of the work process has been reached. Then, the direction will be changed 180 degrees for the next work process.

[Another example]

In the above embodiment, the mark (m) for indicating the stop position of the mobile vehicle (V1) is configured as a flat plate having a cut portion (3) in the center, and the mark detection means (100
), the case where an optical sensor (So) is used is illustrated, but
The specific configuration of the mark (-) and the mark detection means (100) can be changed in various ways.

For example, as shown in FIGS. 7 and 8, instead of the cutout portion (3), the guide (L) is placed at the upper center of the mark (m), which is the stop position of the moving vehicle (V1). Metal protrusions (17) protruding on both left and right sides in a direction perpendicular to the length direction are attached, in place of the optical sensor (So) and limit switches (sh + ) to (SW4),
Three proximity switches (SWt), (SJ), and (SW3) that are turned ON as metal approaches within a set distance are arranged in parallel in the width direction of the guide (L), and 3 proximity switches (SWt), (SWt),
A roller (8) is provided for guiding the (S) to move on the guide (L).

Then, the three proximity switches (SWt), (shz
).

Using the detection information of (SW3), the steering is controlled so that only the proximity switch (sl) located in the center senses the metal, that is, the wire forming the guide (L), and maintains the ON state; The three proximity switches (SW
t), (swg), and (sh3) all sense the protrusion (17) provided on the mark (m) and turn on, thereby stopping the moving vehicle (Vl). good. In other words, the three proximity switches for steering control (
SWt), (stvz), and (SWz) are also configured to serve as the mark detection means (100).

Further, in the above embodiment, a wire is stretched as the guide (L) in the direction in which the work strokes are lined up, but a laser beam projection device (1) as the beam projection means is used.
) may be configured as a track for movement of the moving vehicle (V+) on which the guide (L) is mounted, and the specific configuration of the guide (L) can be changed in various ways.

Further, there is also a control configuration for automatically driving the mobile vehicle along the guide (L), and a stop control means (10) for stopping the mobile vehicle (V1) based on the detection information of the mark detection means.
The specific configuration of 1) can be modified in various ways.

Further, in the above embodiment, a pair of optical sensors (SJ), (SJ) are provided on the work vehicle (■t) at a distance from each other at the front and rear of the vehicle body, and the direction and width direction position with respect to the guiding beam light (A) are determined. We have exemplified a case in which both are detected and the steering can be controlled automatically based on the detected information.
- 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 drawings]

The drawings show an embodiment of the work vehicle guiding device using beam light according to the present invention, and FIG. 1 is a block diagram showing the control configuration, and FIG. 2 is a block diagram showing the control configuration.
The figure is a flow chart showing the stop control operation, Figure 3 is a schematic perspective view of the moving vehicle, Figure 4 is a front view of the same, Figure 5 is an explanatory diagram of the beam light projection direction, and Figure 6 is the horizontal direction of the beam light projection means. An explanatory diagram of the maintenance mechanism, FIG. 7 is a front view of essential parts showing another embodiment of the mark and mark detection means, and FIG. 8 is a side view of the same. (A)...Beam light for guidance, (L)...
...Guide, (V+) ...Moving vehicle, (1)
Old...beam light projection means, (100)...mark detection means, (101)...stop control means.

Claims (1)

[Claims] The beam light (A) is arranged so that the guiding light beam (A) is projected in each of a plurality of work processes parallel to each other.
) from one end side to the other end side along the length direction of the working strokes, the beam light projection means (1) is installed along the direction in which the plurality of working strokes are lined up. (L) A working vehicle guidance device using beam light provided on a moving vehicle (V_1) moving along the moving vehicle (
A plurality of marks (m) indicating the stop position of the moving vehicle (V_1) are provided along the guide (L) in a state corresponding to each of the plurality of work strokes, and
includes mark detection means (1) for detecting the mark (m).
00) and a stop control means (101) for stopping the mobile vehicle (V_1) based on the detection information of the mark detection means (100).