JPS6371106A - Guide apparatus of working vehicle - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention uses a guiding beam light projected in the length direction of the working strokes to guide the work vehicle in each of a plurality of parallel working strokes. beam light projection means for projecting the guiding beam toward the working vehicle, or reflecting means for reflecting the guiding beam projected from the working vehicle toward the working vehicle, in order to automatically travel along the working process; This invention relates to a guiding device for a working vehicle, which is installed at the end of a working path so that it can be moved and installed in the direction in which the working path is lined up.

[Conventional technology]

This kind of work vehicle guidance device described above is used, for example, in order to automatically drive various work vehicles such as rice transplanters and lawn mowers in a plurality of parallel work strokes in the length direction of the work stroke. The guidance beam projected toward the vehicle is projected as a guide signal indicating the traveling direction of the work vehicle.

That is, a beam light projection means for projecting the guiding beam toward the working vehicle side or guiding beam light projected from the working vehicle side so that the guiding beam light is projected in each work process parallel to each other. A reflecting means for reflecting the light toward the working vehicle is provided at the end of the working path so that it can be moved and installed in the direction in which the working path is lined up.

Conventionally, when the beam light projection means or the reflecting means is moved in the direction in which the work strokes are lined up, the work for one work stroke is completed and the work vehicle reaches the end of the work stroke, or the work vehicle At the point when the machine moves to the starting end of the next work process, the work process is manually moved in the direction in which the work process is lined up.

[Problem that the invention seeks to solve]

However, in the above conventional configuration, since a means for moving the beam light projection means or reflection means in the direction in which the work stroke is lined up is not provided on the work vehicle side, for example, when a worker gets on the work vehicle, If the work for one work process is completed and the work vehicle reaches the end of the work process, each time the work vehicle reaches the end of the process, the worker gets off the vehicle and performs operations such as manually moving it to the end of the next process. It was necessary and troublesome.

In addition, if the work vehicle is one that travels automatically, the worker always waits at the end of the work process, and each time the work vehicle reaches the end of the work process, the beam light projection means or the reflector is activated. It was necessary to manually move the means in the direction of the work process, which was troublesome.

In addition, it is difficult to manually move the beam light projection means or reflection means by the width of the mutually parallel work strokes, and it is troublesome to move and install the beam light projection means or reflection means. there were.

Incidentally, as a means for providing the beam light projection means or reflection means so as to be movable and installed in the direction in which the work process is lined up, as disclosed in Japanese Patent Publication No. 50-38477, the above-mentioned beam light projection means or reflection means may be installed. Although it is conceivable to provide a track for moving in the direction in which the work strokes are lined up, it is necessary to provide a track for each work range, which has the disadvantage of making the equipment configuration complicated and expensive. Further, once the track is set, there is a disadvantage that the moving direction of the beam light projecting means or the reflecting means, that is, the direction of the working process with respect to the work area cannot be easily changed, which makes it difficult to adopt. Further, even in the means for providing the track, it is not possible to move the beam light projecting means or the reflecting means on the track in the direction in which the work strokes are lined up from the working vehicle side.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable the beam light projection means or reflection means to be easily moved from the work vehicle side in the direction in which the work process is lined up. There is a particular thing.

[Means for solving problems]

A characteristic configuration of the working vehicle guiding device according to the present invention is that a gripping and moving means for gripping and moving the beam light projection means or reflecting means in the direction in which the working strokes are lined up is provided on the working vehicle side, and its operation and The effects are as follows.

[For production]

That is, when the work vehicle has reached the end of the working stroke, the gripping and moving means provided on the work vehicle side grips and moves the beam light projection means or the reflecting means in the direction in which the work stroke is lined up.

〔Effect of the invention〕

Therefore, the beam light projection means or reflection means should be placed on the work vehicle side.
Since the gripping and moving means provided at You can freely change the arrangement direction. Further, there is no need to provide means for moving the beam light projection means or the reflecting means in the direction in which the working strokes are lined up on the end side of the working strokes. As a result, it has become possible to easily move and install the beam light projection means or reflection means from the working vehicle side.

〔Example〕

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

As shown in Fig. 6, a beam light projection device (
1) is mounted on the working vehicle (V), and at both ends of the working path parallel to each other, a reflecting means for reflecting the laser beam (S) toward the working vehicle (V) is used to reflect the incident light. Four corner cube prisms (2) that reflect in the incident direction are placed at each end of the current working stroke in which the work vehicle (V) is traveling and the next working stroke adjacent to this current working stroke, It is arranged so that it can be moved and installed freely.

However, as will be described in detail later, the corner cube prism (2) is used for the work as the work vehicle (V) reaches the end of one work stroke and moves to the start of the next work stroke. The corner cube prism (2) installed at the end of the completed work stroke is automatically moved to the end of the next work stroke adjacent to the starting end of the next work stroke where the work vehicle (V) has moved. I would like to move it and install it.

To explain the structure of the working vehicle (V), as shown in FIGS. 1 and 4, a pair of left and right front and rear wheels (3),
(4) are provided so that each wheel can be steered independently, and the front and rear wheels (
3) By steering wheels (3) and (4) in the same direction, the vehicle is moved in parallel without changing its orientation, and by steering the front and rear wheels (3) and (4) in opposite directions, it is possible to make sharp turns. It is also possible to do so.

In addition, the engine (E) mounted on the front side of the vehicle body is interlocked and connected to a hydraulic continuously variable transmission (5) which can freely switch forward and backward movement and can freely change speeds in both forward and backward directions, and the front and rear wheels (3), (4), the hydraulic continuously variable transmission (5)
A so-called 4-wheel steering type and 4-wheel drive type work vehicle is constructed by interlocking and connecting with the 4-wheel drive type work vehicle.

In addition, (6) and (7) in Fig. 4 are the front wheels (3), respectively.
and a hydraulic cylinder for steering the rear wheels (4), (8), (
9) is the solenoid valve, and the controller (lO) detects the actual steering positions of the front and rear wheels (3) and (4) based on the detection information from the potentiometers (R1) and (R2). The steering operation is automatically performed by controlling the operation of the electromagnetic valves (8) and (9).

Further, a potentiometer (R1) is provided for detecting the operating position of the speed change bag W (5), and detects forward and backward movement and its traveling speed to control the operation of the speed change motor (11). The control device (10) is designed to automatically perform forward/reverse movement and gear change operations.

To explain the configuration of the beam light projection device (1), as shown in FIG. A deflecting mirror (13) is provided to change the direction of the laser beam emitted laterally from the mounting frame (11) in the direction of the vertical axis (Z), and The laser beam whose direction has been changed by the deflection mirror (13) is rotated by a motor (Mx) around a lateral axis (X) directed in the width direction of the work vehicle (V),
A predetermined divergence angle (φ) in the vertical direction on both sides of the work vehicle (V) in the longitudinal direction (Y) perpendicular to the lateral axis (X).
A rotating mirror (14) is provided which splits and scans the two guiding beams (S) and (S).

The guidance beam light (S) is spread and projected in the vertical direction so that even if the vehicle body pitches or moves up and down, the guidance beam light (S) is projected onto the corner cube prism (2). This is to ensure that

In addition, the mounting frame (11) is aligned with the vertical axis (Z
) around which the entire body is rotatably supported by a motor (Mz) so that it can be rotated and scanned, and the projection direction of the two guidance beams (S) and (S) projected in both the front and rear directions of the vehicle body is
It is configured to be able to freely change its direction around the vertical axis (Z), that is, in the left and right directions with respect to the vehicle body.

Further, each of the two guidance beams (S), (S) is reflected from the corner cube prism (2) provided at both ends of the working path to the projection direction surface (15). the guiding beam light (S) returning in the projection direction of the guiding beam light (S), that is, the working vehicle (V) side;
(S) A convex lens (17) that condenses each reflected light,
The convex lens (1
7) and the rotating mirror (14), the convex lens (1
Similar to the convex lens (17), a mirror (18) for changing the optical path of only the reflected light condensed by the convex lens (17) upward is divided into two in the vertical direction.
A light receiver (16) for receiving the reflected light from the corner cube prism (2) is provided at the focal position of the reflected light incident through the corner cube prism (2) and the corner cube prism (2).

Then, the two guiding beam lights (S), (S)
The light receiver (16) is scanned reciprocally around the vertical axis (Z) by the motor (Mz) while projecting each of them in the longitudinal direction of the work vehicle (V).

The scanning angle at the time when each of (16) receives the reflected light is
The encoder (Ez) attached to the motor (Mz) detects the orientation and width direction of the work vehicle (V) with respect to the line connecting the corner cube prisms (2) and (2) installed at both ends of the work stroke. The front and rear wheels (3) and (4) are calculated based on the obtained deviation information.

By steering the light receiver (16).

(16) respectively, the working vehicle Corner cube prism (2) with (V) installed at both ends of the working path.

(2) The robot automatically travels along the line connecting the lines, that is, the work process.

Further, a gripping and moving device (19) as a gripping and moving means for gripping and moving the corner cube prism (2) in the direction in which the working stroke is arranged in a state where the working vehicle (V) is located at the end of the working stroke, It is provided at the front of the work vehicle (V).

The configuration of the gripping and moving device (19) will be explained as follows.
As shown in FIGS. 1 and 2, a structure is provided at the front of the working vehicle (V) that is rotatable around the longitudinal axis (b) of the working vehicle (V) and that can move in and out in the longitudinal direction of the vehicle body. pivoted hand (
l(), and at the tip of the hand (H),
An electromagnet (21) is attached to the front side of the corner cube prism (2) to grip the 5-ner cube prism (2) by adsorbing an iron plate (20) rotatably supported around a horizontal axis. The head part (22)
It is provided so as to be able to move forward and backward with respect to the hand (H).

Further, an ultrasonic sensor (23) that operates as the work vehicle (V) approaches the iron plate (20) within a set distance;
In the state where the electromagnet (21) attracts the iron plate (20) of the corner cube prism (2) located at the end of the working stroke located on the side of the working vehicle (V), Corner cube prism (
The first limit switch (24) which is turned on by contacting the iron plate (20) of 2) and the electromagnet (21) are located at the end of the working stroke located on the side of the working vehicle (V). The second limit switch (which is turned on as the iron plate (20) of the corner cube prism (2) is attracted)
25) is provided. The length of the hand (11) is determined based on the interval between adjacent working strokes.

Next, the operation of the gripping and moving device (19) will be explained based on the flowchart shown in FIG.

That is, as the work vehicle (V) reaches the end of the current work stroke, the ultrasonic sensor (23) approaches the corner cube prism (2), that is, the end of the work stroke, within a set distance. When this is detected, the vehicle body is moved forward by decelerating to the set speed, and the first limit switch (24) is activated.
) is turned ON, it is stopped.

Next, while keeping the beam light projection device (1) facing the front side of the vehicle body and stopped, the light receiver (16) that receives the reflected light from the front side of the vehicle body starts the next work process. Corner cube prism (2) installed at the end of
The work vehicle (V) is moved backward while parallelly moving toward the next work stroke until it receives the reflected light from the work vehicle, and then is stopped.

Then, while protruding the hand (H) toward the front side of the vehicle body, the hand (H) is advanced until the first limit switch (24) or the second limit switch (25) is turned on.

As the second limit switch (25) is turned ON, the forward movement and protrusion of the hand (11) are stopped, and then the tM1 stone (21) is activated to reach the end of the work stroke where the work has been completed. The iron plate (20) of the installed corner cube prism (2) is attracted.

Next, the hand (H) is rotated 180 degrees in the direction of the next work process, and then the operation of the electromagnet (21) is stopped, thereby moving the corner cube prism (2) to the next work process. After moving and installing the hand (H) at the end of the stroke, the hand (H) is retracted to the vehicle body side, and the hand (H) is moved in the opposite direction by 18
The corner cube prism (2) is rotated by 0 degrees to return to its original position, and the process of gripping and moving the corner cube prism (2) in the direction in which the work strokes are lined up is completed.

However, for example, if the work vehicle (V) has corner cube prisms (2
), (2), the first limit switch (24) is tilted to the direction in which the first limit switch (24) is aligned with the second limit switch (25).
), if the electromagnet (21) is turned on earlier than the second limit switch (25), the electromagnet (21
) The electromagnet (21) is activated after only the head portion (22) with the attached head portion (22) is projected forward.

Therefore, before starting work, simply install the corner cube prisms (2) at four locations at both ends of the first work process and the next work process, and in each subsequent work process, the work vehicle As (V) moves in the direction in which the work strokes are lined up, the corner cube prism (2) installed at the end of the previous work stroke is automatically moved and installed at the end of the next work stroke. Therefore, even if a small number of corner cube prisms (2) are used, the guiding beam light (S) is
can be automatically projected along the length of the working process.

After moving and installing the corner cube prism (2) at the end of the next working process, the vehicle body is turned 180 degrees and the guidance beam light (
By restarting the scanning of S) and controlling the steering based on the detection information from the light receivers (16) and (16) and the encoder (Hz), work for the next work process is started.

[Another example]

In the above embodiment, the guiding beam light (S) is projected in the length direction of the working process, and the guiding beam light (S) is projected toward the working vehicle in the longitudinal direction of the vehicle body. A case in which a projection means (1) is mounted and a corner cube prism (2) that reflects the guiding beam light (S) toward the work vehicle is movably provided at the end of the working process. As shown in the example, for example, only a light receiving means for receiving the guiding beam light (S) is provided on the working vehicle side, and the guiding beam light (S) is directed toward the working vehicle side at the end of the working process. The beam light projection means (1) for projecting may be provided so as to be movable.

Further, in the above embodiment, the gripping and moving means (19) for gripping and moving the beam light projection means (1) or the reflecting means (2) in the direction in which the working strokes are lined up is provided at the end of the working stroke. An electromagnet (21) that attracts an iron plate (20) that is rotatably installed on a corner cube prism (2),
Installed on the work vehicle side, this electromagnet (21) connects the iron plate (20)
By adsorbing the corner cube prism (2
) is configured to grip and move in the direction in which the working strokes are lined up, but the specific gripping and moving means for gripping and moving the beam light projection means (1) or the reflecting means (2) in the direction in which the working strokes are lined up is illustrated. The configuration can be changed in various ways.

Further, the specific configuration for automatically driving the working vehicle and the specific configuration of each part of the working vehicle can be variously changed depending on the configuration of the working vehicle to which the present invention is applied, and the present invention is limited to the above embodiments. It is not limited.

[Brief explanation of the drawing]

The drawings show an embodiment of the guidance device for a working vehicle according to the present invention,
Figure 1 is an overall side view of the working vehicle, Figure 2 is a front view of the working vehicle, Figure 3 is a partially cutaway perspective view showing the configuration of the beam light projection means, and Figure 4 is a schematic configuration of the control system. A block diagram, FIG. 5 is a flowchart showing the operation of the gripping and moving means,
FIG. 6 is an explanatory diagram of the work process. (S)...Guiding beam light, (ν)...
・Work vehicle, (1)... Beam light projection means, (2
) Machi... Reflection means, (19)... Grasping movement means.

Claims (1)

[Claims] In order to cause the work vehicle (V) to automatically travel along the work process in each of a plurality of work processes parallel to each other using the guiding beam light (S) projected in the length direction of the work process, Beam light projection means (1) for projecting the guiding beam light (S) toward the working vehicle side, or reflecting means (2) for reflecting the guiding beam light (S) projected from the working vehicle side toward the working vehicle side. A guiding device for a working vehicle, which is provided at an end of a working path so as to be movable and installed in the direction in which the beam light projection means (1) or the reflecting means (2) are lined up.
) is provided on the working vehicle side with a gripping and moving means (19) for gripping and moving the objects in the direction in which the work stroke is arranged.