JPH0517807B2 - - Google Patents

Description

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

[Conventional technology]

The above-mentioned guidance device for a work vehicle uses a guiding beam light for moving various work vehicles such as an agricultural work vehicle such as a rice transplanter or a tractor or a construction work vehicle along the work process. The guidance beam projection means is movably installed so that the projection direction of the guidance beam light indicating the direction of each working process is parallel to the projection direction.

Conventionally, in order to set the projection direction of the guiding beam, a guiding beam projecting means is installed at one end of the working process, and a sign indicating the target position is placed at the other end of the working process. , Adjust the projection direction of the guidance beam light in the length direction of the work process for each work process using a sight, etc. that sets the direction in which the above-mentioned sign is located. The projection direction of the beam light was made to be parallel.

[Problem that the invention seeks to solve]

However, in the above-mentioned conventional means, it is necessary to reset the projection direction of the guiding beam light for each parallel work process, and the setting work is troublesome. Furthermore, it is difficult to artificially move the guidance beam projection means in parallel so that the projection directions of the guidance beams become parallel in each of the parallel working steps.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to project a guiding beam projected from a guiding beam light projecting means in the direction of the working process in each parallel working process. Specifically, the purpose is to make it possible to easily set the projection direction.

[Means for solving problems]

The characteristic configuration of the work vehicle guidance device according to the present invention is as follows:
A reference beam projection means for projecting a reference beam in the moving direction of the guidance beam projection means is provided, and a reference beam projection means for projecting the reference beam in the direction of movement of the guidance beam projection means is provided. The light receiving means for receiving light is provided on the guiding beam light projecting means side, and its functions and effects are as follows.

[Effect]

That is, the reference beam is projected in the direction of movement of the guidance beam projection means, and the light receiving means provided on the guidance beam projection means side,
By simply adjusting the projection direction of the guidance beam projected from the guidance beam projection means so as to receive the reference beam, the projection direction of the guidance beam in each parallel work process can be adjusted. Can be made parallel with simple operation.

To explain, first, the projection direction of the guiding beam light in the first working process of the parallel working processes is set, and then the light receiving means provided on the guiding beam light projecting means side is set for the reference beam. If the direction of the reference beam light projecting means is adjusted so as to receive the beam light, in the subsequent work process, the guiding beam light projecting means is adjusted so that the light receiving means receives the reference beam light. By simply moving the width of the work process and installing it, the projection direction of the guidance beam light projected from the guidance beam light projection means is directed in the direction parallel to the initially set projection direction, that is, the first work process. be able to.

〔Effect of the invention〕

Therefore, the direction of projection of the guidance beam from the guidance beam projection means is such that the light receiving means provided on the guidance beam projection means receives the reference beam from the reference beam projection means. By simply moving and installing the guiding beam light projection means in the , it is possible to direct the guiding beam light projection direction in each of the parallel work processes in the same direction. It has become possible to easily and accurately set the direction of light projection.

〔Example〕

Hereinafter, an embodiment in which the present invention is applied to a guiding device that projects a guiding beam light in the length direction of the working process in order to guide a rice transplanter along working processes that are parallel to each other will be shown in the drawings. I will explain based on this.

As shown in FIGS. 1 and 2, a laser light source 1 that projects a guiding beam Sa in the horizontal direction
is pivoted horizontally by a motor M, and a light receiver 2 serving as a light receiving means for receiving reference beam light Sb, which will be described later, is arranged so that its light receiving direction is the projection direction of the guiding light beam Sa. against 90
The laser light sources 1
A first laser emitter A is provided on the lateral side of the guide beam and serves as a guide beam light projection means for projecting a guide beam Sa.

Then, in each of a plurality of work processes parallel to each other, the first laser emitter A is moved in the field in order to project the guiding beam Sa indicating the direction of the work process in the length direction of the work process. A second laser emitter B is movably installed on one end side and serves as a reference beam light projection means.
The first beam Sb is projected so as to project the reference beam Sb toward the light receiver 2 provided on the side of the laser emitter A.
It is installed at the end of the laser emitter A in the moving direction.

Regarding the procedure for directing the projection direction of the guidance beam Sa projected from the first laser emitter A to the direction of the work process based on the reception information of the reference beam Sb by the light receiver 2. To explain, the guiding beam light Sa is projected toward one end of the first working process (indicated by a broken line in FIG. 1) located at the left end of the field in the direction of the first working process. The direction of the first laser emitter A is adjusted so that the first laser emitter A is aligned.

Next, with the direction of the first laser emitter A adjusted, the light receiver 2 emits the reference beam light.
the second laser emitter B so as to receive Sb;
Adjust the projection direction of the reference beam light Sb projected from the reference beam Sb. Then, in a second work process parallel to the first work process (indicated by a solid line in FIG. 1), the first laser emitter A is directed in the direction in which the second laser emitter B is installed. While moving the second laser emitter B by the width of the working process, the light receiver 2 receives the reference beam light.
By operating the control device 4 that drives the motor M until Sb is received, the guiding beam Sa projected from the first laser emitter A is
The light is automatically projected in a direction parallel to the direction set in the first working process.

Hereinafter, the configuration of a means for automatically setting the projection direction of the guiding beam Sa by controlling the drive of the motor M based on the light reception information by the light receiver 2 will be explained.

As shown in FIG. 3, the laser light source 1 starts driving the motor M to rotate, for example, clockwise, and the light receiver 2 starts receiving the reference beam Sb. Rotation angle θ _H
is detected based on the output information of the encoder 5 installed in the motor M, and the rotation angle θ _L at the time when the light receiver 2 finishes receiving the reference beam Sb is detected.

Then, after the light receiver 2 starts receiving the reference beam light Sb, the average change in the rotation angle until the light reception ends is determined based on the following formula, and this average angle θ ₀ is calculated from the reference beam Sb. While storing it as the projection direction of the light Sa, the motor M is reversed,
Based on the output of the encoder 5, the laser light source 1 is stopped at a position where the direction of the laser light source 1 becomes the average angle θ ₀ .

θ ₀ = (θ _H + θ _L ) ÷ 2 In other words, since the light receiving direction of the light receiver 2 is arranged to intersect 90 degrees with the direction of the laser light source 1, the direction of the light receiving direction of the laser light source 1 is By simply stopping the motor M at the position where the direction is at the average angle θ ₀ , the direction of projection of the guiding beam Sa will be equal to the direction of projection of the reference beam Sb in any work process. It is automatically set in a direction crossing 90 degrees, that is, in the direction of the first work stroke.

By the way, in order to automatically set the projection direction of the guiding beam Sa, the average rotation angle from the time when the light receiver 2 starts receiving the reference beam Sb to the time when it finishes receiving the reference beam Sb is determined as follows. The reason why the direction in which the guidance beam light Sa is projected is that even if the light receiving range of the light receiver 2 is narrowed, there is a width in the range that can actually receive light. It is difficult to completely align the optical axis with the projection optical axis of the reference beam Sb, and this is to prevent errors in the projection direction of the guiding beam Sa due to the width of the light receiving range. be.
In addition, in FIGS. 1 and 2, 6 is a cylindrical cover for limiting the light receiving range to the light receiver 2 to a narrow range.

[Another example]

In the above embodiment, the guiding beam light projection means A for projecting the guiding beam light Sa and the reference beam light
A reference beam light projection means B for projecting Sb,
Although a case is illustrated in which a separate laser emitter is used, for example, the guiding beam light projection means A is set to the reference beam light Sb projected from the reference beam light projection means B. It may be configured using a reflecting mirror that reflects in different directions at different angles, and may be used both as the guiding beam Sa and the reference beam Sb.
Further, the angle between the light receiving direction of the light receiving means and the projection direction of the guiding beam Sa may be configured to be variably set according to the shape of the field, and can be changed in various ways.

[Brief explanation of drawings]

The drawings show an embodiment of the guidance device for a working vehicle according to the present invention, and FIG. 1 is a plan view showing the positional relationship between the guidance beam projection means and the reference beam projection means, and FIG. 2 is a side view thereof. FIG. 3 is a flow chart showing the operation of the control device. Sa...Guiding beam light, Sb...Reference beam light, A...Guiding beam light projecting means, B...Reference beam light projecting means, 2... Light receiving means.

Claims (1)

[Claims] 1 Guide beam light directed in the length direction of the work process
A guiding device for a working vehicle, wherein a guiding beam light projecting means A for projecting the guiding beam Sa is movably installed so as to project the guiding beam Sa in each of a plurality of mutually parallel work strokes, the guiding device comprising: A reference beam light projection means B for projecting a reference beam light Sb toward the moving direction of the guidance beam light projection means A is provided, and in order to detect the projection direction of the guidance beam light Sa, the reference beam light projection means B is provided. beam light
A guiding device for a working vehicle, in which a light receiving means 2 for receiving Sb is provided on the guiding beam light projecting means A side.