JPH06149352A - Traveling controller for beam light guidance type working car - Google Patents

Abstract

(57) [Summary] [Purpose] Correct the turning pattern so that the position at the beginning of the next traveling stroke after turning does not deviate from the proper steering position. [Structure] A means B1 for projecting a guiding beam light A1 along each traveling path, and a work vehicle V has a guiding beam light A1.
The steering control optical sensor 17 for receiving the light, the steering control means 100 for controlling the steering so that the work vehicle V automatically travels along the guiding beam light A1 based on the received light information, and When reaching the terminal end portion, the turning control means 101 for turning the work vehicle V in a predetermined turning pattern toward the starting end portion of the next traveling stroke adjacent to the traveling stroke, and the next traveling after the turning movement. Turning movement deviation amount detecting means 10 for detecting the deviation amount from the proper steering position of the work vehicle V at the start end of the stroke.
2 is provided, and the turning control unit 101 corrects the turning pattern so as to reduce the deviation amount based on the detection information of the turning movement deviation amount in the previous turning operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention projects a guide light beam from one end side to the other end side of each traveling stroke so that a work vehicle automatically travels along each of a plurality of traveling strokes. Guidance beam light projection means is provided, and the work vehicle is provided with a steering control light sensor for receiving the guidance beam light, and the work vehicle based on light reception information of the steering control light sensor. Steering control means for controlling the steering so that the vehicle automatically travels along the guiding beam light, and as the work vehicle reaches the end of one traveling stroke, the next one adjacent to the one traveling stroke The present invention relates to a travel control device for a beam light guided work vehicle, which is provided with a turning control means for turning the work vehicle in a predetermined turning pattern toward a start end portion of a travel stroke.

[0002]

2. Description of the Related Art A traveling control device for a beam light guided work vehicle of this type is designed to guide light beams projected from one end side to the other end side of a plurality of traveling strokes set for work. As the work vehicle that automatically travels along it travels automatically over all of its travel strokes, as the work vehicle reaches the end of each travel stroke, it automatically travels toward the beginning of the next travel stroke. Although it is designed to be moved, in the conventional case, the work vehicle cannot be guided by the beam light for guiding during the turning operation of moving to the starting end portion of the next stroke. It has been designed to automatically turn in a predetermined turning pattern.

[0003]

However, in the above-mentioned prior art, in the case of a work vehicle that travels in a state in which the running ground is poor and the vehicle easily slips, such as a work vehicle for planting rice, the above-mentioned predetermined turning direction is required. The actual turning trajectory when the turning operation is performed in a pattern deviates from the desired turning trajectory, and the steering position of the work vehicle at the start end portion of the next traveling stroke after the turning operation may deviate from the proper steering position. This was great. That is, since the turning pattern is set so as to have a desired turning locus when the turning operation is performed under the standard slip amount assumed in the standard field condition, This is because the actual slip amount changes to a larger side or a smaller side than the standard slip amount according to the change such as in a wet field or a dry field.

The present invention has been made in view of the above circumstances, and an object thereof is to prevent the position at the starting end portion of the next traveling stroke after the turning operation from deviating from the proper steering position as much as possible. This is to perform a turning operation by appropriately correcting the turning pattern.

[0005]

A traveling light control device for a beam light guide type work vehicle according to the present invention is characterized in that after the turning operation, the work vehicle is controlled based on information from the steering control optical sensor. The turning operation deviation amount detecting means for detecting the deviation amount from the proper steering position of the work vehicle at the start end portion of the next traveling stroke is provided, and the turning control means is provided for the turning operation in the previous turning operation. The point is that the turning pattern is corrected so as to reduce the deviation amount based on the information of the direction deviation amount detecting means.

[0006]

According to the characteristic configuration of the present invention, as the work vehicle reaches the end portion of one traveling stroke, the turning movement is performed when the work vehicle is turned toward the starting end portion of the next adjacent traveling stroke. The turning pattern is a turning movement deviation amount detected in the turning operation performed before the turning operation, that is, from the proper steering position of the work vehicle at the start end portion of the next traveling stroke after the turning operation. The amount of deviation is corrected so as to reduce the amount of deviation, and the turning operation is performed with the corrected turning pattern.

[0007]

Therefore, according to the characteristic configuration of the present invention, since the slip amount changes depending on the field conditions such as a wet field and a dry field, such as a work vehicle for planting rice, a set turning pattern is set. Even if the actual turning trajectory is likely to deviate from the desired turning trajectory when the turning operation is performed with, the amount of deviation of the turning operation in the previous turning operation that reflects the degree of deviation is detected. Depending on the result, the turning pattern is corrected so as to reduce the deviation amount, and the turning operation is performed with the corrected turning pattern, so that the work vehicle at the start end of the next traveling stroke after the turning operation The degree to which the position deviates from the proper steering position is reduced, so that the reliability of the turning operation can be improved.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a traveling control device for a rice planting work vehicle will be described below with reference to the drawings.

As shown in FIG. 4, in a plurality of work traveling strokes set parallel to each other set in a field, the work vehicle V for rice planting automatically travels along the length direction of the traveling stroke. Laser beam projection for guiding as a guiding beam light projecting means for projecting a guiding beam light A1 which serves as a traveling guide for guiding to the other side from one end side to the other end side along the length direction of the traveling stroke. The device B1 is installed at a position corresponding to the middle of the two traveling strokes at a ratio of one to two traveling strokes that are adjacent to each other along the direction in which the plurality of traveling strokes are lined up. The guiding beam light A1 can be projected in each of a plurality of parallel traveling strokes. Although not described in detail, the guide light beam A1 is scanned within a predetermined vertical angle range. Further, in this embodiment, the working vehicle V guided by the guiding beam light A1 is made to reciprocate in each traveling stroke while being turned by 180 degrees at both ends of each traveling stroke.

Further, the turning beam light A2 for indicating the positions of both ends in the length direction of the traveling stroke and for indicating the start position of the turning operation for the next traveling stroke is used as the guiding beam light. A turning laser light projection device B2 for projecting in a direction orthogonal to the projection direction of A1 is provided at a lateral side of the field where the traveling strokes are arranged corresponding to both ends in the longitudinal direction of the traveling strokes. Has been. Thus, as the working vehicle V reaches the end of each traveling stroke, the working vehicle V is turned by 180 degrees toward the next traveling stroke, so that the planting work in the field in the predetermined range is continued. So that it can be done automatically.

The construction of the work vehicle V will be described below.
As shown in FIG. 4 and FIG. 5, a seedling planting device 6 as a working device is provided at a rear portion of a traveling machine body 5 including a pair of left and right front wheels 3 and rear wheels 4 so as to be vertically movable and drive-stoppable. There is. Further, as shown in FIG. 1, the front and rear wheels 3, 4
Is composed of a pair of left and right sides so that steering operation can be freely performed in the front and rear, and hydraulic cylinders 7 and 8 for steering and electromagnetic control valves 9 and 10 for them are provided. That is, a two-wheel steering system that steers only one of the front wheels 3 or the rear wheels 4, a four-wheel steering system that steers the front and rear wheels 3, 4 in opposite phases and at the same angle, and the front and rear wheels 3, 4 in the same phase. In addition, it is possible to selectively use three types of steering types, that is, a parallel steering type that steers at the same angle.

In FIG. 1, 11 is a hydraulic continuously variable transmission that shifts the output from the engine E to drive the front and rear wheels 3 and 4 at the same time, 12 is an electric motor for gear shifting operation, 1
3 is a hydraulic cylinder for raising and lowering the planting device 6, 14 is a control valve thereof, 15 is an electromagnetically-operated planting clutch for intermittently driving the planting device 6 by the engine E, 16 is traveling of the work vehicle V, and A control device using a microcomputer for controlling the operation of the planting device 6, wherein the shifting motor 12 and the control valves 9, 1 are based on detection information from various sensors described later.
0, 14 and the planting clutch 15, respectively.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 1, steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, respectively. And a vehicle speed sensor R3 using a potentiometer that indirectly detects the forward / backward traveling state and the vehicle speed based on the speed change state of the speed change device 11, and the speed change device 11
An encoder S4 for counting the number of rotations of the output shaft and detecting the traveling distance is provided.

Further, as shown in FIGS. 4 and 5, the guiding beam light is used to detect the deviation in the lateral direction of the machine body with respect to the guiding beam light A1 based on the light receiving position in the lateral direction of the machine body. Steering control optical sensor 1 for receiving A1
7 is provided on the front side of the right side of the machine body, and further, the light sensor for rotation S3 for receiving the light beam for turning A2 can receive the light beam for turning A2 from either side of the machine body. Further, they are provided on the left and right sides of the airframe on the front side of the steering control optical sensor 17, respectively. The turning optical sensor S3 is configured to detect only whether or not the turning beam light A2 is received, and the light receiving position cannot be determined.

The steering control optical sensor 17 will be described. As shown in FIGS. 5 and 6, the steering control optical sensor 17 is arranged at a distance d in the longitudinal direction of the machine body and at a distance in the vertical direction. It is composed of a pair of front and rear optical sensors S1 and S2, and in order to be able to receive the guiding beam light A1 with no difference even when it is incident from any direction in the front and rear of the body, A reflecting mirror 18 is provided for reflecting the incident light from each direction toward the light receiving surface of each of the optical sensors S1 and S2. As shown in FIG. 6, each of the pair of front and rear optical sensors S1 and S2 has a plurality of light receiving elements D arranged side by side in the lateral direction of the machine body and is located at the sensor center D0 in the lateral direction. With the position of the light receiving element as a reference, the positions X1 and X2 of the respective light receiving elements before and after the reception of the guiding beam light A1 can be detected.

Then, the control device 16 is used to steer the work vehicle V so as to automatically travel along the guiding beam light A1 based on the light reception information of the steering control optical sensor 17. As the steering control means 100 for controlling the work vehicle V reaches the end portion of one travel stroke, the work vehicle V is moved toward the start end portion of the next travel stroke adjacent to the one travel stroke. Based on the information of the turning control means 101 for turning in a predetermined turning pattern and the steering control optical sensor 17, the work vehicle V of the work vehicle V at the beginning of the next traveling stroke after the turning operation. Each means of the turning motion deviation amount detecting means 102 for detecting the deviation amount from the proper steering position is configured.

Explaining the steering control means 100, the positions X1 and X2 of the light receiving elements of the pair of front and rear optical sensors S1 and S2 of the steering control optical sensor 17 and their mounting in the vehicle front-back direction are attached. Based on the distance d, the inclination φ of the traveling machine body 5 with respect to the projection direction of the guiding beam light A1 and the position deviation x in the lateral width direction are obtained from the following equation.

[0018]

## EQU1 ## φ = tan ^-1 (| X1-X2 | / d) x = X1

In this example, the position deviation in the lateral width direction x is the light receiving position of one (S1) of the pair of photosensors S1 and S2, but an error due to the inclination φ does not occur. In order to do so, the pair of optical sensors S
You may make it use the average value of the light receiving positions X1 and X2 of 1 and S2, respectively.

Then, the work vehicle V is steered and controlled by setting a target steering angle so that both the inclination φ and the deviation x become zero. However, in the present embodiment, the steering control is performed in a two-wheel steering system in which only the front wheels 3 are steered in each traveling stroke.

Next, the turning control means 101 will be described. As shown in FIGS. 7 and 9, the point where the turning optical sensor S3 detects the turning beam light A2 is e.
Then, the turning operation of 180 degrees is started from the point f, which is traveled by the distance a from the point e based on the detection information of the encoder S4, and reaches the end point h of the turning operation through the predetermined turning section g. Therefore, the turning pattern is set such that the routes e to h from the point e to the point h are set as the traveling locus (turning locus) by the turning motion.

As shown in FIG. 8, the turning operation deviation amount detecting means 102 is an optical sensor S on the front side of the steering controlling optical sensor 17 at the point h which is the end point of the turning operation.
The light receiving position X1 of 1 is detected as the shift amount L. Then, the turning control unit 101 performs the turning operation based on the information of the turning operation deviation amount detecting unit 102 in the previous turning operation, that is, the deviation amount L, that is, after the turning operation. It is configured to correct the turning pattern so as to reduce the amount L of deviation from the proper steering position of the work vehicle V at the start end portion of the next traveling stroke.

Explaining the correction operation by the turning control means 101, as shown in FIG. 9, for example, in the first turning operation at the start of work, the locus of the turning section g is changed from its proper locus k0. If it deviates to k1, and as a result, the amount of deviation L becomes L1 (on the right side of the proper steering position in the figure), the point f, which is the starting point of the turning motion, is set in the turning pattern for the second time. The displacement amount L1 is corrected so that it becomes a point moved by L1 in the direction in which it is canceled (leftward in the figure). Therefore, the correction amount in this case is H2 = L
Becomes 1. Then, in the second turning motion, the locus of the turning section g becomes k2, and as a result, the deviation amount L
Becomes L2 (to the right of the proper steering position),
In the turning pattern for the third time, the point f, which is the starting point of the turning motion, is offset in the direction of canceling the deviation amount that is the sum of the deviation amount L1 for the first time and the deviation amount L2 for the second time, that is, L1 + L2 (L1 in this example. Is larger than L2, so the point is moved to the left in the figure). Therefore, the correction amount in this case is H3 = L1 + L2. Hereinafter, the displacement amount that is sequentially detected is added to determine the correction amount, and the next turning operation is performed. Therefore, the n-th correction amount Hn is expressed by the following equation.

[0024]

[Formula 2] Hn = (L1 + L2 + ......... + Ln-1)

Next, the operation of the control device 16 will be described with reference to the flow charts shown in FIGS. 2 and 3. In the work vehicle V, the guiding laser beam projection device B1 is used.
In the state of receiving the guiding beam light A1 projected from the rear side of the machine body, the first traveling path set on one end side of the field is traveled from one end side to the other end side along the length direction thereof. Start (see Figure 4).

After the start of traveling, the steering control sensor 17
As described above, the front wheels 3 are operated in the two-wheel steering manner so that both the light receiving positions of the pair of optical sensors S1 and S2 are in the center of the sensor based on the light receiving position information of the guiding beam light A1. Direction control. Then, as the turning optical sensor S3 travels a set distance from the time when the turning beam light A2 projected on one end side of the traveling stroke is received and reaches the planting start position, the planting device is installed. 6 is lowered and the driving is started, and the planting work is started.

When the working vehicle V reaches the end of the traveling stroke and the turning optical sensor S3 receives the turning beam light A2 projected on the other end side of the traveling stroke (point e), The driving of the planting device 6 is stopped to stop the planting work. Although not described in detail, when it is determined that the work is completed based on the number of times of turning, the next turning operation is not performed, the traveling is stopped, and the entire process is ended. The steering control sensor 17 detects the steering position from the point e, and the vehicle travels toward the point f. It should be noted that, during this traveling, steering is performed so as to move the vehicle body left and right position at the point f with respect to the proper steering position in accordance with the correction amount Hn.

When the vehicle arrives at point f, the two-wheel steering type is switched to the four-wheel steering type and the turning section g for turning the working vehicle V by 180 degrees toward the start end of the next traveling stroke. The turning operation according to is started. After the turning operation of the turning section g is completed, the deviation amount Ln-1 of the turning operation is detected at the point h as described above, and the deviation amount Ln is detected.
n-1 and the amount of deviation of the turning motion before that (L1 + ...
The correction amount Hn for the next turning motion is calculated based on + Ln-2). At the same time, the four-wheel steering type is switched to the two-wheel steering type and the steering control by the steering control sensor 17 is started.

[Embodiment] In the above embodiment, the work vehicle V is turned 180 degrees to turn to the start end of the next traveling stroke. However, as shown in FIG. 10, the work vehicle V is turned 90 degrees. The same applies to the case of turning by turning. In this example, since the steering position of the work vehicle V after turning by 90 degrees and turning is deviated to the right side (downward in the figure) from the proper position in the traveling direction, the next turning operation is performed. Then, in order to correct this shift amount L, the turning pattern is corrected so that the turning start point in the turning operation is on the front side (upward in the drawing) by L.

Further, in the above embodiment, all the deviation amount L of the turning motion up to the previous time is used for calculating the correction amount H, but it is not always necessary to do so. For example, in the case where the field conditions vary little depending on the location within one section of the field, the shift amount L1 of the first turning motion at the start of the work is detected, and all the subsequent shift amounts L1 are detected. The control amount can be simplified by setting the correction amount H of the turning operation. Further, the correction amount H for the turning operation on one end side of the field uses the deviation amount L in the turning operation on the one end side, and the correction amount H for the turning operation on the other end side is used for the turning operation on the other end side. It is also possible to divide the one end side and the other end side of the field by using the shift amount L in the turning operation, and the configuration of the turning control means 101 can be variously changed.

Further, in the above embodiment, the case where the turning of the vehicle body is performed by the four-wheel steering type in the turning operation is illustrated, but the turning may be performed by the two-wheel steering type, and the turning pattern is changed. Various specific forms can be changed. Further, the desired turning trajectory according to the set turning pattern is not limited to that of the above-mentioned routes e to h, but the work vehicle V
Various trajectories can be set according to the steering performance of the vehicle.

Further, in the above-mentioned embodiment, the present invention is applied to the traveling control device of the work vehicle for rice planting, but it is also applicable to agricultural machines other than rice planting machines and various traveling work vehicles. In that case, the specific configuration of each unit can be variously changed.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[0034]

[Brief description of drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 is a flowchart of control operation.

FIG. 3 is a flowchart of control operation.

FIG. 4 is a schematic plan view illustrating a traveling stroke and a turning operation.

FIG. 5 is a schematic side view of a work vehicle and a beam light projection means for guidance.

FIG. 6 is an explanatory diagram of a light receiving position of a steering control optical sensor.

FIG. 7 is an explanatory diagram of turning motion.

FIG. 8 is an explanatory diagram of detection of a turning movement deviation amount.

FIG. 9 is an explanatory diagram of a turning pattern.

FIG. 10 is a schematic plan view illustrating a turning operation of another embodiment.

[Explanation of symbols]

 V work vehicle A1 guidance beam light B1 guidance beam light projecting means 17 steering control optical sensor 100 steering control means 101 turning control means 102 turning operation deviation amount detecting means

Claims (1)

[Claims] 1. The guide beam light (A1) is projected from one end side to the other end side of each traveling stroke so that the work vehicle (V) automatically travels along each of the plurality of traveling strokes. A guidance beam light projection means (B1) is provided, and a steering control light sensor (17) for receiving the guidance beam light (A1) is provided on the work vehicle (V), and the steering control light. A steering control means (100) for controlling the steering so that the working vehicle (V) automatically travels along the guiding beam light (A1) based on the light reception information of the sensor (17), and the working vehicle. As (V) reaches the end of one traveling stroke, the working vehicle (V) is turned in a predetermined turning pattern toward the beginning of the next traveling stroke adjacent to the one traveling stroke. Driving control of a beam light guide type work vehicle provided with a turning control means (101) for operating A device for controlling the steering control light sensor (17) on the work vehicle (V).
On the basis of the information of the turning movement, a turning movement deviation amount detecting means (102) for detecting a deviation amount from the proper steering position of the work vehicle (V) at the starting end portion of the next traveling stroke after the turning operation is provided. The turning control means (101) corrects the turning pattern so as to reduce the deviation amount based on the information of the turning movement deviation amount detecting means (102) in the previous turning operation. A traveling control device for a beam light guide type work vehicle configured as described above.