JPH0950317A - Beam light guide type traveling control device for mobile vehicles - Google Patents

Abstract

(57) 【Abstract】 PROBLEM TO BE SOLVED: To properly detect a lateral displacement and inclination of a moving vehicle with respect to a guidance route by eliminating the influence of the inclination in the vehicle body width direction and the front-rear direction, and to guide the movement vehicle to the guidance route. Automatically drive along the appropriate direction. SOLUTION: A pair of optical sensors S1, which are provided with a guiding beam of light along a guiding path, are juxtaposed on a moving vehicle at intervals in the longitudinal direction of the vehicle body, and have light receiving positions with a predetermined resolution in the lateral direction of the vehicle body. S2 and pitching angle detection means 21
And a rolling angle detection means 20 are provided to obtain a lateral deviation with respect to the guide path from the light reception information of at least one optical sensor S1, and the light reception information of both optical sensors S1 and S2 and the vehicle front-back distance. The position detecting means 102 for obtaining the inclination with respect to the guide route from the information corrects the deviation and the inclination detection information based on the pitching angle and rolling angle detection information, and moves the moving vehicle along the guide route based on the corrected information. Steering is controlled so that the vehicle runs automatically.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a beam light projecting means for projecting a beam light for guiding along a guiding path of a moving vehicle, which is provided on the ground side, and is arranged on the moving vehicle at predetermined intervals in the longitudinal direction of the vehicle body. A pair of optical sensors that are spaced apart from each other and have a light receiving position of a predetermined resolution in the lateral direction of the vehicle body to receive the guiding beam light, and a light receiving position of the moving vehicle based on at least one light receiving position information of the pair of optical sensors. Position detecting means for obtaining a lateral deviation with respect to the guide route and for obtaining an inclination of the moving vehicle with respect to the guide route based on the light receiving position information of the pair of optical sensors and the space information in the vehicle longitudinal direction. And a steering control means for controlling the steering of the moving vehicle so as to automatically travel along the guiding route based on the detection information of the position detecting means. It relates to a control device.

[0002]

2. Description of the Related Art In a traveling control device for a beam light guide type moving vehicle, for example, work for planting rice as a moving vehicle is performed by using a guiding beam of light projected along the route to show a guiding route in a field. Light is received by a pair of optical sensors that are juxtaposed in the vehicle at a predetermined distance in the front-rear direction of the vehicle, and work is performed based on light-receiving position information of at least one optical sensor of the pair of optical sensors with a predetermined resolution in the lateral direction of the vehicle. The deviation in the lateral direction with respect to the guide route of the vehicle is obtained, and the inclination of the work vehicle with respect to the guide route is obtained based on the light receiving position information of the above-mentioned resolutions of both optical sensors and the space information in the vehicle front-rear direction. The work vehicle is automatically traveling along the guidance route while controlling the steering so that both the deviation and the inclination in the direction become zero. When the vehicle body tilts due to the unevenness of the field during traveling and the light receiving position of the guiding light beam of the optical sensor fluctuates, the position of the work vehicle with respect to the guiding route cannot be properly detected. The inclination angle (rolling angle) in the lateral direction of the vehicle body is detected, and the deviation information in the lateral direction with respect to the guide route is corrected based on the detected rolling angle information (see, for example, Japanese Patent Laid-Open No. Hei 7 (1999) -86).
-63554).

[0003]

In the above prior art, even if a rolling angle occurs, the light receiving positions of the pair of front and rear photosensors move in the lateral direction of the vehicle body to the same extent. It is not corrected as it does not affect. However, when an inclination angle (pitching angle) occurs in the vehicle front-rear direction, the distance between the pair of optical sensors in the vehicle front-rear direction changes, and therefore an error is included when the inclination is obtained from the light-receiving position information as it is, which causes an error in the moving vehicle. This means that proper position information for the guide route cannot be obtained.

The present invention has been made in view of the above situation, and an object thereof is to eliminate the influence of the inclination even when the vehicle body is inclined in the lateral width direction and the front-rear direction and to move the vehicle along the guide route. Is to appropriately detect the deviation and inclination in the lateral direction of the vehicle so as to automatically drive the moving vehicle along the guide route in an appropriate steering state.

[0005]

According to the structure of claim 1, the guiding light beams projected to the ground side along the guiding path of the moving vehicle are juxtaposed at a predetermined interval in the longitudinal direction of the vehicle body. The light is received by a pair of optical sensors on the moving vehicle side having a light receiving position with a predetermined resolution in the lateral direction of the vehicle body, and the tilt angle or pitching angle in the longitudinal direction of the vehicle and the tilt angle or rolling in the vehicle lateral direction. Corners are detected. Then, from the lateral deviation detection information with respect to the guide route of the moving vehicle obtained from at least one light receiving position information of the pair of optical sensors, each light receiving position information of the pair of optical sensors, and the vehicle front-rear direction gap information. The obtained tilt detection information for the guide route of the moving vehicle is corrected by the tilt angle detection information of both the pitching angle and the rolling angle, and the moving vehicle is steered and guided based on the corrected deviation and inclination information. Automatically drive along the route.

Therefore, according to the structure of claim 1, when the vehicle is tilted in the longitudinal direction and the lateral width direction, the lateral displacement of the moving vehicle with respect to the guide route is detected based on the inclination angle detection information in both directions. In addition, since the tilt detection value is corrected, it is possible to obtain more accurate deviation and tilt information after tilt angle correction as compared to the conventional correction of only the tilt in the vehicle body width direction, and in a more appropriate state. The moving vehicle can be automatically driven along the guide route.

According to the structure of claim 2, in the structure of claim 1, the light receiving position information of the pair of photosensors installed at predetermined intervals in the front-rear direction and the up-down direction of the vehicle body and the vehicle body thereof. While the lateral deviation and inclination with respect to the guide route of the moving vehicle are detected from the front-rear direction gap information, both the front-rear direction and up-down direction gap information of the pair of optical sensors are used as pitching angle detection information. Based on the rotation angle around the axis along the longitudinal direction of the vehicle, and based on the rolling angle detection information around the axis along the lateral direction of the vehicle, the correction amount for the deviation and inclination detection information is calculated. The deviation and inclination detection information is obtained and corrected by the correction amount.

Therefore, according to the second aspect of the invention, the pair of optical sensors, which are spaced apart in the longitudinal direction of the vehicle body, are also spaced in the vertical direction, so that the sensor located on the front side in the beam light projection direction is provided. A relatively simple process of rotating the correction amount based on the tilt angle in the front-rear direction of the vehicle and the lateral width direction while ensuring that both sensors can receive the beam light without blocking the sensor on the rear side. It is possible to obtain a suitable means for the structure of claim 1.

According to a third aspect of the present invention, in the configuration of the second aspect, the pair of optical sensors are installed at a predetermined height above the vehicle body with a predetermined distance in the vehicle front-rear direction and the vertical direction. From the light receiving position information of the vehicle and the space information in the vehicle front-rear direction, the lateral deviation and inclination with respect to the guide route of the moving vehicle are detected, while the pair of optical sensors in the vehicle front-rear direction and the vertical direction are detected. The spacing information and the installation height information are rotated around the axis along the vehicle longitudinal direction based on the pitching angle detection information and around the axis along the vehicle lateral direction based on the rolling angle detection information. Then, the correction amount for the deviation and inclination detection information is obtained.

Therefore, according to the third aspect of the invention, the pair of optical sensors, which are spaced apart in the front-rear direction and the up-down direction of the vehicle body, are installed at a predetermined height on the upper side of the vehicle body, so that the sensors are arranged on the traveling road surface on the lower side of the vehicle body. When installed close to the vehicle, the inclination angle in the vehicle front-rear direction and lateral width direction is avoided while avoiding problems such as performance deterioration due to adhesion of mud and dust from the road surface of the sensor and damage due to collision with obstacles. The correction amount based on can be obtained by a relatively simple process called the rotation process, so that the preferable means for the configuration of claim 2 can be obtained.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION A case where the traveling control device for a beam light guide type mobile vehicle according to the present invention is applied to a work vehicle for rice transplanting as a mobile vehicle will be specifically described below with reference to the drawings.

As shown in FIG. 1, in order to automatically drive the work vehicle V along each of the work paths L set as a plurality of guide paths arranged in parallel in the field, the work path L is automatically traveled.
The first beam light projecting device B1 as a beam light projecting means for projecting the guiding beam light A1 in the vertical direction at a set angle scan (see FIG. 2) along the longitudinal direction of the Are provided so as to be shared by a pair of adjacent work strokes L. Further, the turning beam light A2 for indicating the positions of both ends in the length direction of the work stroke L and for indicating the start position of the turning operation for the next work stroke L.
A second beam light projection device B2 that projects the light beam in a direction orthogonal to the projection direction of the guiding light beam A1.
It is provided at a lateral side of the field where the work strokes L are lined up so as to correspond to both ends of the work stroke L in the longitudinal direction. As a result, as the work vehicle V reaches the terminal end of each work stroke L, the work vehicle V is turned 180 degrees toward the next work stroke L while traveling back and forth in each work stroke L. The planting work is continuously and automatically performed in a predetermined range of fields.

The structure of the work vehicle V will be described below.
As shown in FIGS. 1 to 3, a pair of left and right front wheels 3 and rear wheels 4 are provided.
A seedling planting device 6 is attached to the rear portion of the vehicle body 5 including the above in a state where it can be raised and lowered and can be driven and stopped freely. That is, the state of being lowered and driven is the planting state, and the other state is the non-planting state. The front and rear wheels 3, 4 are
Steering hydraulic cylinders 7 and 8 and electromagnetically-operated control valves 9 and 10 for the steering hydraulic cylinders 7 and 8 are provided separately for each pair of left and right. That is, front wheel 3
Alternatively, a two-wheel steering system that steers only one of 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 and at the same angle It is possible to select and use three types of steering steering types, namely, parallel steering type steering.

In FIG. 3, 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 simultaneously, 12 is an electric motor for gear shifting operation, and 13 is a planting device. Hydraulic cylinder for lifting and lowering 6
4 is its control valve, 15 is an electromagnetically operated planting clutch for intermittently driving the planting device 6 by the engine E, 1
Reference numeral 6 denotes a microcomputer-based control device for controlling the traveling of the work vehicle V and the operation of the planting device 6, which is based on detection information from various sensors to be described later and work data stored in advance. , The control valves 9, 10, 14 and the planting clutch 15, respectively.

As shown in FIG. 3, the work vehicle V has steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, and the speed change state of the transmission 11. A vehicle speed sensor R3 using a potentiometer for indirectly detecting the forward / backward traveling state and the vehicle speed, and a transmission 11
Encoder S4 for counting the number of revolutions of the output shaft of the vehicle to detect the traveling distance, direction sensor S5 using geomagnetism for detecting the vehicle body direction of the working vehicle V, and rolling angle for detecting the inclination angle in the vehicle body lateral direction. A rolling sensor 20 as a detecting means and a pitching sensor 21 as a pitching angle detecting and detecting means for detecting a tilt angle in the longitudinal direction of the vehicle body are provided.
It is configured by a weight sensor and the like.

As shown in FIGS. 1 and 2, in order to detect the deviation of the steering position with respect to the guiding beam light A1 in the lateral direction of the vehicle body based on the light receiving position in the lateral direction of the vehicle body,
A steering control optical sensor 17 for receiving the guiding beam light A1 is installed at a predetermined height above the vehicle body on the front right side of the vehicle body of the work vehicle V, and further, a turning direction for receiving the turning beam light A2. Optical sensors S3 are installed on the left and right sides of the front of the vehicle so as to receive the turning beam light A2 from the left and right sides of the vehicle. The turning optical sensor S3 detects only whether or not the turning beam light A2 is received.

The steering control optical sensor 17 will be described in more detail. As shown in FIGS. 4 and 5, the pair of sensors is arranged in a state in which a predetermined distance d is provided in the longitudinal direction of the vehicle body and a predetermined distance h is also provided in the vertical direction. Optical sensors S1 and S2 are arranged side by side, and each of the optical sensors S1 and S2 has a light receiving position with a predetermined resolution in the lateral direction of the vehicle body. That is, each optical sensor S1, S2
Is a plurality of light receiving elements D juxtaposed in the lateral direction of the vehicle body, and the light receiving position of the guiding beam light A1 in the lateral direction of the vehicle body, that is, the received light, with reference to the position of the light receiving element D0 located at the sensor center in the lateral direction. Each of the positions X1 and X2 of the element D can be detected. Further, in order to be able to receive the guiding beam light A1 from any direction before and after the vehicle body with no difference, the incident light from each direction before and after the vehicle body is respectively received by both optical sensors S1 and S2. A reflecting mirror 18 that reflects the light toward the light receiving surface is provided.

The control device 16 controls the traveling of the work vehicle V on the basis of the detection information of various sensors such as the steering control optical sensor 17 and preset work schedule information, and the planting section 6 and the like. Is configured to control the operation of the various devices of Then, utilizing the control device 16, the lateral deviation of the work vehicle V with respect to the work stroke L is obtained based on the light receiving position information of at least one of the pair of optical sensors S1 and S2, and Optical sensor S
Position detecting means 102 for determining the inclination of the work vehicle V with respect to the work stroke L based on the light receiving position information of S1 and S2 and the distance information d in the vehicle longitudinal direction is configured.

The position detection by the position detecting means 102 will be described in detail. As shown in FIG. 4, the light receiving positions X1 and X2 of the pair of front and rear photosensors S1 and S2 and the distance between them in the longitudinal direction of the vehicle body. Based on d and
As the position detection information, a lateral displacement x of the vehicle body 5 with respect to the work stroke L and a tilt φ in plan view with respect to the work stroke L (beam projection direction) are obtained.

[0020]

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

In this example, the lateral deviation x is set to the light receiving position of one of the front and rear photosensors S1 and S2 (S1), but an error due to the inclination φ of the vehicle body should not occur. Therefore, the average value of the light receiving positions X1 and X2 of the front and rear photosensors S1 and S2 may be used.

Further, using the control device 16, the steering control means 101 for controlling the steering of the work vehicle V so as to automatically travel along the work stroke L based on the detection information of the position detection means 102. Is configured. That is, the deviation x
While setting the target steering angle of the work vehicle V so that both the inclination φ and the inclination φ become zero, the work vehicle V travels along each work stroke L in a two-wheel steering manner in which only the front wheels 3 are steered.

Here, when the vehicle body 5 is maintained in the horizontal state, the information of the deviation x and the inclination φ obtained according to the above equations may be used, but the vehicle body 5 is inclined in the front-rear direction or the lateral width direction. At this time, since the posture states of the pair of front and rear optical sensors S1 and S2 change, if the detected values are used as they are, the error becomes large. Therefore, the position detection means 102 corrects the lateral deviation x and the inclination φ detection information with respect to the work stroke L of the work vehicle V based on the inclination angle detection information of both the pitching sensor 21 and the rolling sensor 20. It is configured.

Specifically, the distance information d and h between the pair of optical sensors S1 and S2 in the vehicle front-rear direction and the up-down direction and the installation height information H thereof are based on the pitching angle detection information of the pitching sensor 21. Rotation processing around the axis along the vehicle lateral direction, and rotation processing around the axis along the vehicle front-rear direction based on the rolling angle detection information of the rolling sensor 20 to detect deviation x and inclination φ. Calculate the correction amount for.

The inclination angle correction will be described below. First, as shown in FIG. 5, a pitching angle .theta.P is generated, and the sensor installation height H and the distance information d and h in the vehicle front-rear direction and the vertical direction are displayed. , H ',
If it changes to d ′ and h ′, the following relationship holds between the values before and after the inclination. Here, the sign of θP is positive when it falls forward and negative when it falls backward.

[0026]

[Equation 2]

Further, as shown in FIG. 6, by adding the rolling angle θR, the deviation x and the inclination φ are finally obtained.
The respective correction amounts δx and δφ for the detection information of are obtained by the following equations, and these correction amounts δx and δφ are used as the deviation x and the slope φ.
The corrected deviation x ′ and inclination φ ′ information can be obtained by adding it to the detected value of.

[0028]

## EQU00003 ## .delta.x = (H '+ h'). Sin (.theta.R) .delta..phi. = Tan ^-1 (h'.sin (.theta.R) / d ') x' = x + .delta.x, .phi. '=. Phi. +. Delta..phi.

Next, the operation of the controller 16 will be described with reference to the flowcharts of FIGS. In the work vehicle V, the steering control light sensor 17 guides the beam light A1.
In the state of receiving light, while controlling the front wheels 3 so that both the deviation x and the inclination φ become zero, the first work stroke L set at one end side (left end in FIG. 1) of the field is Traveling is started along the longitudinal direction from the stroke start end (the lower end in FIG. 1) toward the terminal end. After starting traveling, the turning beam light A
When 2 is received and the start end of the work process L is reached, the seedling planting device 6 is lowered, and further driving is started to drive the seedling planting device 6 as the planting start position is reached.

When it is determined that the work vehicle V has reached the end portion of the work stroke L by receiving the turning beam light A2, the driving of the planting device 6 is stopped and raised 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, etc., the next turning operation is not performed and the traveling is stopped to complete the entire work. If the work is not completed, when the vehicle travels a predetermined distance and reaches the turning start point to the next stroke L, the two-wheel steering type is switched to the four-wheel steering type and the work vehicle V is moved to the starting end side of the next work stroke L. A turning operation is performed so as to change the direction by 180 degrees.

When the turning end point is reached, it is checked whether or not the steering control optical sensor 17 receives the guiding beam light A1. If not, the steering steering optical sensor 17 is switched to the parallel steering system and moved laterally. , Set to receive light. When the light-receiving state is reached, the vehicle is switched to the two-wheel steering type and the steering control of the work vehicle V along the next work stroke L is started.

[Other Embodiment] The pair of optical sensors may not be installed at a predetermined height on the upper side of the vehicle body, but may be installed on the lower side of the vehicle body, that is, at a position close to the road surface.

The pair of optical sensors may be installed at a predetermined interval only in the front-rear direction of the vehicle body and not in the up-down direction.

Inclination correction of lateral displacement and inclination detection information with respect to the guide route of the moving vehicle is performed based on the rotation processing around the axis center along the longitudinal direction of the vehicle body based on the pitching angle detection information and the rolling angle detection information. Instead of obtaining the correction amount by the rotation processing about the axis along the vehicle body width direction, for example, based on the maximum inclination direction obtained from the pitching angle and rolling angle detection values and the inclination angle information, the deviation and inclination detection information May be corrected.

The beam light projecting means B1 is composed of a laser beam generator or the like, but may be a device which emits a beam beam other than the laser beam.

The pitching angle detecting means and the rolling angle detecting means may be sensors other than the weight type sensor.

The moving vehicle is not limited to the rice-planting work vehicle V described in the embodiments, but can be applied to agricultural work vehicles other than rice-planting work and various moving vehicles other than agricultural work. The specific configuration is appropriately changed according to the purpose and conditions of the moving vehicle. Further, the guide route of the moving vehicle is not the work stroke L in which the moving vehicle V travels while performing work such as rice planting work.
It may be a route for guiding a moving vehicle that simply moves without working.

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

[Brief description of drawings]

FIG. 1 is a plan view showing an entire guide path and a light beam projection position.

FIG. 2 is a schematic side view of a work vehicle and a beam light projection means.

FIG. 3 is a block diagram of a control configuration on the work vehicle side.

FIG. 4 is an explanatory view of a light receiving position of a steering control optical sensor.

FIG. 5 is a schematic side view illustrating tilt angle correction of position detection information.

FIG. 6 is a schematic front view illustrating tilt angle correction of position detection information.

FIG. 7 is a flowchart of a control operation of the work vehicle.

FIG. 8 is a flowchart of control operation of the work vehicle.

[Explanation of symbols]

 V moving vehicle B1 beam light projection means S1 optical sensor S2 optical sensor 102 position detection means 101 steering control means 21 pitching angle detection means 20 rolling angle detection means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masaaki Nishinaka 64 Ishizukita-machi, Sakai City, Osaka Prefecture In the Research Center for Agricultural Growth Management Systems Co., Ltd. (72) Koji Yoshikawa 64, Ishizukita-machi, Sakai City, Osaka Kubo Co., Ltd. Inside the Sakai Plant (72) Atsushi Masuru Atsushi 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Corporation Inside the Sakai Plant (72) Ryozo Kuroiwa, 64, Ishizukita-machi, Sakai City, Osaka Prefecture Inside the Kubota Sakai Plant, Inc.

Claims (3)

[Claims] 1. A beam light projecting means (B1) for projecting a beam light for guiding along a guiding path of a moving vehicle (V) is provided on the ground side, and is provided to the moving vehicle (V) in a longitudinal direction of a vehicle body. A pair of optical sensors (S) which are juxtaposed at a predetermined interval and have a light receiving position of a predetermined resolution in the lateral direction of the vehicle body to receive the guiding beam light.
1, S2) and at least one light receiving position information of the pair of optical sensors (S1, S2), the lateral displacement of the moving vehicle (V) with respect to the guide route is obtained.
Position detecting means (102) for obtaining the inclination of the moving vehicle (V) with respect to the guide route based on the light receiving position information of the pair of optical sensors (S1, S2) and the space information in the vehicle front-rear direction. Beam light provided with a steering control means (101) for controlling the steering of the moving vehicle (V) so as to automatically travel along the guide route based on the detection information of the position detection means (102). A traveling control device for an inductive vehicle, wherein the vehicle (V) has a pitching angle detection means (21) for detecting an inclination angle in a longitudinal direction of a vehicle body and a rolling for detecting an inclination angle in a lateral direction of the vehicle body. Angle detecting means (20) is provided, and the position detecting means (102) is configured to detect the moving vehicle based on both inclination angle detection information of the pitching angle detecting means (21) and the rolling angle detecting means (20). ( The induced deviation and inclination detection information Configured beam guided transport vehicle travel control device to correct the lateral direction with respect to the path of). 2. The pair of optical sensors (S1, S2),
The position detecting means (102) is also installed at a predetermined interval in the up-down direction, and the position detecting means (102) uses the pitching angle detection information as information on both the vehicle front-rear direction and the up-down direction of the pair of optical sensors (S1, S2). Based on the rolling angle detection information, and based on the rolling angle detection information, the rotation processing is performed around the axis center along the vehicle front-rear direction to correct the deviation and inclination detection information. The traveling control device for a beam light guide type moving vehicle according to claim 1, wherein the traveling control device is configured to calculate 3. The pair of optical sensors (S1, S2),
The information is installed at a predetermined height above the vehicle body, and the position detecting means (102) adds information on the installation height of the optical sensors (S1, S2) to the vehicle front-rear direction and vertical distance information. 3. The traveling control device for a beam light guided vehicle according to claim 2, wherein the correction amount is obtained by performing rotation processing based on the pitching angle detection information and rotation processing based on the rolling angle detection information.