JPH01116805U - - Google Patents
Info
- Publication number
- JPH01116805U JPH01116805U JP1348688U JP1348688U JPH01116805U JP H01116805 U JPH01116805 U JP H01116805U JP 1348688 U JP1348688 U JP 1348688U JP 1348688 U JP1348688 U JP 1348688U JP H01116805 U JPH01116805 U JP H01116805U
- Authority
- JP
- Japan
- Prior art keywords
- gravity
- center
- average value
- work
- calculating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005484 gravity Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図面は本考案の一実施例を示すものであり、第
１図は本考案装置を装備した乗用田植機の側面図
、第２図はその平面図、第３図は苗列検出装置の
拡大縦断面図、第４図は第３図の―線による
平面断面図、第５図は作業選択レバの操作位置説
明のための平面図、第６図は前輪の操舵機構の模
式的平面図、第７図は本考案装置の構成を示すブ
ロツク図、第８図は光センサのデイジタルデータ
、重心及び平均値を示すグラフである。
Ａ…走行機体、Ｂ…植付部、１…前輪、２…後
輪、１０…マーカ、１２…作業選択レバ、２０Ｌ
，２０Ｒ…苗列検出装置、３８…操舵角センサ、
４０…操向シリンダ、４１…方向切換弁、５０…
操向制御部、５１…自動スイツチ、５２…植付け
スイツチ、５３…主クラツチスイツチ、５４，５
５…センサ選択スイツチ、Ｖ…電磁方向切換弁、
Ｓｌ，Ｓｒ…ソレノイド。
The drawings show one embodiment of the present invention; Fig. 1 is a side view of a riding rice transplanter equipped with the device of the present invention, Fig. 2 is a plan view thereof, and Fig. 3 is an enlarged longitudinal section of the seedling row detection device. 4 is a plan sectional view taken along the line - in FIG. 3, FIG. 5 is a plan view for explaining the operating position of the work selection lever, FIG. 6 is a schematic plan view of the front wheel steering mechanism, and FIG. FIG. 7 is a block diagram showing the configuration of the device of the present invention, and FIG. 8 is a graph showing the digital data of the optical sensor, the center of gravity, and the average value. A... Traveling body, B... Planting section, 1... Front wheel, 2... Rear wheel, 10... Marker, 12... Work selection lever, 20L
, 20R...Seedling row detection device, 38...Steering angle sensor,
40... Steering cylinder, 41... Directional switching valve, 50...
Steering control unit, 51... automatic switch, 52... planting switch, 53... main clutch switch, 54, 5
5...sensor selection switch, V...electromagnetic directional valve,
Sl, Sr... Solenoid.
Claims (1)
系列的に検出する複数のセンサを備え、検出され
た境界に倣う自動操向により、作業地内の往復行
程の対地作業をする作業用車両の自動操向装置に
おいて、 各検出時に前記複数のセンサの境界位置情報の
重心を算出する手段と、 前記重心とそれより前に算出された重心との平
均値を算出する手段と、 該手段により算出された平均値に基づき自動走
行する手段と を具備することを特徴とする作業用車両の自動
操向装置。[Claim for Utility Model Registration] Equipped with multiple sensors that use wave motion to detect the boundaries between unworked areas and completed work areas in chronological order. In an automatic steering system for a work vehicle that performs ground work on a journey, means for calculating the center of gravity of boundary position information of the plurality of sensors at each detection time, and an average value of the center of gravity and the center of gravity calculated before that. 1. An automatic steering device for a work vehicle, comprising: means for calculating: and means for automatically driving based on the average value calculated by the means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1348688U JPH01116805U (en) | 1988-02-02 | 1988-02-02 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1348688U JPH01116805U (en) | 1988-02-02 | 1988-02-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01116805U true JPH01116805U (en) | 1989-08-07 |
Family
ID=31223830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1348688U Pending JPH01116805U (en) | 1988-02-02 | 1988-02-02 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01116805U (en) |
-
1988
- 1988-02-02 JP JP1348688U patent/JPH01116805U/ja active Pending
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