JPH0270214U - - Google Patents
Info
- Publication number
- JPH0270214U JPH0270214U JP14940788U JP14940788U JPH0270214U JP H0270214 U JPH0270214 U JP H0270214U JP 14940788 U JP14940788 U JP 14940788U JP 14940788 U JP14940788 U JP 14940788U JP H0270214 U JPH0270214 U JP H0270214U
- Authority
- JP
- Japan
- Prior art keywords
- work vehicle
- deviation
- steering
- guidance
- amount
- 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
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000005284 excitation Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 1
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図面は本考案の実施例を示し、第１図は作業車
両の斜視図、第２図は平面図、第３―ａ図は作業
車両と誘導ケーブルとの関係を示す模式図、第３
―ｂ図は横ずれと磁気センサーの検出電位差との
関係を示す図、第４図は操舵制御装置のブロツク
図、第５図は同位相操舵制御の説明図、第６図は
逆位相操舵制御の説明図である。
１……作業車両、２……車体、３……ハンドル
、４……薬液タンク、５……噴霧部、６……噴霧
ノズル、７，７……前輪、８，８……後輪、９…
…前部操舵装置、１０……後部操舵装置、９ａ，
９ｂ，９ｄ，１０ａ，１０ｂ，１０ｄ……油圧シ
リンダ、１１ａ，１１ｂ……前部磁気センサー、
１２ａ，１２ｂ……後部磁気センサー、１３ａ，
１３ｂ……磁気探知センサー、１４……誘導ケー
ブル、１７……中央処理装置、２０……走行速度
センサー、２１……前部舵取り角度センサー、２
２……後部舵取り角度センサー、２６……作業量
センサー、２７……前右舵励磁回路、２８……前
左舵励磁回路、２９……後右舵励磁回路、３０…
…後左舵励磁回路、３２……変速アクチエータ、
３３……ブレーキ用アクチエータ、４０……走行
距離計、４１……超音波センサー、４２……オフ
セツト量設定器、４３，４７……Ａ／Ｄ変換器、
４４，４８……演算手段、４５，４９……データ
設定器、４６，５０……重み付け設定器、５１…
…サブコントローラ。
The drawings show an embodiment of the present invention; FIG. 1 is a perspective view of a working vehicle, FIG. 2 is a plan view, FIG. 3-a is a schematic diagram showing the relationship between the working vehicle and a guiding cable, and FIG.
-Figure b is a diagram showing the relationship between lateral deviation and the detected potential difference of the magnetic sensor, Figure 4 is a block diagram of the steering control device, Figure 5 is an explanatory diagram of in-phase steering control, and Figure 6 is an illustration of anti-phase steering control. It is an explanatory diagram. 1... Work vehicle, 2... Vehicle body, 3... Handle, 4... Chemical tank, 5... Spray section, 6... Spray nozzle, 7, 7... Front wheel, 8, 8... Rear wheel, 9 …
...front steering device, 10...rear steering device, 9a,
9b, 9d, 10a, 10b, 10d...hydraulic cylinder, 11a, 11b...front magnetic sensor,
12a, 12b... Rear magnetic sensor, 13a,
13b...Magnetic detection sensor, 14...Guidance cable, 17...Central processing unit, 20...Travel speed sensor, 21...Front steering angle sensor, 2
2... Rear steering angle sensor, 26... Work amount sensor, 27... Front right rudder excitation circuit, 28... Front left rudder excitation circuit, 29... Rear right rudder excitation circuit, 30...
... Rear left rudder excitation circuit, 32 ... Speed change actuator,
33... Brake actuator, 40... Odometer, 41... Ultrasonic sensor, 42... Offset amount setter, 43, 47... A/D converter,
44, 48... Calculating means, 45, 49... Data setting device, 46, 50... Weighting setting device, 51...
...Sub controller.
Claims (1)
発生する磁界の強度の大小を、走行する作業車両
の前後部に設けた磁気センサーにて検出し、これ
らの検出結果から誘導ケーブルに対する作業車両
の偏位量を演算し、該偏位量が小さくなる方向に
作業車両を操舵制御する作業車両において、該作
業車両には、前記前後各磁気センサーの検出信号
により適宜回数の移動平均値にて偏位量を演算す
るための演算手段を設けたことを特徴とする作業
車両における操舵制御装置。 Magnetic sensors installed at the front and rear of the traveling work vehicle detect the strength of the magnetic field generated from the guidance cable placed along the guidance route, and from these detection results, the bias of the work vehicle with respect to the guidance cable can be determined. In a work vehicle that calculates the amount of deviation and controls the steering of the work vehicle in a direction that reduces the amount of deviation, the work vehicle has a deviation determined by a moving average value of an appropriate number of times based on the detection signals of the front and rear magnetic sensors. 1. A steering control device for a work vehicle, characterized in that a calculation means for calculating a quantity is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14940788U JPH0270214U (en) | 1988-11-15 | 1988-11-15 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14940788U JPH0270214U (en) | 1988-11-15 | 1988-11-15 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0270214U true JPH0270214U (en) | 1990-05-29 |
Family
ID=31421610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14940788U Pending JPH0270214U (en) | 1988-11-15 | 1988-11-15 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0270214U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018088214A (en) * | 2016-11-30 | 2018-06-07 | 日本車輌製造株式会社 | Carrier |
-
1988
- 1988-11-15 JP JP14940788U patent/JPH0270214U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018088214A (en) * | 2016-11-30 | 2018-06-07 | 日本車輌製造株式会社 | Carrier |
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