JPH0284909U

JPH0284909U -

Info

Publication number: JPH0284909U
Application number: JP16362288U
Authority: JP
Priority date: 1988-12-16
Filing date: 1988-12-16
Publication date: 1990-07-03

Description

[Brief explanation of the drawing]

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図は操舵装置と油圧回路の図、
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図は同位相
操舵制御の説明図、第５図は逆位相操舵制御の説
明図、第６図は操舵制御装置のブロツク図、第７
図第８図と第９図は各々フローチヤート、第１０
図は地磁気センサーの出力値と横ずれとの関係図
、第１１図は操舵角度センサーによる操舵角度と
出力値との関係図である。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、１１ａ
，１１ｂ……前部磁気センサー、１２ａ，１２ｂ
……後部磁気センサー、１８ａ，１８ｂ……磁気
探知センサー、１５，１６……油圧シリンダ、１
７……誘導ケーブル、２３，２４……電磁切換弁
、２５……前部操舵角度センサー、２６……後部
操舵角度センサー、２７……中央処理装置、３０
……自動手動切換えスイツチ、３１……操舵モー
ド切換えスイツチ、３２……操舵モード選択切換
えスイツチ、３７……前右舵励磁回路、３８……
前左舵励磁回路、３９……後右舵励磁回路、４０
……後左舵励磁回路。 The drawings show an embodiment of the present invention; FIG. 1 is a perspective view of a working vehicle, FIG. 2 is a diagram of a steering device and a hydraulic circuit,
Figure 3-a is a schematic diagram showing the relationship between the work vehicle and the induction cable, Figure 3-b is a diagram showing the relationship between lateral deviation and the detected potential difference of the magnetic sensor, and Figure 4 is an explanatory diagram of in-phase steering control. , FIG. 5 is an explanatory diagram of anti-phase steering control, FIG. 6 is a block diagram of the steering control device, and FIG.
Figures 8 and 9 are flowcharts, respectively.
FIG. 11 is a diagram showing the relationship between the output value of the geomagnetic sensor and lateral deviation, and FIG. 11 is a diagram showing the relationship between the steering angle and the output value from the steering angle sensor. 1... Work vehicle, 2... Vehicle body, 3... Handle, 4... Chemical tank, 5... Spraying section, 6... Spray nozzle, 7, 7... Front wheel, 8, 8... Rear wheel, 9 …
...Front steering device, 10... Rear steering device, 11a
, 11b...Front magnetic sensor, 12a, 12b
... Rear magnetic sensor, 18a, 18b ... Magnetic detection sensor, 15, 16 ... Hydraulic cylinder, 1
7...Induction cable, 23, 24...Solenoid switching valve, 25...Front steering angle sensor, 26...Rear steering angle sensor, 27...Central processing unit, 30
... Automatic manual changeover switch, 31 ... Steering mode changeover switch, 32 ... Steering mode selection changeover switch, 37 ... Front right rudder excitation circuit, 38 ...
Front left rudder excitation circuit, 39...Rear right rudder excitation circuit, 40
...Rear left rudder excitation circuit.

Claims

[Scope of utility model registration request]

Magnetic sensors installed at the front and rear of the traveling work vehicle detect the strength of the magnetic field generated from the induction cable placed along the guidance route, and from these output values the bias of the work vehicle with respect to the induction cable can be determined. In a work vehicle that calculates a displacement amount and controls the steering of the work vehicle in a direction in which the displacement amount becomes smaller, an in-phase steering mode in which the front and rear wheels are oriented in the same direction;
A mode switching means for switching to an anti-phase steering mode in which the directions of the front and rear wheels are opposite to each other, and a detection sensor for detecting the steering angles of the front and rear wheels, respectively, are provided to regulate the allowable steering angle at which both the front and rear wheels can be steered. On the other hand, in the same phase steering mode, the allowable steering angle of the front and rear wheels in the direction of travel is controlled to be the same, and in the opposite phase steering mode, the allowable steering angle of the rear wheels is controlled to be the same as or greater than the allowable steering angle of the front wheels in the direction of travel. What is claimed is: 1. A steering control device for a work vehicle, characterized in that it is provided with a control means for controlling the steering so as to be small.