JPH0284910U

JPH0284910U -

Info

Publication number: JPH0284910U
Application number: JP16362388U
Authority: JP
Priority date: 1988-12-16
Filing date: 1988-12-16
Publication date: 1990-07-03
Anticipated expiration: 2003-12-16
Also published as: JP2505356Y2

Description

[Brief explanation of drawings]

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
図は横ずれ位置の基準を前後磁気センサーにて変
更した場合の説明図、第８図第９図と第１０図は
各々フローチヤート、第１１図は地磁気センサー
の出力値と横ずれとの関係図、第１２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、４７，４８……オフセツト
量設定器、４９，５０……操舵角度センサーの基
準値設定器。 The drawings show an embodiment of the present invention, in which 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.
The figure is an explanatory diagram when the reference for the lateral shift position is changed by the longitudinal magnetic sensor, FIG. 8, FIG. 9, and FIG. 10 are flowcharts, respectively. FIG. 12 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, 47, 48 ... Offset amount setting device, 49, 50 ... Reference value setting device for steering angle sensor.

Claims

[Scope of utility model registration request]

The strength of the magnetic field generated from the induction cables placed along the guidance route is detected by a pair of left and right magnetic sensors installed at the front and rear of the traveling work vehicle, and work on the induction cables is detected based on these output values. In a work vehicle that calculates the amount of deviation of the vehicle and controls the steering of the work vehicle in a direction in which the amount of deviation becomes smaller, a standard for the amount of deviation of the front part of the work vehicle with respect to the guide cable or the rear part of the work vehicle with respect to the guide cable. A steering control device for a work vehicle, characterized in that a setting means is provided for making it possible to change the setting of one or both of the deviation amount standards.