JPH0455206U - - Google Patents
Info
- Publication number
- JPH0455206U JPH0455206U JP9769090U JP9769090U JPH0455206U JP H0455206 U JPH0455206 U JP H0455206U JP 9769090 U JP9769090 U JP 9769090U JP 9769090 U JP9769090 U JP 9769090U JP H0455206 U JPH0455206 U JP H0455206U
- Authority
- JP
- Japan
- Prior art keywords
- ultrasonic sensor
- work vehicle
- range
- traveling direction
- detection area
- 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 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005507 spraying Methods 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (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図は操舵制御の機構と油圧回路
と制御手段ブロツクの図、第３図は作業車両及び
超音波センサーと目標物列との位置関係を示す平
面説明図、第４図は超音波センサーによる目標物
迄の距離と検出値との関係を示す図、第５図は他
の実施例の作用説明図、第６図はフローチヤート
である。
１……作業車両、２……車体、３……ハンドル
、５……噴霧部、７……前輪、８……後輪、９…
…前部操舵装置、１０……後部操舵装置、２３…
…超音波センサー、２４……ステツプモータ、２
５……方位センサー、２６……中央コントローラ
、３０……標識。
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 control mechanism, hydraulic circuit, and control means block, and Fig. 3 is a diagram of a working vehicle, an ultrasonic sensor, and a target. FIG. 4 is a diagram showing the relationship between the distance to the target object and the detected value by the ultrasonic sensor; FIG. 5 is an explanatory diagram of the operation of another embodiment; FIG. The figure is a flowchart. DESCRIPTION OF SYMBOLS 1... Work vehicle, 2... Vehicle body, 3... Handle, 5... Spraying part, 7... Front wheel, 8... Rear wheel, 9...
...Front steering device, 10... Rear steering device, 23...
...Ultrasonic sensor, 24...Step motor, 2
5... Orientation sensor, 26... Central controller, 30... Sign.
Claims (1)
車両の車体に設けた超音波センサーを、回動駆動
手段にて作業車両の進行方向に対して広い範囲で
左右回動するように構成し、該超音波センサーに
よる回動走査範囲のうち前記進行方向を挟む適宜
角度範囲を、走行経路の標識を検出する標識検出
領域に設定し、該標識検出領域の外側の範囲を目
標物列の検出領域に設定したことを特徴とする超
音波センサーつき自動走行作業車両。 An ultrasonic sensor provided on the body of an automatically traveling work vehicle that travels between two rows of left and right target objects is configured to be rotated left and right in a wide range with respect to the traveling direction of the work vehicle by a rotational drive means. , A suitable angular range sandwiching the traveling direction within the rotational scanning range of the ultrasonic sensor is set as a sign detection area for detecting signs on the driving route, and a range outside the sign detection area is used for detecting a target object array. An automatic driving work vehicle equipped with an ultrasonic sensor, which is characterized by being set in the area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9769090U JPH0455206U (en) | 1990-09-17 | 1990-09-17 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9769090U JPH0455206U (en) | 1990-09-17 | 1990-09-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0455206U true JPH0455206U (en) | 1992-05-12 |
Family
ID=31838283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9769090U Pending JPH0455206U (en) | 1990-09-17 | 1990-09-17 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0455206U (en) |
-
1990
- 1990-09-17 JP JP9769090U patent/JPH0455206U/ja active Pending