KR100747149B1 - Self-laying type travel control system of cable guidance vehicles - Google Patents

Abstract

A self-laying type travel control system of a cable guidance vehicle is provided to allow an unskilled farm machine driver to execute farming by applying a travel guiding system to a farm machine. A self-laying type travel control system of a cable guidance vehicle includes a base plate(100), first and second winding devices(200,300), a driving motor(400), a pair of installing arms(420,420'), a guiding cable sensing device, and a steering device. The base plate(100) consists of a pair of coupling brackets(110) which are formed respectively on both ends of one side and coupled to a farm machine, a supporting bracket(120) which is formed on the coupling bracket(110) as a single body and has first and second guiding holes to make a guiding cable pass through, and a pair of arm coupling units(130) which are formed as a single body respectively on both ends of one side of the supporting bracket(120). The first and second winding devices(200,300) are coupled at the upper part of the supporting bracket(120) and install/wind the guiding cable. The driving motor(400) is installed on the arm coupling unit(130) and has a driving axis(410). One side of the installing arm(420,420') is axis-coupled with the driving axis(410) of the driving motor(400), and rotates and guides to install the guiding cable wound by the first and second winding devices(200,300). The guiding cable sensing device is installed on the supporting bracket(120) and senses a guiding signal of the guiding cable. The steering device controls the farm machine to follow the guiding cable according to the guiding signal sensed by the guiding cable sensing device.

Description

Self-laying type travel control system of cable guidance vehicles}

1 is a perspective view showing a self-installation type driving control system of a cable guided vehicle according to the present invention;

2 is a plan view showing a self-installation type driving control system of a cable guided vehicle according to the present invention;

3 is a side view showing a self-installation type driving control system of a cable guided vehicle according to the present invention;

4 is a front view showing a self-installation type driving control system of a cable guided vehicle according to the present invention;

5 is an enlarged perspective view of a portion A of FIG. 4;

6 is a side cross-sectional view of FIG. 5;

7 is a view showing steering means of the self-installation type driving control system of a cable guided vehicle according to the present invention;

8 is a plan view showing an agricultural vehicle (transfer device) equipped with a self-installation type driving control system of a cable guided vehicle according to the present invention;

9 is a view showing, in an embodiment, a traveling route of an agricultural vehicle equipped with a self-installed traveling control system of a cable guided vehicle according to the present invention;

10 is a control flowchart of a self-installation type driving control system of a cable guided vehicle according to the present invention.

<Description of Symbols for Major Parts of Drawings>

10: driving control system

100: base plate

110: coupling bracket 120: support bracket

122, 124: first and second guide hole 130: arm coupling portion

200, 300: first and second winding means

210, 310: reel 220, 320: reel support

230, 330: reel motor 232, 332: motor shaft

240, 340: motor support 250, 350: guide means

251, 351: Belt 252, 352: First Gear

254, 354: second gear 256, 356: guide member

258, 358: guide portion 260, 360: base portion

262, 362: guide roller

400: drive motor 410: drive shaft

420, 420 ': laying rock 430: guide roller

440: limit bracket

500: induction cable detection means

510, 530: first and second support 520: rotating frame

540: holder 550: sensor fixing bracket

560: inductive cable detection sensor

600: steering means

610, 660: first and second steering gear 620: clutch

630: fixed bracket 640: steering motor

650: reducer 670: rotary encoder

700: direction detection sensor

800: Rotational speed sensor

The present invention relates to a magnetic laying traveling control system of a cable guided vehicle. More specifically, in order to provide a navigation signal necessary for the agricultural vehicle to automatically guide the driving direction of the vehicle while farming in a rice field or a field, the vehicle sets up an induction cable by itself along the path to which the vehicle follows. The induction cable relates to a self-installed driving control system of a cable induction vehicle that automatically guides the agricultural work path of a self-propelled farm machine by an automatic winding method.

The induction method of a vehicle using a conventional induction cable is widely used in the automated process construction of industrial sites because it has the advantages of simple structure, low cost, and clear guidance signal. Since cable laying is difficult and it is technically difficult to change or control the laying of cables, it has been used only as a method of inducing a fixed route. However, if it is technically possible to set and change a route using an induction cable, if the next route to be run is parallel or closely related to the current route in a farming operation having a similar pattern of work route to be driven, As you travel through the route, the next route can be set or displayed using an induction cable.

The present invention, in order to solve the above-mentioned problems, the vehicle itself along the path to the vehicle to provide the navigation signal required to automatically guide the driving direction of the vehicle while the agricultural vehicle farming on the rice fields or fields The purpose of the present invention is to provide a self-guided driving control system for a cable guided vehicle that automatically guides the agricultural work path of the self-propelled agricultural machine by laying the induction cable and automatically winding the cable on the tracked path.

In order to achieve the above object, in the agricultural vehicle traveling control system for automatically inducing the driving direction of the vehicle along the agricultural work path in the paddy field or field, each of the agricultural vehicle is formed on one end A pair of coupling brackets coupled to the support bracket, the support bracket is formed integrally with the coupling bracket and the first and second guide holes are formed therein so that the induction cable passes through, and is integrally formed at both ends of one side of the support bracket. A base plate consisting of a pair of female coupling portions to be formed; First and second winding means coupled to an upper portion of the support bracket to lay / wound the induction cable; A driving motor provided at an upper end of the female coupling part and having a driving shaft; A pair of laying arms, one side of which is axially coupled to the driving shaft of the driving motor, for guiding and rotating to guide the induction cable wound by the first and second winding means; Induction cable detecting means provided on the lower end of the front end of the support bracket for detecting the induction signal of the induction cable; Steering means for controlling steering of an agricultural vehicle according to the guidance signal sensed by the guidance cable sensing means; Characterized in that it comprises a.

Here, the first and second winding means, the reel support is coupled to the upper end of the support bracket rotatably provided therein reel; A reel motor having a motor shaft axially coupled to the winding reel; A motor support coupled to an upper end of the support bracket to support and fix the reel motor; And a guide unit provided at a lower portion of the reel reel of the reel support to guide the guide cable when the induction cable wound on the reel is unwound or wound. Characterized in that consists of.

And, the guide means, the first gear provided on the motor shaft; A second gear connected to the first gear and a belt and coupled to one side of the reel support; One side is coupled to the second gear, the other side is rotatably coupled to the reel support guide portion coupled to the guide member for guiding the guide cable on the outer periphery; A base portion coupled to the guide member and having both ends coupled to the reel support in parallel with the guide portion; And a guide roller provided on the lower surface of the support bracket to hold the induction cable passing through the guide member. Characterized in that consists of.

In addition, a plurality of first guide lines are constantly formed on one side outer circumference of the guide part in an oblique line, and a plurality of second guide lines are formed on the other outer circumference to face the first guide line, and inside the guide member. It is coupled to the first and second guide line is characterized in that the guide projection for moving the guide member to the left and right while rotating the guide portion in accordance with the rotation of the second gear is formed.

On the other hand, the laying arm is characterized in that the induction rollers are provided at each end to hold the induction cable.

In addition, the arm coupling portion, characterized in that each provided with a limit bracket for defining the rotation radius of the laying arm.

On the other hand, the induction cable detecting means, the first support is provided on the front end central lower surface of the support bracket; One side is coupled to the first support to be rotated, the rotation frame having a predetermined length; A second support pivotally coupled to the other side of the pivot frame; Fixture coupled to the lower portion of the second support; A sensor fixing bracket coupled to one end of the stator; And an induction cable detection sensor fixedly coupled to the sensor fixing bracket to detect an induction signal of an induction cable. Characterized in that consists of.

On the other hand, the steering means, the first steering gear which is installed under the steering wheel of the agricultural vehicle, fixedly coupled to the rotating shaft of the steering wheel; A clutch coupled to a lower portion of the first steering gear; A fixed bracket in which the rotation shaft of the steering wheel is inserted and provided with a steering motor at one side; A speed reducer for reducing the rotation speed of the steering motor; And a second steering gear that is engaged with the first steering gear and rotates at a rotational speed reduced by the speed reducer. It is characterized in that the first and second steering gears are connected to each other or blocked by the operation of the clutch.

In addition, the rotary encoder for controlling the rotational speed of the steering motor is characterized in that it is further provided.

And, the front wheel of the agricultural vehicle is characterized in that the direction sensor for detecting the direction of the front wheel is provided.

Finally, the rear wheel of the agricultural vehicle is characterized in that the rotational speed sensor for detecting the rotational speed of the rear wheel.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a self-installation driving control system of a cable guided vehicle according to the present invention, Figure 2 is a plan view showing a self-installed driving control system of a cable guided vehicle according to the present invention, Figure 3 Figure 4 is a side view showing a self-installed driving control system of a cable guided vehicle according to the present invention, Figure 4 is a front view showing a self-installed driving control system of a cable guided vehicle according to the invention, Figure 5 is an enlarged perspective view of a portion A of FIG. Figure 6 is a side cross-sectional view of Figure 5, Figure 7 is a view showing the steering means of the self-entry traveling control system of the cable guided vehicle according to the present invention, Figure 8 is a self-installed driving of the cable guided vehicle according to the present invention 9 is a plan view illustrating a farming vehicle (converter) equipped with a control system, and FIG. 9 is a self-installed traveling control system for a cable guided vehicle according to the present invention. FIG. 10 is a view illustrating a traveling route of the agricultural vehicle equipped therewith, and FIG. 10 is a control flowchart of a self-installed traveling control system for a cable guided vehicle according to the present invention.

As shown in Figures 1 to 8, the self-installed traveling control system of the cable guided vehicle according to the present invention, a pair of coupling brackets 110 are formed on each side and coupled to the agricultural vehicle 1 and The support bracket 120 is formed integrally with the coupling bracket 110, and the first and second guide holes 122 and 124 are formed therein so that the induction cable LC passes therethrough, and the support bracket 120. Base plate 100 is composed of a pair of female coupling portion 130 is formed integrally at both ends of one side.

First and second winding means 200 and 300 are coupled to an upper portion of the support bracket 120 to install / reel the induction cable LC, respectively, and are provided on the upper ends of the pair of female coupling units 130. A drive motor 400 having a drive shaft 410 is provided.

One pair of shafts coupled to the driving shaft 410 of the driving motor 400, respectively, and guided while rotating so that the guide cables wound by the first and second winding means 200 and 300 are laid. 420 and 420 '.

Induction rollers 430 are provided at the ends of the laying arms 420 and 420 ', respectively, to hold the induction cable LC. The arm coupling portion 130 has a turning radius of the laying arms 420 and 420'. Limit brackets 440 are provided, respectively.

On the other hand, the first and second winding means (200, 300) is coupled to the upper end of the support bracket 120 and the reel support (220, 320) rotatably provided therein winding reel (210, 310) therein; Reel motors 230 and 330 having motor shafts 232 and 332 coupled to the winding reels 210 and 310 and the reel motors 230 and 330 are coupled to one upper end of the support bracket 120. Motor support (240, 340) for supporting and fixed to, and the induction cable (LC) wound on the winding reel (210, 310) provided in the winding reel (210, 310) of the reel support (220, 320) It is composed of guide means (250, 350) for guiding it when it is unwound or wound.

The guide means 250 and 350 may include first gears 252 and 352 provided on the motor shafts 232 and 332, first gears 252 and 352, and belts 251 and 351. The second gears 254 and 354 coupled to one side of the reel supports 220 and 320 and one side are coupled to the second gears 254 and 354 and the other side is connected to the reel supports 220 and 320. Guide parts 258 and 358 rotatably coupled to guide members 256 and 356 for guiding the induction cable LC on an outer circumference thereof, and coupled to the guide members 256 and 356 and the guide parts ( The support bracket to hold the base portion 260, 360 coupled to both ends of the reel support (220, 320) and the guide cable (LC) passing through the guide member (256, 356) in parallel with the 258, 358 It consists of guide rollers (262, 362) provided on the lower surface of (120).

Here, a plurality of first guide lines 258a are constantly formed at one outer periphery of the guide parts 258 and 358 in diagonal lines, and a plurality of first guide lines 258a are opposite to the first guide line 258a at the other outer periphery. Two guide lines 258b are formed, and inside the guide members 256 and 356, the guide lines 258b are coupled to the first and second guide lines 258a and 258b to guide the rotation of the second gears 254 and 354. As the parts 258 and 358 rotate, guide protrusions 256a are formed to move the guide members 256 and 356 from side to side.

In addition, the guide member (256, 356), the coupling hole (256b) is formed through one side to be inserted into the guide portion (258, 358) through, and the other side to be inserted into the base portion (260, 360) The coupling hole 256c is formed through. Accordingly, the guide members 256 and 356 are supported by the guide parts 258 and 358 and the base parts 260 and 360, and are moved to the left and right by the rotation of the guide parts 258 and 358, and the induction cable. (LC) will facilitate the laying / winding of the (LC).

That is, the guide part 258 inserted into the coupling hole 256b of the guide member 256 may include the first gear 252 coupled to the motor shaft 232 by the rotation of the reel motor 230, and the first gear 252. As the second gear 254 connected by the first gear 252 and the belt 251 rotates, the guide portion 258 axially coupled to the second gear 254 rotates, thereby guiding the guide member 256. The protrusion 256a is seated on the first guide line 258a or the second guide line 258b of the guide part 258 to move the guide member 256 in the left or right direction. When the guide protrusion 256a is moved along the first guide line 258a and touches the inner wall of the reel support 220, the guide protrusion 256a is idle. At this time, the guide protrusion 256a is seated on the second guide line 258b. The guide protrusion 256a is moved to the left along the second guide line 258b, and when the inner surface of the reel support 220 reaches the inner wall, the guide protrusion 256a is idle. At this time, the guide protrusion 256a is applied to the first guide line 258a. Is moved to the right as it is seated. Therefore, when the induction cable (LC) wound on the winding reel (210) or when winding the induction cable (LC) to the winding reel (210) is to be induced to be smoothly wound or released.

The base parts 260 and 360 are to support the guide members 256 and 356 so as to stably move from side to side on the guide parts 258 and 358.

On the other hand, the induction cable detecting means 500 is provided on the front end lower surface of the support bracket 120 to detect the induction signal of the induction cable LC, the induction cable detection means 500 is the support bracket The first support 510 provided on the front center lower surface of the 120, one side is coupled to be rotated to the first support 510, the rotating frame 520 having a predetermined length, and the rotating frame 520 A second support 530 pivotally coupled to the other side of the support bracket, a fixing support 540 coupled to a lower portion of the second support 530, and a sensor fixing bracket 550 coupled to one end of the fixing support 540. The inductive cable detecting sensor 560 is fixedly coupled to the sensor fixing bracket to detect the induction signal of the induction cable LC.

In addition, the steering means 600 is provided to control the agricultural vehicle 1 to follow the induction cable LC according to the induction signal detected by the induction cable detection means 500. And a first steering gear 610 fixedly coupled to the rotary shaft 3 of the steering wheel 2 and the first steering gear 610 to be installed below the steering wheel 2 of the agricultural vehicle 1. The clutch 620 is coupled to the lower portion, the rotating shaft 3 of the steering wheel 2 is inserted into the fixed bracket 630 is provided with a steering motor 640 on one side, and the rotation speed of the steering motor 640 The clutch 620 is configured to include a reducer 650 for decelerating and a second steering gear 660 that is engaged with the first steering gear 610 and rotates at a rotational speed reduced by the reducer 650. The first and second steering gears 610 and 660 are connected to each other or blocked by each other. In other words, manual driving and automatic driving switching are enabled.

In addition, a rotary encoder 670 for controlling the rotational speed of the steering motor 640 is further provided. The rotary encoder 670 controls the driving direction of the front wheel 4 of the vehicle 1 by controlling the rotation speeds transmitted to the first and second steering gears 610 and 660 by controlling the steering motor 640. .

In addition, the front wheel 4 of the agricultural vehicle 1 is provided with a direction sensor 700 for detecting the direction of the front wheel 4, the rear wheel 5 of the agricultural vehicle 1 of the rear wheel (5) Rotational speed sensor 800 for detecting the rotational speed is provided.

Looking at the operating state of the self-installed driving control system of the cable guided vehicle of the present invention as described above are as follows.

Referring to FIG. 9, while the agricultural vehicle 1 equipped with the self-installation driving control system 10 of the cable guided vehicle according to the present invention travels along a first predetermined path, the right-side laying arm 420 is extended and the first The induction cable LC wound on the winding means 200 is laid. At this time, the left laying arm 420 'travels while being pinched.

Here, the operation of the laying arms (420, 420 ') is operated while the drive shaft 410 is rotated in accordance with the drive of the drive motor 400. At this time, the laying arm (420, 420 ') is the rotation radius is determined by the limit bracket 440.

The right laying arm 420, which was laid down while traveling along the predetermined path, was laid down, that is, the left and right laying arms 420 and 420 'were both turned up and down.

At the end of the turning run, the left laying arm 420 'is unfolded and at the same time the induction cable LC wound on the second winding means 300 is laid and the right laying arm 420' is laid in advance. The vehicle is driven while following the induction cable detection sensor 560 that detects the induction signal of the LC. In addition, the induction cable (LC) laid at the same time as the following is driven while winding the winding reel 210 of the first winding means (200).

Steering means 600 by the direction sensor 700 provided in the front wheel 4 of the agricultural vehicle 1 and the rotational speed sensor 800 provided in the rear wheel 5 when driving while following the induction cable LC. As a result, the traveling direction and the traveling speed of the agricultural vehicle 1 are controlled.

The direction sensor 700 is for allowing the agricultural vehicle 1 to travel while following the induction cable (LC) that is installed.

The rotation speed detecting sensor 800 is laid or wound induction cable (LC) wound on the winding reel (210, 310) in accordance with the rotation of the reel motor (230, 330) of the first and second winding means (200, 300) This is to control the running speed of the agricultural vehicle 1 in accordance with the speed of the installation and the winding.

When the induction cable detection sensor 560 detects that the turning signal is detected when the induction cable LC is not detected in the driving, the agricultural vehicle 1 controls the steering means 600 when the turning signal is detected. You will be turning. As described above, in the turning driving, the left and right laying arms 420 and 420 'are pinched and turned.

If the turning signal is not detected, the clutch 620 of the steering means 600 blocks the connection between the first steering gear 610 and the second steering gear 660 to switch manually. That is, the driver directly grabs the steering wheel 2 and makes a turning drive by manual driving.

The induction cable (LC) checks whether the automatic operation signal is continued or not by the induction cable detection sensor (560). When the automatic operation signal drops to 0V low level, the automatic operation is terminated. 420 and 420 'end the control of the system 10 while closing all inwards, and the steering means 600 switches to manual operation.

Referring to FIG. 10, when the driver applies the 12V high level signal to the induction cable LC to the self-installed traveling control system 10 of the cable induction vehicle of the present invention, the system 10 may include the induction cable ( Start control to run along LC) (S10).

Initializes the steering means 600, the induction cable sensor 560, the direction sensor 700 and the rotational speed sensor 800. (S20)

The induction cable detecting sensor 560 checks whether there is a driving induction signal detected from the induction cable LC to be followed by the vehicle 1 (S30).

When an induction signal is detected from the induction cable detection sensor 560, the steering unit 600 controls the vehicle 1 to come to the center of the induction cable LC (S40).

At the same time, the following induction cable LC is wound around the winding reel 210 in accordance with the running speed of the vehicle 1 (S50).

Lay the induction cable (LC) on the route for the next run. (S60)

If the guidance signal of the induction cable LC necessary for driving from the induction cable detection sensor 560 is not detected, the turning signal is inspected, and if there is a turning signal, the vehicle 1 is turned 180 degrees by the steering means 600. (S70, S80)

If there is no turning signal, the clutch 620 of the steering means 600 blocks the connection of the first and second steering gears 610 and 660 to switch manually, thereby allowing the driver to manually follow the next path. Lay the induction cable (LC) on the top (S90, S60).

After checking whether the automatic operation signal of the induction cable (LC) continues, if the automatic operation signal falls to the low level of 0V, the automatic operation is terminated and the laying induction cable (LC) is wound on the winding reel and then the laying arm (420, 420 ') Presses inside to end system control and returns to the state where manual operation is possible (S100, S90, S60, S110).

Therefore, the driver can perform parallel driving for precise farming work only by automatic control and manual control at the time of turning, so that an inexperienced driver can perform farm work driving with high difficulty more comfortably and easily.

While the present invention has been illustrated and described with respect to preferred embodiments, the invention is not limited to the above-described embodiments, and is commonly used in the field of the invention without departing from the spirit of the invention as claimed in the claims. Anyone with a variety of variations will be possible.

According to the present invention as described above, in most farming work reciprocating the self-attached traveling control system of the cable guided vehicle of the present invention in a certain working width guided along the path to be followed next in parallel with the current driving route By laying cables and driving the next route, the application of the driving guidance method that winds up and follows the cable laid on the agricultural work machine enables the inexperienced agricultural machine driver to perform precise farm work easily and comfortably. Has the effect of contributing to

Claims (11)

In a traveling control system of an agricultural vehicle, the agricultural vehicle can automatically guide the driving direction of the vehicle along the agricultural work path in the paddy field or the field, A pair of coupling brackets formed at both ends and coupled to an agricultural vehicle, a support bracket formed integrally with the coupling bracket, and having first and second guide holes penetrating therein so that an induction cable passes through the support bracket; A base plate consisting of a pair of female coupling portions formed integrally at both ends of one side thereof; First and second winding means coupled to an upper portion of the support bracket to lay / wound the induction cable; A driving motor provided at an upper end of the female coupling part and having a driving shaft; A pair of laying arms, one side of which is axially coupled to the driving shaft of the driving motor, for guiding and rotating to guide the induction cable wound by the first and second winding means; Induction cable detecting means provided on the lower end of the front end of the support bracket for detecting the induction signal of the induction cable; And Steering means for controlling the agricultural vehicle to follow the induction cable according to the induction signal detected by the induction cable detection means; Self-installed driving control system of the cable induction vehicle comprising a. The method of claim 1, wherein the first and second winding means, A reel support coupled to an upper end of the support bracket and rotatably provided therein; A reel motor having a motor shaft axially coupled to the winding reel; A motor support coupled to an upper end of the support bracket to support and fix the reel motor; And Guide means provided at a lower portion of the reel reel of the reel support to guide the cable when the induction cable wound on the reel is unwound or wound; Self-installed driving control system of the cable guided vehicle, characterized in that consisting of. The method of claim 2, wherein the guide means, A first gear provided on the motor shaft; A second gear connected to the first gear and a belt and coupled to one side of the reel support; One side is coupled to the second gear, the other side is rotatably coupled to the reel support guide portion coupled to the guide member for guiding the guide cable on the outer periphery; A base portion coupled to the guide member and having both ends coupled to the reel support in parallel with the guide portion; And A guide roller provided on the lower surface of the support bracket to hold the induction cable passing through the guide member; Magnetically laid traveling control system of a cable guided vehicle, characterized in that consisting of. The method of claim 3, wherein On the outer periphery of the guide portion, a plurality of first guide lines are formed in a diagonal line, and on the other outer periphery, a plurality of second guide lines are formed to face the first guide line. In the guide member of the cable guide vehicle, characterized in that the guide protrusion is coupled to the first and second guide lines to guide the member to move left and right while rotating the guide portion in accordance with the rotation of the second gear. Magnetically attached travel control system. The method of claim 1, wherein the laying arm, Induction roller self-driving driving control system of the cable induction vehicle, characterized in that each end is provided to hold the induction cable. According to claim 1, wherein the female coupling portion, Limit brackets for defining the turning radius of the laying arm is provided with a self-installing driving control system of the cable guided vehicle, characterized in that each provided. The method of claim 1, wherein the induction cable detecting means, A first supporter provided at the front center lower surface of the support bracket; One side is coupled to the first support to be rotated, the rotation frame having a predetermined length; A second support pivotally coupled to the other side of the pivot frame; Fixture coupled to the lower portion of the second support; A sensor fixing bracket coupled to one end of the stator; And An induction cable detection sensor fixedly coupled to the sensor fixing bracket to detect an induction signal of an induction cable; Magnetically laid traveling control system of a cable guided vehicle, characterized in that consisting of. The method of claim 1, wherein the steering means, A first steering gear installed at a lower part of a steering wheel of the agricultural vehicle and fixedly coupled to a rotating shaft of the steering wheel; A clutch coupled to a lower portion of the first steering gear; A fixed bracket in which the rotation shaft of the steering wheel is inserted and provided with a steering motor at one side; A speed reducer for reducing the rotation speed of the steering motor; And A second steering gear that is engaged with the first steering gear and rotates at a rotational speed reduced by the speed reducer; The first and second steering gears are connected to each other or cut off by the operation of the clutch, the self-installation type driving control system of a cable guided vehicle. The method of claim 8, Self-installed driving control system of a cable guided vehicle further comprises a rotary encoder for controlling the rotational speed of the steering motor. The method of claim 1, The front wheel of the agricultural vehicle is a self-installed driving control system of a cable guided vehicle, characterized in that the direction sensor for sensing the direction of the front wheel is provided. The method of claim 1, The rear wheel of the agricultural vehicle is a self-installed driving control system of a cable guided vehicle, characterized in that the rotational speed sensor for detecting the rotational speed of the rear wheel is provided.

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