JPH0281274U

JPH0281274U -

Info

Publication number: JPH0281274U
Application number: JP16194688U
Authority: JP
Priority date: 1988-12-13
Filing date: 1988-12-13
Publication date: 1990-06-22

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
図はフローチヤートである。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……走行状態表示器。 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.
The figure is a flowchart. 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 ... Running status indicator.

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 the amount of deviation and controls the steering of the work vehicle in a direction that reduces the amount of deviation, the difference between the output values of the left and right magnetic sensors at the front portion is
A work vehicle characterized by being provided with a control means for driving the rear steering device in a direction in which the difference between the output values of the left and right magnetic sensors at the rear falls into the dead zone when the value is within a certain range larger than the value of the dead zone. Steering control device.