JPH0281279U

JPH0281279U -

Info

Publication number: JPH0281279U
Application number: JP16194788U
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
図は表示器の平面図、第８図と第９図と第１０図
と第１１図は各々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 plan view of the display, and FIGS. 8, 9, 10, and 11 are flowcharts, respectively. 1... Work vehicle, 2... Vehicle body, 3... Handle, 4... Chemical tank, 5... Spray 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]

In a work vehicle equipped with an automatic steering control device that controls the steering of a pair of left and right front and rear wheels provided on the work vehicle so as to follow a guidance route, there is provided a means for switching the automatic steering device between automatic and manual modes, and a means for switching the automatic steering device between automatic and manual modes, and the progress of the work vehicle. There are three types of steering mode: an in-phase steering mode in which the front and rear wheels are in the same direction, an opposite-phase steering mode in which the front and rear wheels are in opposite directions, and a one-way steering mode in which only the front wheels or only the rear wheels are steered. and a means for detecting the steering angles of both the front and rear wheels, and when switching to manual steering, the front wheels in the direction of travel are steered by the steering wheel operation via the steering mechanism, while the front wheels and/or a control means for detecting the steering angle of the rear wheels and using the steering angle of the front wheels in the direction of travel to determine the steering angle of the rear wheels in the direction of travel where the steering wheel is not operated in accordance with the switching of the steering mode. A steering control device for a work vehicle characterized by: