JPH0472087U - - Google Patents
Info
- Publication number
- JPH0472087U JPH0472087U JP11612790U JP11612790U JPH0472087U JP H0472087 U JPH0472087 U JP H0472087U JP 11612790 U JP11612790 U JP 11612790U JP 11612790 U JP11612790 U JP 11612790U JP H0472087 U JPH0472087 U JP H0472087U
- Authority
- JP
- Japan
- Prior art keywords
- sub
- aircraft
- catenary line
- overhead wire
- turning
- 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
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図面は、本考案に係る架線式自動走行車の実施
例を示したものであつて、第１図はトラクタの側
面図、第２図は同上平面図、第３図Ａ，Ｂはそれ
ぞれワイヤ検知装置の平面図、正面図、第４図は
作用を示すワイヤ検知装置の正面図、第５図はト
ラクタの作業行程を示す圃場の平面図、第６図Ａ
，Ｂ，Ｃはそれぞれ左旋回の過程を示すトラクタ
の平面図、第７図Ａ，Ｂ，Ｃ，Ｄはそれぞれ右旋
回の過程を示すトラクタの平面図、第８図は制御
機構のブロツク図、第９図はメイン制御を示すフ
ローチヤート、第１０図は旋回制御を示すフロー
チヤート、第１１図は作用を示すタイミングチヤ
ート、第１２図は設定スイツチの平面図である。
図中、１は走行機体、３は作業機、６は無人操
作装置、１４はワイヤ検知装置、１９は揺動アー
ム、２３は架線検知スイツチ、２４はアーム角検
知センサ、２５は自動走行制御部、２６，２７は
検知スイツチ、Ｋ１はワイヤ、Ｋ２は副ワイヤで
ある。
The drawings show an embodiment of the overhead wire type automatic traveling vehicle according to the present invention, in which Fig. 1 is a side view of the tractor, Fig. 2 is a plan view of the same, and Fig. 3 A and B are wire detection lines, respectively. 4 is a front view of the wire detection device showing the operation, FIG. 5 is a plan view of the field showing the working process of the tractor, and FIG. 6A is a plan view and front view of the device.
, B, and C are plan views of the tractor showing the process of turning to the left, respectively. Fig. 7 A, B, C, and D are plan views of the tractor showing the process of turning to the right, respectively. Fig. 8 is a block diagram of the control mechanism. , FIG. 9 is a flowchart showing the main control, FIG. 10 is a flowchart showing the turning control, FIG. 11 is a timing chart showing the operation, and FIG. 12 is a plan view of the setting switch. In the figure, 1 is a traveling machine body, 3 is a working machine, 6 is an unmanned operation device, 14 is a wire detection device, 19 is a swing arm, 23 is an overhead line detection switch, 24 is an arm angle detection sensor, and 25 is an automatic travel control unit , 26, 27 are detection switches, K1 is a wire, and K2 is an auxiliary wire.
Claims (1)
を検知する機体位置検知手段と、該機体位置検知
手段の検知に基づいて走行機体の自動走行用アク
チユエータに作動指令を出力する自動走行制御手
段とを備えてなる架線式自動走行車において、前
記圃場の機体旋回開始位置に、前記架線に交差す
る副架線を架設する一方、走行機体には、所定間
隔を存して左右に並設される一対の副架線検知手
段と、左右副架線検知手段の何れかが副架線を検
知したことに基づいて自動走行用アクチユエータ
に旋回作動指令を出力する旋回制御手段とを設け
たことを特徴とする架線式自動走行車。 An aircraft position detection means for detecting the aircraft position based on overhead wires arranged in advance in a field; and an automatic travel control means for outputting an operation command to an automatic travel actuator of the traveling aircraft based on detection by the aircraft position detection means. In the overhead wire type automated vehicle, a sub-overhead wire is installed at the starting position of the aircraft turning in the field, and a sub-overhead wire is installed to intersect the overhead wire, while a pair of overhead wires are installed on the traveling aircraft side by side on the left and right at a predetermined interval. A catenary line system characterized by comprising: a sub catenary line detection means; and a turning control means for outputting a turning operation command to an automatic travel actuator based on the detection of the sub catenary line by any one of the left and right sub catenary line detecting means. Self-driving car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11612790U JPH0472087U (en) | 1990-11-05 | 1990-11-05 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11612790U JPH0472087U (en) | 1990-11-05 | 1990-11-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0472087U true JPH0472087U (en) | 1992-06-25 |
Family
ID=31863943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11612790U Pending JPH0472087U (en) | 1990-11-05 | 1990-11-05 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0472087U (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5218446A (en) * | 1975-08-04 | 1977-02-12 | Teikoku Sanso Kk | Consumable electrode type arc welding equipment |
| JPS5737927U (en) * | 1980-08-08 | 1982-02-27 |
-
1990
- 1990-11-05 JP JP11612790U patent/JPH0472087U/ja active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5218446A (en) * | 1975-08-04 | 1977-02-12 | Teikoku Sanso Kk | Consumable electrode type arc welding equipment |
| JPS5737927U (en) * | 1980-08-08 | 1982-02-27 |
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