JPH01108013U - - Google Patents
Info
- Publication number
- JPH01108013U JPH01108013U JP323288U JP323288U JPH01108013U JP H01108013 U JPH01108013 U JP H01108013U JP 323288 U JP323288 U JP 323288U JP 323288 U JP323288 U JP 323288U JP H01108013 U JPH01108013 U JP H01108013U
- Authority
- JP
- Japan
- Prior art keywords
- boundary
- automatic steering
- area
- work
- moving average
- 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 1
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図面は本考案の一実施例を示すものであり、第
１図は本考案装置を装備した乗用田植機の左側面
図、第２図はその平面図、第３図は立位検出器の
構成を示すブロツク図、第４図は本考案装置の構
成を示すブロツク図、第５図は田植機の走行状態
を示す圃場の一部平面図、第６〜第１０図は本考
案装置の動作内容を示すフローチヤートである。
１…走行機体、６…植付部、８…方位検出器、
９…走行状態選択レバ、１０ｌ，１０ｒ…境界検
出器、１０ｌａ，１０ｌｂ，１０ｌｃ，１０ｒａ
，１０ｒｂ，１０ｒｃ…光センサ、１６ｌ，１６
ｒ…走行距離検出器、２７…油圧シリンダ、３０
…操向制御部。
The drawings show one embodiment of the present invention; Fig. 1 is a left side view of a riding rice transplanter equipped with the device of the present invention, Fig. 2 is a plan view thereof, and Fig. 3 is the configuration of the standing position detector. Figure 4 is a block diagram showing the configuration of the device of the present invention, Figure 5 is a partial plan view of a field showing the running state of the rice transplanter, and Figures 6 to 10 are details of the operation of the device of the present invention. This is a flowchart showing the following. 1... Traveling body, 6... Planting section, 8... Direction detector,
9... Traveling state selection lever, 10l, 10r... Boundary detector, 10la, 10lb, 10lc, 10ra
, 10rb, 10rc...light sensor, 16l, 16
r... Mileage detector, 27... Hydraulic cylinder, 30
...Steering control section.
Claims (1)
系列的に検出する境界検出器を備え、検出された
前記境界に倣う自動操向により、作業地内での対
地作業を行う作業用車両の自動操向装置において
、 前記境界検出器の検出値の移動平均を算出する
手段と、 該手段により算出された前記移動平均に基づき
、前記境界に倣い自動操向する手段と を具備することを特徴とする作業用車両の自動
操向装置。[Claims for Utility Model Registration] Equipped with a boundary detector that detects the boundary between an unworked area and an already worked area in chronological order using wave motion, and automatic steering that follows the detected boundary to move around the work area. An automatic steering system for a work vehicle that performs ground work, comprising: means for calculating a moving average of detection values of the boundary detector; and automatic steering following the boundary based on the moving average calculated by the means. An automatic steering device for a work vehicle, characterized in that it comprises means for:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP323288U JPH01108013U (en) | 1988-01-14 | 1988-01-14 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP323288U JPH01108013U (en) | 1988-01-14 | 1988-01-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01108013U true JPH01108013U (en) | 1989-07-21 |
Family
ID=31204684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP323288U Pending JPH01108013U (en) | 1988-01-14 | 1988-01-14 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01108013U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03292810A (en) * | 1990-04-11 | 1991-12-24 | Kubota Corp | Lifting and lowering controller of paddy field working machine |
-
1988
- 1988-01-14 JP JP323288U patent/JPH01108013U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03292810A (en) * | 1990-04-11 | 1991-12-24 | Kubota Corp | Lifting and lowering controller of paddy field working machine |