JPH04101206A - Control device for self-traveling trailer to follow up working traveling vehicle - Google Patents
Control device for self-traveling trailer to follow up working traveling vehicleInfo
- Publication number
- JPH04101206A JPH04101206A JP2219395A JP21939590A JPH04101206A JP H04101206 A JPH04101206 A JP H04101206A JP 2219395 A JP2219395 A JP 2219395A JP 21939590 A JP21939590 A JP 21939590A JP H04101206 A JPH04101206 A JP H04101206A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- self
- trailer
- ultrasonic
- signal
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000004044 response Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 241000209094 Oryza Species 0.000 abstract 3
- 235000007164 Oryza sativa Nutrition 0.000 abstract 3
- 235000009566 rice Nutrition 0.000 abstract 3
- 235000013339 cereals Nutrition 0.000 abstract 2
- 241000251169 Alopias vulpinus Species 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Landscapes
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、コンバインや土木作業用等の作業用走行車両
に追従する自走トレーラの制御装置に関するものである
。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a control device for a self-propelled trailer that follows a work vehicle such as a combine harvester or a vehicle for civil engineering work.
コンバイン等の農作業用または土木作業用の走行車両に
おいて、当該走行車両にて作業したときの成果物（例え
ば刈取り済みの脱穀穀物）が多い場合に、その走行車両
で牽引するトレーラに積み込みすることは、例えば実開
昭５８−８７６２９号公報等にて開示されている。When using a vehicle for agricultural or civil engineering work such as a combine harvester, if there are many products (e.g., harvested threshed grain) produced by the vehicle, it is prohibited to load them onto a trailer pulled by the vehicle. , for example, is disclosed in Japanese Utility Model Application Publication No. 58-87629.
この先行技術においては、コンバインの後端に連結杆を
介してトレーラを左右回動自在に連結する一方、コンバ
インの後端の出力軸から自在継手及び駆動軸を介して牽
引されるトレーラに動力を伝達する構成である。In this prior art, a trailer is connected to the rear end of the combine via a connecting rod so as to be rotatable left and right, while power is transmitted from the output shaft at the rear end of the combine to the trailer towed through a universal joint and a drive shaft. It is a configuration that communicates.
ところで、前記トレーラに積み込まれた脱穀穀物等の成
果物が一杯になったときには、コンパインと共にトレー
ラを、所定の集積所まで移動させて、トレーラを空にす
る作業を実行していると、その間コンバインによる刈取
作業を実行できず、作業効率が非常に悪くなるという問
題があった。By the way, when the trailer is full of products such as threshed grains, the trailer is moved together with the combiner to a predetermined collection point and the trailer is emptied. There was a problem in that the reaping work could not be carried out by the machine, resulting in extremely poor work efficiency.
さりとて、このトレーラをコンバインから外して所定の
集積所まで別途運搬するとすれば、前記連結杆および駆
動軸または自在継手箇所の連結と取り外しに手間が掛か
り、しかもトレーラを別の原動力付きの牽引車で移動さ
せなければならず、多大の手間と装置が必要になるので
あった。If the trailer were to be removed from the combine harvester and transported separately to a designated collection point, it would be time-consuming to connect and remove the connecting rods, drive shafts, or universal joints, and the trailer would have to be moved by a separate towing vehicle with a motive force. It had to be moved, which required a great deal of effort and equipment.
必要がある。There is a need.
本発明は、これらの先行技術の問題を解決することを目
的とするものである。The present invention aims to solve these problems of the prior art.
この目的を達成するため本発明は、コンバイン等の作業
用走行車両に、超音波または電波等の無線送信手段を設
ける一方、前記作業用走行車両に追従する自走トレーラ
にはエンジン等の駆動源と、前記無線送信手段からの信
号を受信する受信手段とを設け、前記無線送信手段から
の信号の発信に応じて自走トレーラの走行操作を指令す
るように構成したものである。In order to achieve this object, the present invention provides a working vehicle such as a combine harvester with wireless transmission means such as ultrasonic waves or radio waves, and a self-propelled trailer that follows the working vehicle has a drive source such as an engine. and a receiving means for receiving a signal from the wireless transmitting means, and is configured to issue an instruction to operate the self-propelled trailer in response to the signal transmitted from the wireless transmitting means.
また、自走トレーラの前部に、作業用走行車両の後端面
に向けて発射する超音波発信手段と、反射する超音波を
受信する受信手段とを設ける一方、前記作業用走行車両
には、前記超音波の受信手段に向けて所定の超音波信号
を発信する無線送信手段を設けるように構成してもよい
。Furthermore, the self-propelled trailer is provided with ultrasonic transmitting means for emitting toward the rear end surface of the working vehicle and receiving means for receiving the reflected ultrasonic waves, and the working vehicle is provided with: The apparatus may be configured to include wireless transmitting means for transmitting a predetermined ultrasonic signal toward the ultrasonic receiving means.
このように、作業用走行車両に、超音波または電波等の
無線送信手段を設ける一方、追従する自走式のトレーラ
に受信手段を設け、無線送信手段からの信号で、トレー
ラの走行操作を指令するので、牽引する作業用走行車両
と追従するトレーラとの間に機械的連結手段がなくても
、トレーラと作業用走行車両との間隔を所定の距離に略
保持したまま、トレーラが追従することができる一方、
追従操作を停止すれば、トレーラは作業用走行車両との
連結状態が解除されて、トレーラのみを自由に操作でき
ることになり、従来のものに比べて、連結作業及びその
解除作業を至極簡単にすることができるという効果を奏
するのである。In this way, the working vehicle is equipped with a wireless transmission means such as ultrasonic waves or radio waves, while the self-propelled trailer that follows is equipped with a reception means, and the signals from the wireless transmission means are used to command the traveling operation of the trailer. Therefore, even if there is no mechanical coupling means between the towing work vehicle and the following trailer, the trailer can follow while maintaining the distance between the trailer and the work vehicle approximately at a predetermined distance. On the other hand,
When the following operation is stopped, the trailer is uncoupled from the work vehicle and only the trailer can be operated freely, making the coupling and uncoupling operations extremely easy compared to conventional systems. This has the effect of making it possible.
また、自走トレーラの前部に、作業用走行車両の後端面
に向けて発射する超音波発信手段と、反射する超音波を
受信する受信手段とを設けることで、作業用走行車両に
追従するときのトレーラとの追従間隔を一定に保持でき
るし、作業用走行車両には、前記超音波の受信手段に向
けて所定の超音波信号を発信する無線送信手段を設ける
ことで、トレーラ側の受信手段を超音波に対するもので
対処することができ、制御手段を簡単な構成にすること
ができるという効果を奏するのである。In addition, by providing an ultrasonic transmitter that emits toward the rear end surface of the work vehicle and a receiver that receives reflected ultrasonic waves at the front of the self-propelled trailer, the self-propelled trailer can follow the work vehicle. In addition, by providing the working vehicle with a wireless transmitting means for transmitting a predetermined ultrasonic signal to the ultrasonic receiving means, the trailer side can receive the ultrasonic signal at a constant distance. This has the effect that the means for ultrasonic waves can be used, and the control means can have a simple configuration.
次に本発明を、作業用走行車両の一例であるコンバイン
に適用した実施例について説明すると、符号ｌはコンバ
インの走行機体で、該走行機体ｌの下方には、当該走行
機体１に対して昇降駆動する左右一対のクローラ形走行
装置２，２を配設しである。Next, an embodiment in which the present invention is applied to a combine harvester, which is an example of a working vehicle, will be described. Reference numeral 1 is a traveling body of the combine, and below the traveling body 1, there is a A pair of left and right crawler type traveling devices 2, 2 to be driven are provided.
この走行機体ｌの前端には、刈取前処理装置５を昇降調
節自在に装着してあり、走行機体１にはその進行方向に
向いて、右側にフィートチエン６付きの脱穀装置７を、
左側には前記脱穀装置７て脱穀済の籾を蓄積する籾タン
ク８を各々備え、該籾タンク８の前方には運転席９を備
えである。A reaping pre-processing device 5 is attached to the front end of the traveling body 1 so as to be adjustable up and down, and a threshing device 7 with a foot chain 6 is mounted on the right side of the traveling body 1 facing the direction of movement.
A paddy tank 8 is provided on the left side to store paddy threshed by the threshing device 7, and a driver's seat 9 is provided in front of the paddy tank 8.
また、前記走行機体ｌには、エンジンＩＯからの動力を
ミッション１１を介して前記刈取前処理装置５に伝達す
ると共に、駆動スプロケット１２゜１２を回転駆動し、
この両駆動スプロケット１２゜Ｊ２にて左右両走行装置
２，２におけるクローラ１３．１３を駆動させ、操舵機
構１４にて方向転回等の操舵を実行する。なお、前記ミ
ッションＩｌの左右両側駆動軸等に設けたブレーキ機構
１５にてコンバインの走行を停止させることができるも
のである。In addition, the traveling machine l transmits power from the engine IO to the reaping pretreatment device 5 via the mission 11, and rotationally drives the drive sprocket 12.
The crawlers 13, 13 in both the left and right traveling devices 2, 2 are driven by the driving sprockets 12°J2, and the steering mechanism 14 executes steering such as direction rotation. Note that the running of the combine can be stopped by a brake mechanism 15 provided on the left and right drive shafts of the mission Il.
符号１６は前記籾タンク８に貯留された穀粒をオーガを
介して外部に放出する放出筒であり、該放出筒１６は水
平回動及び上下回動可能に構成されている。Reference numeral 16 denotes a discharge tube that discharges the grains stored in the paddy tank 8 to the outside via an auger, and the discharge tube 16 is configured to be horizontally rotatable and vertically movable.
符号１７は前記コンバインに追従して自走できる自走ト
レーラで、上面開放型のタンク１８の下方前部左右に駆
動輪１９．１９を、後部左右に車輪２０．２０を備え、
エンジン２１及びミッション２２を介して前記駆動輪１
９．１９に動力伝達すると共に、操舵機構２３とブレー
キ機構２４とを備えている。これらはいずれも従来周知
の構造である。Reference numeral 17 denotes a self-propelled trailer that can follow the combine harvester and is equipped with drive wheels 19.19 on the left and right sides of the front below the open-top tank 18, and wheels 20.20 on the left and right rear.
The driving wheel 1 is connected via an engine 21 and a transmission 22.
9.19, and includes a steering mechanism 23 and a brake mechanism 24. These are all conventionally known structures.
第３図に示すのは、本発明の制御手段のブロック図で、
符号３０はコンバイン側に設けた超音波式の無線送信手
段で、符号３２は、コンバインの走行機体２の後面に後
向きに設けた超音波発信器であり、符号３１は信号発生
器３３を介して超音波発信器３２から所定の信号を出す
ための制御手段で、該制御手段３１はマイクロコンピュ
ータ等の電子制御による中央処理装置（ＣＰＵ）と、中
央処理装置で演算処理するのに必要な制御プログラムや
初期値を予め記憶しておく読み取り専用メモリ（ＲＯＭ
）と、演算処理するのに用いられる各種データを一時的
に記憶するための読み書き可能メモリ（ＲＡＭ）と、前
記エンジンｌＯの回転数を検出する回転計３４の信号と
、ミッションｌｌの変速段切換位置を検出するエンコー
ダ３５からの信号と、操舵機構１４によるコンバインの
旋回程度を検出する旋回検出センサー３６からの信号と
、ブレーキ機構１５の作動による車体の速度検出センサ
ー３７からの信号とを入力するインターフェイス等を備
える。FIG. 3 shows a block diagram of the control means of the present invention.
Reference numeral 30 is an ultrasonic wireless transmitter provided on the combine side, reference numeral 32 is an ultrasonic transmitter provided rearward on the rear surface of the traveling body 2 of the combine, and reference numeral 31 is an ultrasonic wireless transmitter provided on the combine harvester side. A control means for outputting a predetermined signal from the ultrasonic transmitter 32, and the control means 31 includes an electronically controlled central processing unit (CPU) such as a microcomputer, and a control program necessary for arithmetic processing by the central processing unit. Read-only memory (ROM) stores initial values in advance.
), a read/write memory (RAM) for temporarily storing various data used for arithmetic processing, a signal from the tachometer 34 that detects the rotational speed of the engine IO, and a gear shift for the mission IO. A signal from the encoder 35 that detects the position, a signal from the turning detection sensor 36 that detects the degree of turning of the combine by the steering mechanism 14, and a signal from the vehicle speed detection sensor 37 due to the operation of the brake mechanism 15 are input. Equipped with interface etc.
そして、コンバインに搭載した運転者の操作により、当
該コンバインが前進・後退、停止、左右への方向転回、
単速度の変動等の走行状態を変更すると、これに応じて
、自走トレーラ１７がコンバインが略一定間隔をおいて
追従できる制御用超音波信号Ｍｌを超音波発信器３２か
ら自走トレーラ１７における受信手段３８に向かって、
発射するのである。Then, by the operation of the driver mounted on the combine, the combine moves forward, backward, stops, turns left and right,
When the traveling state such as a change in the single speed is changed, the self-propelled trailer 17 transmits a control ultrasonic signal Ml from the ultrasonic transmitter 32 to the self-propelled trailer 17, which the combine harvester can follow at approximately constant intervals. Toward the receiving means 38,
It fires.
制御の種類は、例えばこの実施例では、自走トレーラ１
７の■停止、■前進又は後退、■左右旋回、■増速・減
速の４種類であり、この制御の種類に応じて、制御用超
音波信号Ｍｌは、発信時間長さと周波数の両方またはそ
の一方を変えるようにして、後述の符号解読回路４６で
の信号の種別の解読が可能であるようにする。For example, in this embodiment, the type of control is
There are four types of control: ■stop, ■forward or backward, ■left/right turn, and ■speed increase/deceleration. By changing one of the signals, the type of signal can be decoded by a code decoding circuit 46, which will be described later.
なお、この制御用超音波信号Ｍ１の発信は、後述する追
従間隔検出用の超音波発信手段４０から適宜時間間隔ご
とに発射した超音波信号Ｍ２か受信手段４２で受ける時
間帯を外すようにし、制御用超音波信号Ｍｌと追従間隔
検出用の超音波信号Ｍ２とが時間的に重複して混信（受
信不能）するのを防止することが好ましい。The transmission of the control ultrasonic signal M1 is performed by excluding the time period in which the ultrasonic signal M2 emitted at appropriate time intervals from the ultrasonic transmitting means 40 for detecting follow-up intervals, which will be described later, is received by the receiving means 42. It is preferable to prevent the control ultrasonic signal Ml and the tracking interval detection ultrasonic signal M2 from overlapping in time and causing interference (unreceivable).
さらに、制御用超音波信号Ｍ１の符号設定を、距離用の
超音波信号Ｍ２では取りえない受信パターンに設定して
おくと良い。Further, it is preferable to set the sign of the control ultrasonic signal M1 to a reception pattern that cannot be obtained with the distance ultrasonic signal M2.
他方、符号４０は自走トレーラ１７の前面に設けた追従
間隔検出用の超音波発信手段、符号４１は超音波発信手
段４０から発射する超音波信号Ｍ２の周波数および発信
間隔等を規定して発生させる発信回路、符号４２は超音
波信号を受ける受信手段、符号４３は受信手段４２から
の信号を増幅する増幅回路、符号４４は検波波形整形回
路、符号４５は前記超音波発信手段４０から発射された
所定の周波数および発射間隔を有する追従間隔検出用超
音波信号Ｍ２か受信手段４２で受は取られたとき、それ
を判別し、発射から受信までの時間間隔を検出して、自
走トレーラ１７の前端からコンバインの後端までの距離
Ｌｌを演算する追従間隔距離検出回路、符号４６は、前
記コンバイン側における超音波発信器３２からの所定の
制御用超音波信号Ｍｌの所定の発信時間長さやその間隔
、または／及び周波数の違いから制御符号に変換する符
号検出および制御符号解読回路であり、追従間隔検出用
超音波信号Ｍ２との峻別も実行する。On the other hand, reference numeral 40 is an ultrasonic transmitting means for detecting a follow-up interval provided on the front surface of the self-propelled trailer 17, and reference numeral 41 is an ultrasonic signal M2 emitted from the ultrasonic transmitting means 40, which is generated by specifying the frequency and transmission interval, etc. 42 is a receiving means for receiving the ultrasonic signal, 43 is an amplification circuit for amplifying the signal from the receiving means 42, 44 is a detection waveform shaping circuit, and 45 is a signal emitted from the ultrasonic transmitting means 40. When the ultrasonic signal M2 for tracking interval detection having a predetermined frequency and emission interval is received by the receiving means 42, it is determined, the time interval from emission to reception is detected, and the self-propelled trailer 17 A follow-up interval distance detection circuit 46 for calculating the distance Ll from the front end of the combine to the rear end of the combine calculates a predetermined transmission time length and a predetermined transmission time length of a predetermined control ultrasonic signal Ml from the ultrasonic transmitter 32 on the combine side. This is a code detection and control code decoding circuit that converts into a control code based on the difference in interval and/or frequency, and also performs a sharp distinction from the ultrasonic signal M2 for detecting the tracking interval.
符号４７は、前記追従間隔距離検出回路４５及び制御符
号解読回路４６からの信号に応じて、自走トレーラ１７
の走行を制御するための制御手段で、該制御手段４７は
、マイクロコンピュータ等の電子制御による中央処理装
置（ＣＰ Ｕ）と、中央処理装置で演算処理するのに必
要な制御プログラムや初期値を予め記憶しておく読み取
り専用メモリ（ＲＯＭ）と、演算処理するのに用いられ
る各種データを一時的に記憶するための読み書き可能メ
モリ（ＲＡＭ）等を備え、エンジン２１の出力を制御す
る駆動回路４８と、ミッション２２の変速段を切り換え
る駆動回路４９と、自走トレーラ１７の方向転回を制御
する操舵機構２３の駆動回路５０と、走行停止するブレ
ーキ機構２４の駆動回路５１に、それぞれ出力信号を送
り、自走トレーラ１７をコンバインの後に所定の距離Ｌ
１で追従走行させたり、コンバインの方向転回に応じて
追従旋回させたり、コンバインの停止時には、自走トレ
ーラが追突しないように緊急停止する等の走行制御を実
行するのである。Reference numeral 47 indicates that the self-propelled trailer 17
The control means 47 is an electronically controlled central processing unit (CPU) such as a microcomputer, and the control program and initial values necessary for arithmetic processing by the central processing unit. A drive circuit 48 includes a read-only memory (ROM) for storing data in advance and a read/write memory (RAM) for temporarily storing various data used for arithmetic processing, and controls the output of the engine 21. Then, output signals are sent to the drive circuit 49 for changing the gear stage of the transmission 22, the drive circuit 50 for the steering mechanism 23 that controls the direction rotation of the self-propelled trailer 17, and the drive circuit 51 for the brake mechanism 24 that stops traveling. , the self-propelled trailer 17 is moved a predetermined distance L after the combine harvester.
1 to follow the combine harvester, make a follow-up turn in accordance with the direction change of the combine harvester, and when the combine harvester stops, perform travel control such as making an emergency stop to prevent the self-propelled trailer from colliding with the combine harvester.
なお、追従間隔を一定に保持する制御のために超音波発
信手段とその受信手段を設けることに代えて、赤外線の
発信手段とその受信手段とからなる構成にしても良いし
、自走トレーラの走行制御のための制御信号は、超短波
等の電波（例えばＦＭ波）を使用しても良い。Note that instead of providing an ultrasonic transmitting means and an ultrasonic receiving means for controlling the tracking interval to be kept constant, a configuration consisting of an infrared transmitting means and an infrared receiving means may be used, or The control signal for driving control may use radio waves such as ultra high frequency waves (for example, FM waves).
このような、超音波等の無線式の連結で自走トレーラの
走行を制御すれば、機械式の牽引手段に比べて、自走ト
レーラ単独の走行への切換が至極容易となる。If the traveling of the self-propelled trailer is controlled by such wireless connection such as ultrasonic waves, it becomes extremely easy to switch to traveling by the self-propelled trailer alone, compared to mechanical traction means.
なお、前記制御手段３１と４７は、マイクロコンピュー
タ式でなく、電子機器（電子部品）のハード的結合から
なる電気回路にて構成しても良い。Note that the control means 31 and 47 may be constructed not of a microcomputer type but of an electric circuit consisting of a hard connection of electronic devices (electronic parts).
【図面の簡単な説明】
図面は本発明の実施例を示し、第１図はコンｔｉインと
自走トレーラとの平面図、第２図は側面図、第３図は制
御手段のブロック図である。
■・・・・走行機体、２，２・・・・走行装置、５・・
・・刈取前処理装置、７・・・・脱穀装置、８・・・・
籾タンク、９・・・・運転席、ｔｏ、２１・・・・エン
ジン、ｌｌ、２２・・・・ミッション、１４．２３・・
・・操舵機構、１５．２４・・・・ブレーキ機構、３２
・・・・発信手段、３３・・・・受信手段４０・・・・
超音波発信手段、３１．４７・・・・制御手段、４８，
４９，５０，５１・・・・駆動回路。[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of a control unit and a self-propelled trailer, FIG. 2 is a side view, and FIG. 3 is a block diagram of a control means. be. ■... Traveling body, 2, 2... Traveling device, 5...
... pre-reaping treatment device, 7... threshing device, 8...
Paddy tank, 9...driver's seat, to, 21...engine, ll, 22...mission, 14.23...
... Steering mechanism, 15.24 ... Brake mechanism, 32
...Transmitting means, 33...Receiving means 40...
Ultrasonic transmitting means, 31.47...control means, 48,
49, 50, 51... drive circuit.
Claims (2)
は電波等の無線送信手段を設ける一方、前記作業用走行
車両に追従する自走トレーラにはエンジン等の駆動源と
、前記無線送信手段からの信号を受信する受信手段とを
設け、前記無線送信手段からの信号の発信に応じて自走
トレーラの走行操作を指令するように構成したことを特
徴とする作業用走行車両に追従する自走トレーラの制御
装置。(1) A working vehicle such as a combine harvester is provided with a wireless transmission means such as ultrasonic waves or radio waves, while a self-propelled trailer that follows the working vehicle is equipped with a drive source such as an engine and the wireless transmitting means. a receiving means for receiving a signal from the wireless transmitting means, and is configured to instruct the traveling operation of the self-propelled trailer in response to the transmission of the signal from the wireless transmitting means. Control device for running trailers.
端面に向けて発射する超音波発信手段と、反射する超音
波を受信する受信手段とを設ける一方、前記作業用走行
車両には、前記超音波の受信手段に向けて所定の超音波
信号を発信する無線送信手段を設けたことを特徴とする
作業用走行車両に追従する自走トレーラの制御装置。(2) The front part of the self-propelled trailer is provided with ultrasonic transmitting means for emitting toward the rear end surface of the working vehicle and receiving means for receiving the reflected ultrasonic waves; A control device for a self-propelled trailer that follows a working vehicle, characterized in that it is provided with wireless transmitting means for transmitting a predetermined ultrasonic signal toward the ultrasonic receiving means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2219395A JP3016836B2 (en) | 1990-08-20 | 1990-08-20 | Control device for self-propelled trailer that follows work vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2219395A JP3016836B2 (en) | 1990-08-20 | 1990-08-20 | Control device for self-propelled trailer that follows work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04101206A true JPH04101206A (en) | 1992-04-02 |
| JP3016836B2 JP3016836B2 (en) | 2000-03-06 |
Family
ID=16734745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2219395A Expired - Fee Related JP3016836B2 (en) | 1990-08-20 | 1990-08-20 | Control device for self-propelled trailer that follows work vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3016836B2 (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003101178A1 (en) * | 2002-05-31 | 2003-12-11 | Deere & Company | Combination of a self-moving harvesting machine and a transport vehicle |
| US7480564B2 (en) | 2004-08-14 | 2009-01-20 | Deere & Company | System for determining the relative position of a second farm vehicle in relation to a first farm vehicle |
| DE102008015277A1 (en) | 2008-03-20 | 2009-09-24 | Deere & Company, Moline | Method and device for steering a second agricultural machine, which is steerable over a field relative to a first agricultural machine |
| US8299378B2 (en) | 2008-12-31 | 2012-10-30 | Ls Industrial Systems Co., Ltd. | Position indicating device |
| DE10066233B4 (en) * | 2000-11-18 | 2013-10-24 | Deere & Company | Crop transporting vehicle is fitted with remote control unit for harvesting machine which is operated by driver of transporter |
| WO2015147108A1 (en) * | 2014-03-26 | 2015-10-01 | ヤンマー株式会社 | Control device for work vehicle |
| JP2015186473A (en) * | 2014-06-30 | 2015-10-29 | ヤンマー株式会社 | Controller for work vehicle |
| EP1219158B2 (en) † | 2000-12-23 | 2016-01-13 | CLAAS Selbstfahrende Erntemaschinen GmbH | Device for optimizing the overloading of crops in an agricultural vehicle |
| US9904293B1 (en) | 2016-12-13 | 2018-02-27 | Brunswick Corporation | Systems and methods for automatically trailering a marine vessel on a boat trailer |
| US10259555B2 (en) | 2016-08-25 | 2019-04-16 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
| US10324468B2 (en) | 2017-11-20 | 2019-06-18 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
| US10322787B2 (en) | 2016-03-01 | 2019-06-18 | Brunswick Corporation | Marine vessel station keeping systems and methods |
| US10429845B2 (en) | 2017-11-20 | 2019-10-01 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
| US10845812B2 (en) | 2018-05-22 | 2020-11-24 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
| US10926855B2 (en) | 2018-11-01 | 2021-02-23 | Brunswick Corporation | Methods and systems for controlling low-speed propulsion of a marine vessel |
| US11198494B2 (en) | 2018-11-01 | 2021-12-14 | Brunswick Corporation | Methods and systems for controlling propulsion of a marine vessel to enhance proximity sensing in a marine environment |
-
1990
- 1990-08-20 JP JP2219395A patent/JP3016836B2/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10066233B4 (en) * | 2000-11-18 | 2013-10-24 | Deere & Company | Crop transporting vehicle is fitted with remote control unit for harvesting machine which is operated by driver of transporter |
| EP1219158B2 (en) † | 2000-12-23 | 2016-01-13 | CLAAS Selbstfahrende Erntemaschinen GmbH | Device for optimizing the overloading of crops in an agricultural vehicle |
| WO2003101178A1 (en) * | 2002-05-31 | 2003-12-11 | Deere & Company | Combination of a self-moving harvesting machine and a transport vehicle |
| US7480564B2 (en) | 2004-08-14 | 2009-01-20 | Deere & Company | System for determining the relative position of a second farm vehicle in relation to a first farm vehicle |
| DE102008015277A1 (en) | 2008-03-20 | 2009-09-24 | Deere & Company, Moline | Method and device for steering a second agricultural machine, which is steerable over a field relative to a first agricultural machine |
| US8755976B2 (en) | 2008-03-20 | 2014-06-17 | Deere & Company | Method and device for steering a second agricultural machine, which can be steered to drive over a field parallel to a first agricultural machine |
| US8299378B2 (en) | 2008-12-31 | 2012-10-30 | Ls Industrial Systems Co., Ltd. | Position indicating device |
| US10198010B2 (en) | 2014-03-26 | 2019-02-05 | Yanmar Co., Ltd. | Control device for work vehicle |
| WO2015147108A1 (en) * | 2014-03-26 | 2015-10-01 | ヤンマー株式会社 | Control device for work vehicle |
| JP2015186473A (en) * | 2014-06-30 | 2015-10-29 | ヤンマー株式会社 | Controller for work vehicle |
| US10322787B2 (en) | 2016-03-01 | 2019-06-18 | Brunswick Corporation | Marine vessel station keeping systems and methods |
| US11260949B2 (en) | 2016-03-01 | 2022-03-01 | Brunswick Corporation | Marine vessel station keeping systems and methods |
| US10259555B2 (en) | 2016-08-25 | 2019-04-16 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
| US9904293B1 (en) | 2016-12-13 | 2018-02-27 | Brunswick Corporation | Systems and methods for automatically trailering a marine vessel on a boat trailer |
| US10324468B2 (en) | 2017-11-20 | 2019-06-18 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
| US10429845B2 (en) | 2017-11-20 | 2019-10-01 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
| US10845812B2 (en) | 2018-05-22 | 2020-11-24 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
| US10926855B2 (en) | 2018-11-01 | 2021-02-23 | Brunswick Corporation | Methods and systems for controlling low-speed propulsion of a marine vessel |
| US11198494B2 (en) | 2018-11-01 | 2021-12-14 | Brunswick Corporation | Methods and systems for controlling propulsion of a marine vessel to enhance proximity sensing in a marine environment |
| US11904996B2 (en) | 2018-11-01 | 2024-02-20 | Brunswick Corporation | Methods and systems for controlling propulsion of a marine vessel to enhance proximity sensing in a marine environment |
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| Publication number | Publication date |
|---|---|
| JP3016836B2 (en) | 2000-03-06 |
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