JPS6415814A - Steering controller for self-traveling working vehicle - Google Patents

Steering controller for self-traveling working vehicle

Info

Publication number
JPS6415814A
JPS6415814A JP62171789A JP17178987A JPS6415814A JP S6415814 A JPS6415814 A JP S6415814A JP 62171789 A JP62171789 A JP 62171789A JP 17178987 A JP17178987 A JP 17178987A JP S6415814 A JPS6415814 A JP S6415814A
Authority
JP
Japan
Prior art keywords
vehicle
tilt
self
detected
position error
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
Application number
JP62171789A
Other languages
Japanese (ja)
Inventor
Katsumi Ito
Shigeru Tanaka
Kazuhiro Takahara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP62171789A priority Critical patent/JPS6415814A/en
Priority to FR8715629A priority patent/FR2610428B1/en
Publication of JPS6415814A publication Critical patent/JPS6415814A/en
Priority to US07/479,189 priority patent/US5079706A/en
Pending legal-status Critical Current

Links

Landscapes

  • Guiding Agricultural Machines (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE:To quickly correct both the tilt and the lateral position error of a self-traveling working vehicle by using the front or rear wheels of the vehicle to correct the vehicle position in accordance with the combination of the tilt and the position error in the vehicle width direction detected by a copying sensor and an azimuth sensor respectively. CONSTITUTION:The position of error of a self-traveling working vehicle V is detected in its width direction by a copying sensor A and a traveling guide L provided on the vehicle V. At the same time, the tilt of the vehicle is detected by the azimuth sensor. If the detecting results of both the position error and the tilt of the vehicle V have variances in the same direction when these detected values exceed each allowable level, it is decided via a controller that the position error of the vehicle is larger at its front end side than the rear end side in the vehicle width direction. Thus the position of the vehicle V is corrected via the front wheels 1. While the rear wheels 2 are used to correct the vehicle position vice versa. In such a way, both the tilt and the lateral position error of the vehicle can be quickly corrected.
JP62171789A 1986-12-09 1987-07-09 Steering controller for self-traveling working vehicle Pending JPS6415814A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP62171789A JPS6415814A (en) 1987-07-09 1987-07-09 Steering controller for self-traveling working vehicle
FR8715629A FR2610428B1 (en) 1986-12-09 1987-11-12 CONTROL SYSTEM FOR A SELF-PROPELLED OPERATING VEHICLE, PARTICULARLY FOR THE SPRAYING OF CHEMICALS INTENDED FOR AGRICULTURAL PROCESSING
US07/479,189 US5079706A (en) 1986-12-09 1990-02-13 Control system for self-propelled working vehicle including vehicle course correction means

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62171789A JPS6415814A (en) 1987-07-09 1987-07-09 Steering controller for self-traveling working vehicle

Publications (1)

Publication Number Publication Date
JPS6415814A true JPS6415814A (en) 1989-01-19

Family

ID=15929720

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62171789A Pending JPS6415814A (en) 1986-12-09 1987-07-09 Steering controller for self-traveling working vehicle

Country Status (1)

Country Link
JP (1) JPS6415814A (en)

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