Title:
AUTOMATIC STEERING TYPE WORKING VEHICLE
Document Type and Number:
Japanese Patent JPH04259014
Kind Code:
A
Abstract:
PURPOSE:To attain the quick steering control of a working vehicle by obtaining an azimuthal position of the vehicle with a shift average operation on the time series data on an earth magnetism sensor. CONSTITUTION:The azimuth of a vehicle V is stored before the vehicle V starts its run, and this directional angle is identical with a reference azimuth angle thetaS. When the V starts its run, the time series data on an earth magnetism sensor SO are inputted and then converted into the correction data based on the conversion data. Then it is decided whether the deviation between the correction data and the latest running azimuthal is smaller than a set level or not. If so, the running azimuthal position of the V is calculated based on a prescribed equation. If not, the time series data are inputted again. A fact whether a central sensor S2 is turned on or off is decided after the running azimuthal position is obtained. When the S2 is turned on, it is decided whether a sensor S1 or S3 set at the mowed side is turned on or off. Then a motor M1 is driven to steer a front wheel 1F after decision of a steering angle.
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Inventors:
TANAKA SHIGERU
Application Number:
JP2069491A
Publication Date:
September 14, 1992
Filing Date:
February 14, 1991
Export Citation:
Assignee:
KUBOTA KK
International Classes:
G01C17/30; G01C17/38; G05D1/02; A01B69/00; (IPC1-7): A01B69/00; G01C17/30; G01C17/38; G05D1/02
Attorney, Agent or Firm:
Kitamura Osamu