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    Automatic driving method of service car
    214.
    发明专利
    Automatic driving method of service car 失效
    汽车自动驾驶方法

    公开(公告)号：JPS595318A

    公开(公告)日：1984-01-12

    申请号：JP11486582

    申请日：1982-07-01

    Applicant: Kubota Ltd

    Inventor： UCHIKAWA YASUO

    IPC: A01B69/00 ,  G05D1/02

    CPC classification number: G05D1/0229 ,  G05D2201/0201

    Abstract: PURPOSE:To execute follow-up running with high accuracy and at a low cost, by forming a running reference line in a state that it can be detected by a lateral displacement detecting device, feeding a rope by a feeding and collecting device, and dragging a car body along the reference line. CONSTITUTION:A service car is provided with devices 8a, 8b for feeding and collecting ropes 6, 7, devices 9a, 9b for detecting a car body lateral displacement against the ropes 6, 7, and a control device for operating automatically a car body dragging device so that its detecting result is within a set range in accordance with the detecting result by said lateral displacement detecting device 9a, 9b. A car body running reference line is formed in advance so that detection by the lateral displacement detecting devices 9a, 9b can be executed in a state separated from the car body on the work face, and the car body is dragged so as to run along said car body running reference line, feeding a rope by the feeding and collecting devices 8a, 8b.

    Abstract translation: 目的：以高精度，低成本执行后续运行，通过在侧向位移检测装置检测到的状态下形成运行的基准线，通过进给和收集装置进给绳索， 沿着参考线的车身。 构成：服务车设置有用于馈送和收集绳索6,7的装置8a，8b，用于检测轿厢体对绳索6,7的侧向位移的装置9a，9b，以及用于自动地操作车身拖动的控制装置 装置，使得其检测结果根据所述横向位移检测装置9a，9b的检测结果在设定范围内。 预先形成车身行驶基准线，从而可以在与工作面上的车体分离的状态下进行横向位移检测装置9a，9b的检测，并且将车体拖曳以沿着所述 车体运行参考线，通过进给和收集装置8a，8b供给绳索。

    Automatic traveling car
    215.
    发明专利
    Automatic traveling car 失效
    自动行车

    公开(公告)号：JPS58207110A

    公开(公告)日：1983-12-02

    申请号：JP9039982

    申请日：1982-05-26

    Applicant: Kubota Ltd

    Inventor： TANAKA SHIGERU ,  FURUBAYASHI MITSUGI

    IPC: G05D1/02

    CPC classification number: G05D1/0236 ,  G05D2201/0201

    Abstract: PURPOSE:To ensure the effective traveling of a car up to a target point, by switching the car to an automatic traveling mode after deciding the steering scanning degree from the distance traveled to be measured and the data stored previously in case the reception of laser light becomes impossible. CONSTITUTION:A laser light source 1 is provided at a prescribed position A to emit the laser light to scan the inside of a horizontal plane. This laser light is modulated so that the information showing the light emitting direction is put on the laser light. While a car 2, a traveling object, contains three photodetectors 3 which are arrayed on a line with a fixed space among them. If an obstacle 5 cuts off the laser light, the laser light does not irradiate the photodetectors 3 although the prescribed time elapses. Therefore the control method is changed when the time elapsed is measured after irradiation of the laser light and this time elapsed exceeds the prescribed value. Then the distance traveled is measured, and the present position of the car 2 is estimated from the data which is previously stored. Then the traveling of the car 2 is controlled toward the target point.

    Abstract translation: 目的：为了确保车辆到达目标点的有效行驶，通过在从被测量的距离确定转向扫描程度之后将轿厢切换到自动行驶模式，以及在接收到激光的情况下先前存储的数据 变得不可能了 构成：在规定位置A设置激光光源1，发射激光，扫描水平面内。 对该激光进行调制，使得将发光方向的信息置于激光上。 在行驶对象物2的车辆中，包含三个光电检测器3，它们排列在其间具有固定空间的线上。 如果障碍物5切断激光，则尽管经过了规定的时间，激光也不会照射光电检测器3。 因此，在照射激光后测量经过时间并且经过的时间超过规定值时，控制方法发生变化。 然后测量行驶距离，并且根据预先存储的数据估计轿厢2的当前位置。 然后将轿厢2的行驶控制到目标点。

    Automatic running car
    216.
    发明专利
    Automatic running car 失效
    自动跑车

    公开(公告)号：JPS58192110A

    公开(公告)日：1983-11-09

    申请号：JP7562682

    申请日：1982-05-04

    Applicant: Kubota Ltd

    Inventor： MINAMI TERUO

    IPC: A01B69/00 ,  B62D1/28 ,  G05D1/02

    CPC classification number: G05D1/0227 ,  G05D2201/0201

    Abstract: PURPOSE:To minimize the meandering of car body due to overshoot, even in case when the manipulated variables for the correction of a shift toward one side are increased, by operating a prescribed amount of manipulation in opposite direction immediately after said shift is corrected. CONSTITUTION:First, the mode is checked whether it is the lateral crop mode or the strip crop mode. In case of the strip crop mode, the strip crop routine is executed. While corn stalks contact the right rod of a strip crop sensor 3, for example, and a signal detecting the car body deviated right exists, a left solenoid valve 7 is closed and a pulse is generated intermittently to stop the left crawlers intermittently for the left rotation. In this case, the number of generated pulses N1 is counted, and after the deviated car body toward right is corrected, the reverse control is performed unitl the number of pulses is a half the N1 to direct the car body toward right slightly.

    Abstract translation: 目的：为了尽量减少由于过冲导致的车身蜿蜒曲折，即使在用于校正朝向一侧的偏移的操纵变量增加的情况下，通过在校正所述换档之后立即以相反方向操作规定量的操纵。 规定：首先，检查模式是横向裁剪模式还是裁剪模式。 在剥线裁剪模式的情况下，执行条带裁剪程序。 例如，当玉米秸秆接触条状作物传感器3的右杆时，存在检测车身偏离右侧的信号，左电磁阀7闭合，间歇地产生脉冲以左侧间歇地停止左履带 回转。 在这种情况下，对生成的脉冲数N1进行计数，并且在向右侧偏斜车体正确后，进行逆控制，将脉冲数量设定为N1的一半，以使车体稍微向右引导。

    作業車両および作業車両の自動停止システム
    218.
    发明专利
    作業車両および作業車両の自動停止システム 审中-公开

    公开(公告)号：JP2018165969A

    公开(公告)日：2018-10-25

    申请号：JP2017063940

    申请日：2017-03-28

    Applicant: 井関農機株式会社

    Inventor： 小野 弘喜

    IPC: A01B71/02 ,  G05D1/02

    CPC classification number: E02F9/205 ,  A01B69/00 ,  B60T7/22 ,  B60W30/09 ,  G05D1/0022 ,  G05D1/0055 ,  G05D1/0214 ,  G05D2201/0201 ,  G05D2201/0202 ,  G08G1/166

    Abstract: 【課題】より確実に周辺の障害物を検出することにより安全性を向上させた作業車両および作業車両の自動停止システムを提供する。 【解決手段】作業部および走行部への動力源321を備える走行車体10と、携帯通信端末3との間で信号の送受信が可能な通信ユニット110と、通信ユニット110が受信した携帯通信端末3からの信号に基づいて走行部を制御可能な制御部100とを備える。通信ユニット110と携帯通信端末3との間には複数の通信系統Rが設けられ、複数の通信系統Rは、携帯通信端末3から第1の信号を送信可能な第1の通信系統R1と、第1の通信系統R1よりも通信範囲が狭く、携帯通信端末3が所定の範囲S内に存在することを示す第2の信号を受信可能な第2の通信系統R2とを含む。 【選択図】図1

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