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公开(公告)号：KR101378148B1
公开(公告)日：2014-03-24
申请号：KR1020120062065
申请日：2012-06-11
Applicant: (주)언맨드솔루션
Abstract: 본발명은자율주행제어기술에관한것으로, 더욱상세하게는농업용트랙터의자율주행제어시스템에관한것이며, 이를위하여트랙터의기어를변환하기위한변속액추에이터;트랙터의속력을조절하기위한가속액추에이터;트랙터의속력을측정하기위한휠엔코더; 주행모드상태를표시하는표시창과자율주행또는수동주행모드선택을위한스위치와비상정지버튼을포함하는컨트롤패널; 트랙터의자율주행운전정보가미리저장되는데이터저장부; 상기컨트롤패널에서자율주행모드가선택되었을경우에상기데이터저장부에저장된자율주행운전정보와상기휠엔코더에서측정되어전송되어오는속력값을비교하여상기변속액추에이터와상기가속액추에이터를상기데이터저장부에저장된자율주행운전정보와상응하도록제어하는제어부;를포함한다. 본발명에따르면농업용트랙터의자율주행이가능해짐에따라작업효율이증대되는효과가있다.
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公开(公告)号：KR1020130139475A
公开(公告)日：2013-12-23
申请号：KR1020120062939
申请日：2012-06-13
Applicant: (주)언맨드솔루션
Abstract: The present invention relates to an autonomous steering system of a tractor and comprises; a steering unit which is made of a steering wheel and a steering axis combined to the steering wheel; an MDPS which rotates the steering wheel by being combined to the lower part of the steering axis and by determining a steering angle; an orbit roll which supplies oil pressure to a steering cylinder assembled to a wheel assembling part by being combined to the lower part of the MDPS and rotates a wheel by the steering cylinder with the oil pressure of an oil pressure pump; and a control device part which integrally manages the whole system of the tractor by being combined to the back side of the tractor. The MDPS comprises; an electric motor which provides driving force for the rotation of the steering wheel; and an ECU which controls the driving of the electric motor by transmitting and receiving steering wheel data through CAN communication with the control device part. According to the present invention, the autonomous steering system facilitates autonomous driving of the tractor and provides a precise autonomous driving effect of the tractor by mounting a potential meter.
Abstract translation: 本发明涉及一种拖拉机的自主转向系统，包括： 由方向盘和与方向盘组合的转向轴构成的转向单元; MDPS，其通过组合到转向轴的下部并且通过确定转向角来旋转方向盘; 轨道辊，其通过组合到MDPS的下部而将组合到车轮组装部的转向油缸供给油压，并通过转向缸以油压泵的油压旋转车轮; 以及通过组合到拖拉机的后侧来整体地管理拖拉机的整个系统的控制装置部分。 MDPS包括 提供用于方向盘旋转的驱动力的电动机; 以及ECU，其通过与控制装置部的CAN通信发送和接收方向盘数据来控制电动机的驱动。 根据本发明，自主转向系统有助于牵引车的自动驾驶，并通过安装电位计提供拖拉机的精确自主驾驶效果。
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公开(公告)号：KR1020130138463A
公开(公告)日：2013-12-19
申请号：KR1020120062065
申请日：2012-06-11
Applicant: (주)언맨드솔루션
CPC classification number: G05D1/0223 , G05D13/62 , G05D2201/0201
Abstract: The present invention relates to an autonomous driving control technology, in particular, an autonomous driving control system of an agricultural tractor, for the purpose the system includes: a transmission actuator for converting a shift gear of a tractor; an acceleration actuator for controlling the speed of the tractor; a wheel encoder for measuring the speed of the tractor; a control panel having a display panel for displaying a driving mode status, a switch for selecting a mode between autonomous driving or manual driving and an emergency stop button; a data storage unit for storing autonomous driving information in advance; and a control unit for comparing autonomous driving information stored in the data storage unit and a speed transmitted from the wheel encoder when the autonomous mode is selected in the control panel and controlling the transmission actuator and acceleration actuator to correspond to the autonomous driving information stored in the data storage unit. According to the present invention, work efficiency is able to be improved by making autonomous driving of an agricultural tractor possible. [Reference numerals] (2) Transmission actuator;(3) Acceleration actuator;(4) Wheel encoder;(5) Control panel;(7) Control unit
Abstract translation: 本发明涉及自主驾驶控制技术，特别涉及一种农用拖拉机的自主驾驶控制系统，该系统包括：用于转换拖拉机变速档的变速器致动器; 用于控制拖拉机速度的加速致动器; 用于测量拖拉机速度的轮编码器; 控制面板，具有用于显示驾驶模式状态的显示面板，用于选择自主驾驶或手动驾驶之间的模式的开关和紧急停止按钮; 预先存储自主驾驶信息的数据存储单元; 以及控制单元，用于当在控制面板中选择自主模式时，比较存储在数据存储单元中的自主驾驶信息和从车轮编码器发送的速度，并且控制传动致动器和加速致动器以对应于存储在自动驾驶信息中的自主驾驶信息 数据存储单元。 根据本发明，通过使农用拖拉机的自主驾驶成为可能，能够提高作业效率。 （附图标记）（2）传动执行器;（3）加速执行器;（4）车轮编码器;（5）控制面板;（7）控制单元
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