• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    For use in an agricultural machine which is automatically steered by sensing along a row of plants, a component of the automatic steering system, namely, a comparator system is disclosed herein which utilizes hydraulic signals from independent sensors and mechanically compares such signals with each other and with a mechanical feedback responsive to the degree of angularity of the steered wheels of the vehicle. The net result of the combination and construction of the comparator system is to provide automatic steering control for a small variation of steering of left and right steering courses, for example 2 to 5 degrees, wherein any large amount of deflection of the steering wheels that may be caused by the vehicle operator taking over the steering function will not affect the automatic operation of the comparator mechanism nor will the comparator mechanism have any response thereto. Further the hydraulic system of the comparator sensors which "feel" the presence of corn stalks or vines ahead of the vehicle is hydraulically isolated from the hydraulic circuitry of the comparator interior. The invention is susceptible for use for directrix guidance by a single row of plants, for example corn stalks, or by guidance between directrices, e.g., parallel rows of plants. Due to the fact that two sensors are utilized which function independently of each other should interruption of the directrix, for example, a row of corn stalks, occur due to a cross path, there would be no sudden sharp steering deflection and the vehicle would continue in straight steering.
    公开号:SU1026645A3
    申请号:SU782653901
    申请日:1978-08-24
    公开日:1983-06-30
    发明作者:Ланг Армин
    申请人:Цантрадфабрик Фридрихсхафен Аг (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to the transport engineering industry, and more particularly to vehicle steering controls. A comparative device for controlling an automatic adjustment of an automobile mechanism is known, consisting of a housing with a shaft dispersed in it, kinematically associated with the steering system, and including S self three sensitive elements, the first two of which are connected to two sensitive sensor elements, probing two parallel to each other or one common guide lines, and t ety - a member of the hearth conductive signal from the steering system of the vehicle EI. The disadvantage of the known device is the presence of electrical elements to control the system, which leads to a complication of the design of the comparing device and its reliability. The purpose of the invention is to increase reliability and simplify the design of the device. This goal is achieved by comparing an automatic steering mechanism control system consisting of a housing with a shaft accommodated in it, kinematically connected with the steering system, and including three sensitive elements, the first two of which are connected with two sensing elements of the sensors, probing two parallel to each other or common guide lines, and the third - from the element, the signal from the vehicle’s steering system is supplied with a balance bar, is located In the housing, with the possibility of swinging about the shaft axis, at least one lift valve and three pushers interacting with the said balance bar, a cam is made on the shaft, two pushers are connected via hydraulic lines with two sensitive sensor elements, and the third the pusher is kinematically associated with said cam. In addition, said cam is made with two flat concentric surfaces located at different levels, interconnected flat transition areas. Moreover, said transition areas are made with a constant elevation angle, and said balance bar is made in the form of a flat plate. On fi1. 1 is a schematic representation of the arrangement of two sensing elements that probe one single guide line — as well as the steering angle sensor and the housing of the comparing device on the vehicle; FIG. 2 shows the arrangement of two sensitive elements, which probe two guide lines; on fi1r. 3 is a block diagram of a control system of a corresponding automatic steering system; in fig. 4 shows the construction of the housing of the comparator, longitudinal section; in fig. 5 - shaft to the cam part of the comparison device; on league. 6 shows section A-A in FIG. 4 (f under the balance bar f in Fig. 7, section B-B in Fig. 4 (above the balance bar; the comparison device comprises a housing 1, a shaft 2 therein, which is kinematically associated with the steering system, as well as three sensitive elements 3 The first two of them are connected to two sensitive elements of sensors b and 7, which probe two lines 8 and 9 parallel to each other or one common guide line 10. The third sensitive element 5 is connected to element 11, which sends a signal from car steering systems. in Fig. 4, 6 and T are shown b Alensir 12, located in the housing 1 with the possibility of swinging relative to 2 with lifting valves 13 and 14 and three pushers 15–17, interacting with the balance bar 12. A cam 18 is made on the shaft 2. Two pushers 15 and 16 are connected by means of hydraulic lines with two sensitive sensor elements 6 and 7, and the third pusher 17 is kinematically associated with the cam 18. Fig. 5 shows a possible implementation of the cam 18, from which it can be seen that the cam is made in the form of two flat concentrically located at different levels of surfaces 19 and 20 connected between with a gentle transition sections 21. A variant of the transition sections 21 with a constant elevation angle is possible, as well as an embodiment of the balance bar 12 in the form of a flat plate. I In case 1, connections 22 and 23 are made. The output parameter of controller 24 is fed to control object 25. At the base of the housing 1 there are two parallel openings 26 and 27, into which the pushers 15 and 16 are inserted with the possibility of movement. The lift valves 13 and 14 are connected to the connection points 28 and 29. In the housing there is also a recycle 30 opening; Control piping 31 and 32 are connected to connections 28 and 29.
    The device works as follows.
    The car (Fig. 1), using two mechanical sensing elements 3 and 4, probes a single row of stems that form a guide line 10. Both sensing elements are completely non-independent from each other. During the probing process, the sensing element 3 is deflected at an angle oi.1. The corresponding sensor 6 thus produces a hydraulic output signal, which is a function of the angle cLl. Accordingly, the same applies to the sensing element 4, its deflection angle oi2 and to the sensor 7.
    The determining value of each output signal can be fluid pressure or fluid flow. Both signals are provided to connections 22 and 23 of housing 1 of the comparison device.
    An automatic steering mechanism is controlled by an executive engine (not shown), which acts on the sensitive element 5. Element 5 is moved by angle P). An auxiliary control signal, which is a function of the steering angle, is transmitted from the element 5 to the comparator shaft 2 mechanically.
    The control flowchart of the system (Fig. 3) shows both sensitive elements 3 and 4, which, by probing the guide line 10, which in this case is the driving parameter, produce output signals corresponding to the deviations of the controlled variables. The output parameter of the controller 24 through the actuating motor is fed to the object 25 of the control, in this case two values are used, namely the regulated value that affects both sensitive elements 3 and 4, as well as the angle of control, i.e. from the element 11, which supplies the signal from the vehicle’s steering system, the auxiliary adjustment value, which is a function of the steering angle | i, is fed to the shaft 2 of the comparison device.
    The comparator forms the difference of the three input signals and outputs the output signal as fluid pressure, which is a function of that difference.
    Fig. 2 schematically shows a car that moves along two guide lines 8 and 9. The guide lines are, for example, rows of vineyard bushes. In this case, both sensing elements 3 and 4 are pressed from the inside.
    to both guide lines 8 and 9. The driver parameter as shown in FIG. 1 is represented by one guiding line 10, and in this case, it is represented by two guiding lines 8 and 9 (in Fig. 3 it is also indicated by truncated lines, min.; However, the control system in Fig. 2 is identical the system of FIG. 1.
    FIG. 4-7 shows the housing 1
    0 of the comparison device, to which deviations of the first values of the first values in the form of fluid pressure are applied, and the auxiliary control signal corresponds to the angle of rotation. . Shaft 2 rotates directly.
    5 from the action of the vehicle control lever, and the housing 1 is rigidly located on the frame of the vehicle near the control lever.
    At the base of the housing 1, pass along
    0 towards the inside, two axis-parallel holes .2b and 27, into which the pushers 15 and 16 are inserted with the ability to move. The leads lead to connection points 22 and
    5 23. Here, the fluid lines coming from both sensors 6 and 7 are connected, which transmit deviations of the controlled variable in the form of fluid pressures. Both knobs are pressed from below onto balance bar 12 and determine its deflection with changes in pressure.
    In addition, two lift valves are located at the base of the housing 1.
    5 13 and 14, the locks in the form of balls adjoin to the bottom surface of the balance bar 12. The lift valves 13 and 14 are connected with the points of attachment 28 and 29.
    Inside the housing, there is a passage 0 in the outward direction of the hole 30 for recycling. When operating, the iMacjio pressured via the sub-band, C1-Neni 28 and. 29 and valves 13 and 14 flow into the body and through
    5, the opening 30 is again released. Through oscillation of the balance bar 12, the forces that change are variable. . act on the lift valves 13 and 14, and thus the pressure in the control piping 31 to 32, which are connected to connections 28 and 29, goes to the inlet of the regulator 24. The arrows shown on the pipes 31 and 32 indicate the direction of the signal flow which in this case is opposite to the flow direction. The difference in pressure between pipelines 31 and 32 should be the difference in deviations of the controlled values of the angle control function.
    For mechanical feeding of the steering angle functions serves shaft 2. While the sensing element 5. Performs relatively small
    5 of the tilt relative to its central position, one of the pushers 17 moves in the direction of the recessed surface 20 of the cam 18, and another in the direction of the protruding surface 19 of the cam 18. Through the pressure springs 33, the balance bar 12 is affected accordingly. The pressure differences that appear in the pipelines 31 and 32 are the difference of the three input values. About About About 9
    about b at about
    oh oh oh
    Pt / p.2 With large deviations of the steering angle, one of the pushers hits the indented surface 20 of the cam 18, the other on the protruding surface 19. Both of the pushers are limited by planes that run at a right angle relative to the axis of the shaft 2. As a result the positions of the pushers during the subsequent oscillation of the shaft 2 do not change and the force r transmitted by the springs to the balance bar 12. O O O O O and k
    权利要求:
    Claims (4)
    [1]
    1. COMPARATIVE DEVICE FOR AUTOMATIC-AUTOMATIC STEERING CONTROL SYSTEM; BILIA, comprising a housing with a shaft placed in it, kinematically connected with the steering system, and including three sensing elements, the first two of which are connected to two sensitive elements of sensors probing two parallel to each other or one common guide lines, and the third with an element supplying a signal from the steering control unit of the vehicle, characterized in that, in order to increase reliability and simplify the design of the device, it is equipped with a balancer located in the housing with Tew swing about the axis of the shaft, at least one lifting valve and three pushers cooperating with said rocker, wherein the shaft is formed a cam follower connected through two hydraulic lines to the two sensitive elements of the sensors, while the third follower kinematically connected with said cam.
    ''
    [2]
    2 / Device according to π. 1, characterized in that the said cam is made with two flat surfaces concentrically located at different levels and interconnected by gentle transition sections. .
    [3]
    3. The device according to claims 1 to 2, characterized in that the said transition sections are made with a constant angle of elevation.
    [4]
    4. The device according to paragraphs. 1-3, on the basis of the fact that the said balancer // is made in the form of a flat plate of cell
    类似技术:
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    JP2600722Y2|1999-10-25|Mobile harvester direction control device
    JP3015830B2|2000-03-06|Hydraulic power steering
    同族专利:
    公开号 | 公开日
    DE2738328C3|1980-05-22|
    DE2738328A1|1979-03-08|
    DK147041C|1984-09-03|
    DK353178A|1979-02-26|
    DK147041B|1984-03-26|
    US4304316A|1981-12-08|
    BR7805481A|1979-05-08|
    DE2738328B2|1979-08-16|
    RO77465A|1981-11-04|
    YU193678A|1982-06-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3381771A|1966-05-17|1968-05-07|Bendix Corp|Automobile speed control|
    US3991618A|1973-12-18|1976-11-16|Maschinenfabrik Fahr Aktiengesellschaft|Sensor for automatic steering system for row-crop harvester|
    FR2240678B1|1973-08-14|1978-01-13|Fahr Ag Maschf|
    DE2434396C3|1974-07-17|1981-10-29|Maschinenfabrik Fahr Ag Gottmadingen, 7702 Gottmadingen|Button arrangement of an automatic lateral guide on a self-propelled harvesting machine, e.g. a combine harvester|FR2401053B1|1977-08-25|1983-07-29|Zahnradfabrik Friedrichshafen|
    YU121280A|1979-05-16|1984-02-29|Zahnradfabrik Friedrichshafen|Compensation device for a control circle of an automatic control arrangement|
    US4366756A|1980-09-09|1983-01-04|Geosource Inc.|Electronic tractor guidance system|
    US5010719A|1986-06-18|1991-04-30|Korvan Industries, Inc.|Method and system for automatically steering along row crops|
    US4883128A|1986-07-30|1989-11-28|Donald L. O'Neall|Guidance system for farm implements|
    US4967362A|1989-01-30|1990-10-30|Eaton Corporation|Automatic steering apparatus for crop vehicle|
    DE19508944A1|1995-03-13|1996-09-19|Claas Ohg|Self steering device|
    US5908081A|1996-05-30|1999-06-01|Case Corporation|Steering control system for articulated vehicle|
    DE19719939A1|1997-05-13|1998-11-19|Claas Ohg|Automatically steerable harvesting machine|
    US8010261B2|2007-05-23|2011-08-30|Cnh America Llc|Automatic steering correction of an agricultural harvester using integration of harvester header row sensors and harvester auto guidance system|
    CN101940090B|2010-08-06|2012-12-26|上海交通大学|Field locomotive circulation walking device with navigation location processing system|
    US8725361B2|2012-04-30|2014-05-13|Deere & Company|Vehicle guidance system and method|
    CN105432203B|2015-12-25|2017-12-08|烟台大学|A kind of automatic getting fat machine of high stalk corn crop|
    US10820508B2|2018-08-20|2020-11-03|Cnh Industrial America Llc|System and method for operating an agricultural harvester|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE2738328A|DE2738328C3|1977-08-25|1977-08-25|Comparator for the control loop of an automatic steering system|
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