SU1396979A1 - Method and apparatus for automatic driving of wheeled tractor - Google Patents

Abstract

The invention relates to the field of agricultural engineering, in particular, to methods and devices for the automatic driving of tr-actors on the trail of a previous pass. The aim of the invention is to eliminate the accumulation of error. When the tractor deviates from the predetermined path, the signal from the copy sensor 18 is compared with the signal from the feedback sensor 3. The differential signal acts on the electro-hydraulic servo mechanism 9 and further on the hydraulic cylinder 15, which turns the front wheels 1 of the tractor in the direction of decreasing the difference signal. The rear wheels 2 are kept in a neutral position. In the next pass, the copy sensor 18 is connected to the circuit 6 in comparison with the following system of turning the rear wheels 2, and the front wheels 1 are kept in a neutral position, which makes it possible to reduce the trajectory mismatch error when recoding the previous passage and increase the linearity of the tractor movement. 2 s, p. f-ly, 1 ill. i (Л С

Description

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The invention relates to agricultural machinery, in particular, to methods and devices for automatically driving tractors along the track of a previous passage.

The purpose of the invention is to eliminate the accumulation of errors.

The drawing shows a diagram of an apparatus for carrying out the method. one

The device for automatic driving of a wheeled tractor consists of the following two systems of turning the front 1 and rear 2 wheels, each of which contains a feedback sensor 3 (4) connected through a circuit 5 (6) of comparison with the amplifier 7 (8), to the output of which An electrohydraulic servo-mechanism 9 (10) is connected, connected by hydraulic lines 11 and 12 (13 and 14) to a hydraulic cylinder 15 (16) for supplying a working fluid to it. A copy sensor 18 is attached to the frame 17 of the tractor and connected via a switch 19 to the input of each circuit 5 and 6 of the comparison.

The device works as follows.

At the position of the switch 19, as shown in the diagram, the function of controlling the turn of the tractor during automatic driving is assigned to the following system of turning the front wheels 1. When the tractor deviates from a predetermined path, the signal from the copying sensor 18 passes the switch through the switch 19 connection in the comparison circuit 5, is amplified by the amplifier 7 and supplied to the electrohydraulic servo-mechanism 9, which sends the flow of working fluid through the main line 11 (12) to the corresponding cavity of the hydraulic cylinder 15. According to Lednov turns front wheels of the tractor 1 for a movement towards decreasing the deflection of the feeler probe 18 a predetermined path. The second tracking system keeps the rear wheels 2 in a neutral position, since the comparison circuit 6 receives only the signal from the feedback sensor 4.

At the beginning of the next pass, the driver transfers the switch 19 to another position and the copy sensor 18 is connected to the comparison circuit 6.

VNIIPI Order 2542/1

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of the following system. The turn of the wheels 2. The front wheels are in the neutral floor of the follower system, and the tractor turns on the next system of the turns of the wheel 2. The signal from the copier 18 is compared from the feedback loop 4 to less, the force is amplified an electrohydraulic servo-mechanism 10, which is connected via the fluid line 13 (14) to the corresponding hydraulic cylinder 16 and turning the wheel 2 to move the decreasing side of the diverting sensor 18 away from the path.

The application offers an automatic wheeled passage with a two-pair wheel that will allow to increase the automatic movement of the crop as compared to the known methods of vehicles.

Claims (2)

1. An automatic-wheeled tractor with two steerable wheels, including copying the previous control of the deviation from a non-steering command, which is different, eliminating the accumulated function of directing the tracks to the subsequent passage of one pair of steerable to the pair. 2, A device for driving a wheeled tract replicating sensor and an immersing system with a communication sensor connected to the following tracking circuit For the purpose of eliminating the accumulation of the device, an additional second tracking system, connected by its probe, and the outputs, from volts of the comparison circuits of the first and sleeping systems, is accumulated. Circulation 661 Subscription Prod, -polygr. pr-tie, g, Uzhgorod, st. Project, 4 0 five 0 five 0 five 0 five 0 five the rear wheels turning system 2. The front wheels 1 are kept in a neutral position with their tracking system, and the tractor steering control function is assigned to the next rear wheel turning system 2. The signal from copying sensor 18 is compared with the signal from feedback sensor 4 in comparison circuit 6, amplified by amplifier 8 and supplied to electrohydraulic servo-mechanism 10, which sends the flow of working fluid to the corresponding cylinder cavity 16 through line 13 (14) and rotates the rear wheels 2 to move the tractor in the direction of reducing the deviation of the copying sensor 18 from a predetermined path. The application of the proposed method of automatic copying the previous passage of a wheeled tractor. with two pairs of controlled wheels will allow to increase the straightness of the automatic movement of the tractor during sowing, as compared with the use of the known methods of auto-driving. Invention Formula 1. A method of automatically driving a wheeled tractor with two pairs of steerable wheels, including re-copying the previous passage, monitoring the deviation from it and issuing a command to rotate the steered wheels, characterized in that, in order to eliminate the accumulation of error, the function of the direction of the tractor during each subsequent pass transfer from one pair of controlled wheels to another pair. 2, A device for automatically driving a wheeled tractor, comprising a copying sensor and a first tracking system with a feedback sensor connected to the first input of the tracking system comparison circuit, This is due to the fact that, in order to eliminate the accumulation of error, the device additionally contains a second tracking system and a switch connected by its input to the probe, and the outputs to the second inputs of the comparison circuits of the first and second tracking systems.