To provide a controlled system of a tractor which can travel safely in order to solve the problem that although a technology for estimating a traffic width and a curvature of a traffic lane by recognizing a white line of a traveling traffic lane and an azimuth angle of an own vehicle, recognizing an oncoming vehicle, and ringing an alarm when there is a risk that the own vehicle deviates from the traffic lane, it is difficult for the tractor to safely travel only by traveling within the traffic lane because a whole width of a traveling vehicle changes in a tractor traveling with a work machine depending on a width of the work machine.SOLUTION: A work machine 7 is mounted on a tractor 1 equipped with a camera 9 for photographing a front side, an obstacle sensor 10 for recognizing a relative position of obstacles 15 and 16, and a control device. The control device stores information on right and left widths of the work machine 7, analyzes video image data of the camera 9 to acquire a width of a road 11 and a traveling position, and rings an alarm in the case where there is a risk that the tractor comes into contact with the obstacles 15 and 16 recognized by the work machine 7.SELECTED DRAWING: Figure 2
【課題】走行車線の白線を認識して車線幅や車線の曲率、自車の方位角の推定を行い、対向車を認識して、車線から逸脱の恐れがあるときに警報を鳴らす技術が公知である。しかし、作業機を付け替えて走行するトラクタにおいては作業機の幅により走行車体全体の幅が変化するため、車線内を走行するだけでは安全に走行することが困難であった。そこで、道路を安全に走行できるトラクタの制御システムを提供する。【解決手段】前方を撮影するカメラ9と障害物15,16の相対位置を認識する障害物センサ10と制御装置を装備したトラクタ1に作業機7を装着し、制御装置は作業機7の左右幅の情報を記憶し、カメラ9の映像データを解析して道路11の幅と走行位置を取得し、作業機7が認識した障害物15,16と接触する恐れがある場合に警報を発するトラクタの制御システム。【選択図】図2
CONTROLLED SYSTEM OF TRACTOR
トラクタの制御システム
2024-03-28
Patent
Electronic Resource
Japanese
Engineering Index Backfile | 1917
The radio-controlled tractor from Kubota
Tema Archive | 1987
|The Radio-Controlled Tractor from Kubota
SAE Technical Papers | 1987
|The radio-controlled tractor from Kubota
Automotive engineering | 1987
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