ロータリ耕うんの自動操向におけるトラッキング・エラー値の検出 : 赤外線光電センサによる方法

概要

論文の詳細を見る
A new detection method of the tracking-error value was investigated for an automatic steering system of rotary tillage produced by sensing the tilled and untilled land border as a guide marker. Scanning soil surface across the border with refrectional type infrared photo-electric sensor, significant valley of sensor output voltage appears at the scanning upon the border. The trial detecting system is constructed from scanning device and signal processing unit using a microcomputer. Scanning device is constructed from occilating mirror and photo-electric sensor. 11 pulses generated by photo-interrupter and slits at the designed rotational position of occilation set the sampling timing of converting sensor output voltage into 8 bits digital input for microcomputer. The count number sampling the minimum value is found and the difference between its number and 6 (the center number of 11 samplings) is multiplied by the distance of scanned soil surface for one sampling interval. The evaluated value is put out from PIA port and presents the tracking-error value. In this paper, the details of detection method and trial detecting system, and the results of test carried out are presented.
神戸大学の論文
1985-01-31