THE INDUSTRY & ACADEMIC COOPERATION IN CHUNGNAM NATIONAL UNIVERSITY (IAC)
发明人:
JEON HYEON HO,전현호,KIM WAN SOO,김완수,KIM TAEK JIN,김택진,BAEK SEUNG MIN,백승민,BAEK SEUNG YUN,백승윤,LEE NAM GYU,이남규,MOON SEOK PYO,문석표,KIM YONG JOO,김용주
申请号：
KR1020190113572
公开号：
KR1020468190000B1
申请日:
2019.09.16
申请国别(地区):
KR
年份:
2019
代理人:
摘要：
The present invention relates to a device for controlling a plowing depth of an autonomous tractor. The device for controlling a plowing depth of an autonomous tractor uses an autonomous tractor with a posture sensor used in autonomous driving control and a three-point hitch which is a work towing machine to control a plowing depth of the autonomous tractor, and comprises: an autonomous tractor to use an inertial measurement unit (IMU) and an inertial navigation system (INL) used in autonomous driving control to perform plowing depth control and leveling control of an autonomous tractor side； a three-point hitch having a position sensor to check a position value of a three-point hitch between tasks in real time； and two hydraulic cylinders which limit a movement of the three-point hitch, control the plowing depth and leveling of the autonomous tractor between tasks, use an algorithm to control motion in real time, and are positioned on a left and a right side to be separated from each other. According to the present invention, control can be performed after receiving posture information in real time and calculating a correction value in accordance with a posture change by the IMU and the INS of the autonomous tractor side. The algorithm can be used to control the plowing depth and leveling of the autonomous tractor in real time and immediately respond to the posture change of the autonomous tractor side. Specifically, the two hydraulic cylinders are installed to control the plowing depth and leveling of the autonomous tractor side without moving the three-point hitch.본 발명은 자율주행 트랙터의 경심 제어장치에 관한 것으로서, 자율주행 제어에 사용되는 자세센서가 장착된 자율주행 트랙터와 작업견인기인 3점 히치를 활용함으로써 주율주행 트랙터의 경심을 제어하기 위한 자율주행 트랙터의 경심 제어장치에 있어서, 자율주행 제어에 사용되는 관성측정장비(IMU) 및 관성항법장비(INL)를 이용하여 자율주행 트랙터 측 경심 제어 및 수평 제어를 수행하도록 구비되는 자율주행 트랙터； 위치센서를 장착하여 작업간 3점 히치의 위치값을 실시간으로 확인하도록 구비되는 3점 히치； 3점 히치의 움직임은 제한하면서 작업간에 자율주행 트랙터의 경심 및 수평을 제어하되, 알고리즘을 이용하여 동작을 실시간으로 제어하기 위한 것으로서, 좌우측에 위치하여 간격 배치되는 2개의 유압실린더；를 포함하는 것을 특징으로 한
