| 摘要 |
<p>PURPOSE:To achieve a stability in the detection of an angle of turning by integrating differences between output values of an angular velocity sensor in straight running and output values in turning. CONSTITUTION:When a body 1 is running to reap grain culms with a reaper 4, an output of an angular velocity sensor 6 is read into a turning controller 2 to be stored into a memory. Then, as a grain culm sensor 5 detects grain culms gone at the end of a reaping, after the body runs straight by a fixed distance, an output is produced to a left solenoid 8 through a drive circuit 7 from the device 2 to brake left and right running devices 3 and the body 1 starts turning to the left. At this point, output values of the sensor 6 are read into the device 2 at each time and differences are calculated and integrated from an output value stored during the straight running. Then, when a value thereof reaches a specified primary angle theta1 of turning, the output to the left solenoid 8 is stopped and the body 1 is retracted by a fixed distance once stopped. Then, at the end of the reaping, the body turns to the right at a secondary angle theta2 of turning and runs straight. Thus, the body 1 can shift to a reaping process sideways by turning.</p> |
