電子羅盤於自動導引車之應用

Study on the Application of Electronic Compass to Autonomous Vehicle

盛中德(Chung-Teh Sheng) ； 荘士良(Shih-Liang Chuanh) ； 李春壽(Chuen-Show Lee)

《農業機械學刊》 8卷1期 (1999/03) Pp. 39-48

https://doi.org/10.30062/JAM.199903.0004

摘要

本研究結合目前導引車已能利用超音波技術，以偵測兩側植株距離方式進行直線行走導引，及能在預設路徑及固定轉彎路徑的情況下，成功地自動導引車進行迴轉的功能，進行具線性行走與迴轉功能的導引系統開發，為加強所開發系統的行進控制功能，在系統內另利用電子羅盤來偵測車身角度。試驗結果顯示影響導引車自動行進的主要因素為車身偏移量與方向，尤其在轉彎結束時導引車常會偏離超出容許範圍，所開發之導引系統巳具有將車子校回容許範圍的功能。裝置電子羅盤後，由於導引車有方向感測能力，因此在直線行走時，其誤差甚小，在不同植行寬度的轉彎試驗結果發現，在3～4公尺的植行寬度下，皆可自動判定植行寬度完成轉彎作業。

關鍵字

導引車 ； 電子羅盤

並列摘要

This study is to develop a guiding system by combining the developed functions of moving straight by detecting the plant row, and turning along the predesignatory route of an autonomous vehicle. For enhancing the moving control function, an electronic compass was added into the developed guiding system. The experimental results showed that the deviation of distance and direction of the vehicle from the middle line between plant rows were two major influenced factors. Especially after completing the turn, the vehicle was often over the tolerance range. The developed system is capable of moving the vehicle back into the acceptable range. The developed vehicle with an electronic compass, by detecting the moving direction, can significantly reduce the distance deviation, as the vehicle moves straight. The testing results with various row distances of 3m to 4m showed that the control system still can determine the distance very precisely and easily complete the turning motion.

並列關鍵字

Autonomous vehicle ； Electronic compass