Using a Boolean algebra algorithm associated with multi-sensing system to implement direction-positioning control of an automated vehicle in field

• Main Authors: Hsu, Yu-Huan, 徐于桓
• Other Authors: Jou, Li-John
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/96736597681677564906

碩士 === 國立宜蘭大學 === 生物機電工程學系碩士班 === 100 === The automated vehicle travelling in a blocked field usually issues the guideline problem of moving around bypaths between headlands. The ridge between fields also restricts the area the automated vehicle operated. The objective of this thesis is to develop a programmable logical controller (PLC)-based direction-positioning control system associated with various sensors to be used in an automated vehicle for smoothly travelling in a complicated field. An electronic tilt sensor, one electro-gyro and four ultrasonic sensors were integrated into a multi-sensing system. Using the electronic tilt sensor, the heeling conditions of the slope between fields can be detected as useful information for identifying position the automated vehicle lay in to execute the according control strategy. By integrating the angular velocity determined by an electro-gyro, the turning angles of the automated vehicle is calculated as an indication to command the turning motion at the headland. Four ultrasonic transducers added to the vehicle can sense the distance between the two-side banks to calculate the direction and position information to instruct the direction-speed control system of the automated vehicle, creating a middle traveling path for precisely regulating the motional direction of the vehicle. By the linkage of the multi-sensing system and a Boolean algebra algorithm, the implementation of such a direction-positioning control system can precisely guide the vehicle moving in the field. The performance results also showed that the direction-positioning controller added to the vehicle can exactly work.