CONTROL APPARATUS FOR AUTONOMOUSLY NAVIGATING UTILITY VEHICLE
First Claim
1. An apparatus for controlling operation of an autonomously navigating turnable utility vehicle equipped with a body and a prime mover mounted on the body to make the vehicle travel about a working area delineated by a boundary wire laid thereat in order to work autonomously, the working area including a first area and a second area connected to the first area, a distance between mutually facing segments of the boundary wire in the first area being equal to or less than a predetermined value over a predetermined length, a distance between mutually facing segments of the boundary wire in the second area being greater than the predetermined value, comprising:
- a magnetic field strength detector installed on the body to detect a magnetic field strength generated by electric current passing through the boundary wire;
a travel controlling unit configured to control the prime mover to make the vehicle turn and travel straight forward every time the vehicle traveling in the working area reaches the boundary wire, based on the magnetic field strength detected by the magnetic field strength detector; and
a first area discriminating unit configured to discriminate that the vehicle travels in the first area when the magnetic field strength detected by the magnetic field strength detector is kept to be greater than a threshold value predefined based on a minimum value of the magnetic field strength in the first area for a first time period from a first turn to a second turn of the vehicle, or when the magnetic field strength detected by the magnetic field strength detector is kept to be greater than the threshold value for a predetermined time period after the first turn.
1 Assignment
0 Petitions
Accused Products
Abstract
In an apparatus for controlling operation of an autonomously navigating utility vehicle travelling about a working area delineated by a boundary wire, the working area including a narrow area and a broad area, there are provided with a magnetic field strength detector, a travel controlling unit controlling the vehicle to turn and travel straight forward every time the vehicle reaches the boundary wire based on the magnetic field strength, and a narrow area discriminating unit discriminating that the vehicle travels in the narrow area when the magnetic field strength is kept to be greater than a threshold value predefined based on a minimum value of the magnetic field strength in the narrow area from a first turn to a second turn of the vehicle, or for a predetermined time period after the first turn.
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Citations
14 Claims
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1. An apparatus for controlling operation of an autonomously navigating turnable utility vehicle equipped with a body and a prime mover mounted on the body to make the vehicle travel about a working area delineated by a boundary wire laid thereat in order to work autonomously, the working area including a first area and a second area connected to the first area, a distance between mutually facing segments of the boundary wire in the first area being equal to or less than a predetermined value over a predetermined length, a distance between mutually facing segments of the boundary wire in the second area being greater than the predetermined value, comprising:
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a magnetic field strength detector installed on the body to detect a magnetic field strength generated by electric current passing through the boundary wire; a travel controlling unit configured to control the prime mover to make the vehicle turn and travel straight forward every time the vehicle traveling in the working area reaches the boundary wire, based on the magnetic field strength detected by the magnetic field strength detector; and a first area discriminating unit configured to discriminate that the vehicle travels in the first area when the magnetic field strength detected by the magnetic field strength detector is kept to be greater than a threshold value predefined based on a minimum value of the magnetic field strength in the first area for a first time period from a first turn to a second turn of the vehicle, or when the magnetic field strength detected by the magnetic field strength detector is kept to be greater than the threshold value for a predetermined time period after the first turn. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling operation of an autonomously navigating turnable utility vehicle equipped with a body and a prime mover mounted on the body to make the vehicle travel about a working area delineated by a boundary wire laid thereat in order to work autonomously, the working area including a first area and a second area connected to the first area, a distance between mutually facing segments of the boundary wire in the first area being equal to or less than a predetermined value over a predetermined length, a distance between mutually facing segments of the boundary wire in the second area being greater than the predetermined value, the vehicle including a magnetic field strength detector installed on the body to detect a magnetic field strength generated by electric current passing through the boundary wire,
comprising the steps of: -
controlling the prime mover to make the vehicle turn and travel straight forward every time the vehicle traveling in the working area reaches the boundary wire, based on the magnetic field strength detected by the magnetic field strength detector; and discriminating that the vehicle travels in the first area when the magnetic field strength detected by the magnetic field strength detector is kept to be greater than a threshold value predefined based on a minimum value of the magnetic field strength in the first area for a first time period from a first turn to a second turn of the vehicle, or when the magnetic field strength detected by the magnetic field strength detector is kept to be greater than the threshold value for a predetermined time period after the first turn. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification