Running vehicle

• US 4,537,271 A
• Filed: 05/26/1983
• Issued: 08/27/1985
• Est. Priority Date: 10/27/1982
• Status: Expired due to Fees

• Current Assignee: Kubota Corporation
• Original Assignee: Kubota Corporation
• Inventors: Ito, Katsumi, Fuziwara, Osami
• Primary Examiner(s): Pekar, John A.
• Application Number:
  US06/498,512
• Time in Patent Office: 824 Days
• Field of Search: 180/131, 180/169, 180/274, 180/275, 180/280, 343/7 VC, 343/7 VM, 340/53
• US Class Current: 180/401
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0075 responsive to vehicle steering angle
• CPC Class Codes: B60Y 2200/223 Ridable lawn mowers
• CPC Class Codes: B62D 1/24 not vehicle-mounted
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

A running vehicle having control means for judging whether an obstacle detected by a non-contact type obstacle sensor on a front portion of its body is at rest or in motion based on the result of detection and controlling the vehicle body so as to cause the body to detour the obstacle when it is at rest or to automatically stop the vehicle body when the obstacle is in motion.

Claims

1. A self-propelled, unmanned running vehicle having a vehicle body moveable over a surface, said vehicle comprising:

obstacle sensor means of the non-contact type disposed at a front portion of said vehicle body for detecting the presence of an obstacle in the path of movement of said vehicle body;

signal generating means connected to said sensor means for determining whether the detected obstacle is at rest or is in motion and for generating in response thereto a rest-detection signal or a motion detection signal, respectively; and

control means operatively interconnecting said vehicle body and said signal generating means and receiving said generated rest detection and motion-detection signals, said control means for (a) causing the vehicle body to detour the detected obstacle in response to receiving said rest-detection signal, and (b) stopping the movement of the vehicle body in response to receiving said motion-detection signal.

2. A running vehicle as defined in claim 1 wherein said signal generating means includes (i) measuring means for measuring a distance l₁ from the vehicle body to the obstacle detected by said sensor means repeatedly at a predetermined time interval t₀ and (ii) judgment means for judging whether the obstacle is at rest or in motion based upon whether or not the measured distance l₁ differs from an estimated distance l₂ to the obstacle which varies in corresponding relation to the variation in the distance l₀ of travel of the vehicle body per said predetermined time interval t₀.

3. A running vehicle as defined in claim 1 wherein said obstacle sensor means includes a plurality of lateral obstacle sensor means each of the non-contact type arranged side by side laterally of the vehicle body for detecting positions A₁, A₂, A₃ of the obstacle laterally of the vehicle body in a plurality of ranges, and wherein said signal generating judges whether the obstacle is at rest or in motion based upon whether or not there is a change in the position A₁, A₂, A₃ of the obstacle repeatedly detected at a predetermined time interval t₀.

4. A vehicle as in claim 1 for treating areas on the surface and further comprising boundary detection means operatively connected to said steering means through said control means for detecting a boundary region between untreated and treated areas of said surface, said control means causing said steering means to steer said vehicle body along an untreated area in response to said detected boundary region.

5. A vehicle as in claim 4 wherein said control means, in response to receiving said rest-detection signal, includes means for causing said vehicle to steer towards said treated area and away from said untreated area and means operative after a predetermined time interval for causing said vehicle to return to said untreated area whereby said obstacle is avoided.

6. A self-propelled, unmanned running vehicle having a vehicle body steerably moveable along a path over a surface, said vehicle comprising:

steering means for steering said vehicle body along said path;

brake means for braking said vehicle body to bring said vehicle body to a stop;

sensor means for detecting the presence of an obstacle in the path of movement of the vehicle body;

signal generating means connected to said sensor means for sensing whether the detected obstacle is at rest or in motion and for respectively generating in response thereto a rest-detection signal or a motion-detection signal; and

control means operatively interconnecting said signal generating means with said steering means and said braking means, said control means for (a) causing said steering means to steer said vehicle body away from said detected obstacle in response to said control means receiving said rest-detection signal, and (b) causing said brake means to bring said vehicle body to a stop in response to said control means receiving said motion-detection signal.

7. A running vehicle as in claim 6 wherein said control means includes delay means permitting said vehicle body to be moved towards said detected obstacle in response to said control means receiving said motion-detection signal until said detected obstacle is a predetermined distance away from said vehicle body, said control means thereafter causing said braking means to stop said vehicle body upon said predetermined distance being reached.

8. A running vehicle as in claim 7 further comprising speed-change means for changing the running speed of said vehicle along said path.

9. A running vehicle as in claim 8 wherein said control means is further operatively connected to said speed-change means, said control means for causing said speed-change means to slow the running speed of said vehicle body in response to said control means receiving said motion-detection signal.

10. A self-propelled vehicle controllable to avoid an obstacle comprising a plurality of obstacle sensors each having a respective sensing area transversely of the vehicle and obstacle detection means for judging the presence obstacles, said obstacle detection means comprising:

means to determine a position of an obstacle by measuring a distance to the obstacle when at least one of said sensors detects the presence of said obstacle thereby defining a transverse range of the obstacle relative to the vehicle and for deciding the position of the obstacle on the basis of said distance and said transverse range;

pattern means to determine a direction and distance pattern of movement of the obstacle during a predetermined time interval in response to at least one of said sensors continually detecting the obstacle, said pattern means determining said pattern on the basis of (i) a position of the obstacle being determined at a first time, (ii) a position of the obstacle being determined at a second time, and (iii) a distance the vehicle has advanced during said time interval between said first and second times, and

control means for outputting steering instructions and speed-change instructions, said control means for causing said vehicle to slow down to a predetermined speed by outputting said speed-change instructions upon detection of the obstacle by at least one of said sensors and thereafter, at a predetermined distance to the obstacle, for steerably controlling movement of said vehicle by outputting said steering instructions to cause said vehicle to either (a) detour in response to said pattern means determining that the obstacle is at rest or (b) to stop the vehicle when said pattern means determines that the obstacle is in motion.

11. A self-propelled vehicle controllable to follow a path and to avoid obstacles comprising a plurality of obstacle sensor means arranged on the vehicle so as to establish respective different sensing areas transversely of the vehicle, boundary sensor means for detecting a boundary between a treated region and an untreated region, distance sensor means for detecting a traveling distance of the vehicle, and obstacle-detection means for judging the presence of obstacles, said obstacle-detection means including:

means to actuate said obstacle sensors at a predetermined time interval,

determining means to determine a position of an obstacle by measuring a distance to the obstacle when at least one of said obstacle sensors detects the obstacle and to define a transverse range of the obstacle relative to the vehicle by a combination of said obstacle sensors, said determining means for deciding the position of the obstacle on the basis of said distance and said traverse range,

pattern means to determine a direction and distance pattern of movement of the obstacle during said time interval when at least one of said obstacle sensors continually detects the obstacle on the basis of (i) the position of the obstacle being determined at a first time, (ii) the position of the obstacle being determined at a second time, and (iii) a distance the vehicle has advanced during said time interval between said first and second times, and

control means for controlling movement of said vehicle relative said detected obstacle, said control means, in response to said pattern means determining that the obstacle is at rest, for (a) causing the vehicle to sequentially advance to a predetermined distance to the obstacle, steer toward the treated region, advance a predetermined distance, steer toward the untreated region, and finally return to an original traveling mode following said path upon detection by said boundary sensor means of said boundary between the treated region and the untreated region, and (b) for stopping the vehicle when said pattern means determines that the obstacle is in motion.