Automatic running work vehicle
First Claim
Patent Images
1. An automatic running work vehicle equipped with follower sensor (A) for detecting a predetermined boundary (L) of a running area so as to run along the boundary (L) automatically, the vehicle being characterized in that the vehicle has an orientation sensor (5) for detecting the running direction to compare the detected orientation (Ψ
- ) with a reference orientation (Ψ
0) and steering control means by which in response to the detection by the follower sensor (A) and when the orientation difference (Δ
Ψ
) between the detected orientation (Ψ
) and the reference orientation (Ψ
0) obtained by the comparison is in excess of a predetermined value (Δ
Ψ
1), the vehicle is steered at a specified angle (Ψ
'"'"') until the orientation difference (Δ
Ψ
) decreases to less than an impermissible error (Δ
Ψ
2) while being held out of steering control by the follower sensor (A).
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Abstract
An automatic running work vehicle adapted to automatically run straight along a predetermined boundary of a running area by being subjected to steering control based on the combination of parameters detected by a follower sensor for detecting the boundary and an orientation sensor for detecting the running direction.
67 Citations
11 Claims
-
1. An automatic running work vehicle equipped with follower sensor (A) for detecting a predetermined boundary (L) of a running area so as to run along the boundary (L) automatically, the vehicle being characterized in that the vehicle has an orientation sensor (5) for detecting the running direction to compare the detected orientation (Ψ
- ) with a reference orientation (Ψ
0) and steering control means by which in response to the detection by the follower sensor (A) and when the orientation difference (Δ
Ψ
) between the detected orientation (Ψ
) and the reference orientation (Ψ
0) obtained by the comparison is in excess of a predetermined value (Δ
Ψ
1), the vehicle is steered at a specified angle (Ψ
'"'"') until the orientation difference (Δ
Ψ
) decreases to less than an impermissible error (Δ
Ψ
2) while being held out of steering control by the follower sensor (A). - View Dependent Claims (2, 3, 4, 5, 6)
- ) with a reference orientation (Ψ
-
7. An automatic running work vehicle adapted to automatically run along a predetermined boundary, comprising
follower sensor means (A) for detecting whether the vehicle is running along the boundary or deviating sideways therefrom and transmitting detection signals, orientation sensor means (5) for detecting orientation of the vehicle, comparator means connected to the orientation sensor means for comparing an orientation (Ψ - ) detected by the orientation sensor means (5) with a reference orientation (Ψ
0) and deriving an orientation difference (Δ
Ψ
) therebetween, andsteering control means connected to the follower sensor means (A) and the comparator means and operable to steer the vehicle by follower control in response to the signals from the follower sensor means (A) and by orientation control in response to signals from the comparator means, wherein the vehicle is steered by the follower control when the orientation difference (Δ
Ψ
) is equal to and less than a predetermined value (Δ
Ψ
1) and by the orientation control, until the orientation difference becomes a preset value (Δ
Ψ
2), when the orientation difference (∇
Ψ
) exceeds the predetermined value (∇
Ψ
1). - View Dependent Claims (8, 9, 10, 11)
- ) detected by the orientation sensor means (5) with a reference orientation (Ψ
Specification