Control apparatus for unmanned autonomous operating vehicle
First Claim
1. An apparatus for controlling an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, prime movers for driving wheels, and magnetic sensors for detecting intensity of a magnetic field of an area wire, the vehicle being controlled in a first mode to run about in an operating area defined by the area wire through wheels driven by the prime movers to perform an operation using the operating machine and in a second mode to return to a charging device installed on the area wire so as to charge the battery,wherein the apparatus comprises:
- a turn-back portion formed by bending the area wire at an appropriate position and again bending the area wire to return in a same direction with a predetermined space, the turn-back portion dividing the operating area into a plurality of zones; and
a running controller adapted to control the vehicle in the first mode to run about in each of the plurality of zones, and, while controlling the vehicle to run about in any one of the plurality of zones, prohibiting the vehicle from going across the turn-back portion and entering another one of the plurality of zones.
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Accused Products
Abstract
In an apparatus for controlling an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, and magnetic sensors for detecting intensity of a magnetic field of an area wire and controlled to run about in an operating area defined by the area wire through wheels driven by the prime movers to perform an operation using the operating machine and to return to a charging device installed on the area wire so as to charge the battery, there is provided with a turn-back portion formed by bending the area wire at an appropriate position and again bending the area wire to return in a same direction with a predetermined space so as to divide the operating area into a plurality of parts and vehicle running is controlled to be prohibited from going across the turn-back portion.
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Citations
20 Claims
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1. An apparatus for controlling an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, prime movers for driving wheels, and magnetic sensors for detecting intensity of a magnetic field of an area wire, the vehicle being controlled in a first mode to run about in an operating area defined by the area wire through wheels driven by the prime movers to perform an operation using the operating machine and in a second mode to return to a charging device installed on the area wire so as to charge the battery,
wherein the apparatus comprises: -
a turn-back portion formed by bending the area wire at an appropriate position and again bending the area wire to return in a same direction with a predetermined space, the turn-back portion dividing the operating area into a plurality of zones; and a running controller adapted to control the vehicle in the first mode to run about in each of the plurality of zones, and, while controlling the vehicle to run about in any one of the plurality of zones, prohibiting the vehicle from going across the turn-back portion and entering another one of the plurality of zones. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for controlling an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, prime movers for driving wheels, and magnetic sensors for detecting intensity of a magnetic field of an area wire, the vehicle being controlled in a first mode to run about in an operating area defined by the area wire through wheels driven by the prime movers to perform an operation using the operating machine and in a second mode to return to a charging device installed on the area wire so as to charge the battery,
the method comprising the step of: -
providing a turn-back portion formed by bending the area wire at an appropriate position and again bending the area wire to return in a same direction with a predetermined space, the turn-back portion dividing the operating area into a plurality of zones; and controlling the vehicle in the first mode to run about in each of the plurality of zones, and, while controlling the vehicle to run about in any one of the plurality of zones, prohibiting the vehicle from going across the turn-back portion and entering another one of the plurality of zones. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification