CONTROL APPARATUS FOR UTILITY VEHICLE
First Claim
1. An apparatus for controlling operation of a utility vehicle that detects a magnetic field generated during flow of electric current from an electric power supply through a boundary wire laid around a working area and is driven by a prime mover to run within the working area based on the detected magnetic field, comprising:
- first and second magnetic sensors that are installed at lateral right and left positions symmetrical in a vehicle width direction of a body of the utility vehicle with respect to a vehicle center line extending in a forward-rearward direction and produce outputs proportional to strength of the magnetic field during flow of electric current through the boundary wire; and
an electronic control unit having a microprocessor and a memory,wherein the microprocessor is configured to function as;
a running control unit configured to switch turning mode between a first turning mode to make the vehicle turn while running near the boundary wire and a second turning mode to make the vehicle pause near the boundary wire and then turn, when it is determined from the outputs of the first and second magnetic sensors that the vehicle approaches the boundary wire, each time predetermined conditions are satisfied, and to control operation of the prime mover such that the vehicle turns in accordance with the switched turning modes.
1 Assignment
0 Petitions
Accused Products
Abstract
In an apparatus for controlling operation of a utility vehicle that detects a magnetic field generated by electric current flowing through a boundary wire of a working area and is driven to run within the working area based on the detected magnetic field, having left and right magnetic sensor installed at lateral right and left positions of the vehicle to produce outputs proportional to strength of the magnetic field, turning mode is switched between gentle turning mode to make the vehicle turn while running near the boundary wire and sharp turning mode to make the vehicle pause near the boundary wire and then turn, when it is determined from the outputs of the magnetic sensors that the vehicle approaches the boundary wire, each time predetermined conditions are satisfied, and operation of the prime mover is controlled such that the vehicle turns in accordance with the switched turning mode.
5 Citations
14 Claims
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1. An apparatus for controlling operation of a utility vehicle that detects a magnetic field generated during flow of electric current from an electric power supply through a boundary wire laid around a working area and is driven by a prime mover to run within the working area based on the detected magnetic field, comprising:
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first and second magnetic sensors that are installed at lateral right and left positions symmetrical in a vehicle width direction of a body of the utility vehicle with respect to a vehicle center line extending in a forward-rearward direction and produce outputs proportional to strength of the magnetic field during flow of electric current through the boundary wire; and an electronic control unit having a microprocessor and a memory, wherein the microprocessor is configured to function as; a running control unit configured to switch turning mode between a first turning mode to make the vehicle turn while running near the boundary wire and a second turning mode to make the vehicle pause near the boundary wire and then turn, when it is determined from the outputs of the first and second magnetic sensors that the vehicle approaches the boundary wire, each time predetermined conditions are satisfied, and to control operation of the prime mover such that the vehicle turns in accordance with the switched turning modes. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling operation of a utility vehicle that detects a magnetic field generated during flow of electric current from an electric power supply through a boundary wire aid around a working area and is driven by a prime mover to run within the working area based on the detected magnetic field, having:
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first and second magnetic sensors that are installed at lateral right and left positions symmetrical in a vehicle width direction of a body of the utility vehicle with respect to a vehicle center line extending in a forward-rearward direction and produce outputs proportional to strength of the magnetic field during flow of electric current through the boundary wire;
comprising the steps of;switching turning mode between a first turning mode to make the vehicle turn while running near the boundary wire and a second turning mode to make the vehicle pause near the boundary wire and then turn, when it is determined from the outputs of the first and second magnetic sensors that the vehicle approaches the boundary wire, each time predetermined conditions are satisfied, and controlling operation of the prime mover such that the vehicle turns in accordance with the switched turning modes. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification