Travel control device for unmanned vehicle
First Claim
1. A travel control system for an unmanned surface vehicle provided with steering means and driving means to enable said unmanned vehicle to automatically travel along a predetermined travel path, said travel control system comprising:
- guide means provided throughout said travel path and cooperating with said steering means to guide said unmanned vehicle along said travel path;
at least one non-contact type obstacle sensor and at least one contact type obstacle sensor arranged on said unmanned vehicle for detecting an obstacle in front of said unmanned vehicle while travelling along said travel path;
first control means for controlling said driving means to cause said unmanned vehicle to stop when an obstacle is detected by at least one of said obstacle sensors;
area boundary indicating means arranged in said travel path for defining a predetermined working area along said travel path;
detecting means arranged in said unmanned vehicle for detecting signals indicative of said area boundary indicating means while said unmanned vehicle is travelling along said travel path to determine whether said unmanned vehicle is in one of within and outside of said predetermined working area;
second control means responsive to signals from said detecting means for controlling detection of signals from said obstacle sensors so that detection of signals from said at least one non-contact type obstacle sensor is disabled when said unmanned vehicle is travelling within said predetermined working area and detection of signals from both of said types of obstacle sensors are enabled when said unmanned vehicle is travelling outside said predetermined working area.
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Accused Products
Abstract
A travel control device for an unmanned vehicle automatically travelling along a predetermined travel path. The travel control device comprises non-contact type and contact type obstacle sensors for detecting an obstacle in front of the unmanned vehicle, and the unmanned vehicle is stopped when an obstacle is detected. A working area is predetermined along the travel path, and entrance and exit marks are provided to indicate the working area. When the unmanned vehicle enters the working area, a detection of signals output by the non-contact type obstacle sensor is disabled, to avoid unnecessary stops in the specific area and maintain a smooth travel of the unmanned vehicle. Further, a time counter is provided for counting a time from when the unmanned vehicle is stopped to a time when the unmanned vehicle is restarted, and when the unmanned vehicle is restarted, the unmanned vehicle is caused to travel at a speed higher than a previous speed at which it was travelling before being stopped, to recover a delay time incurred by the stop.
114 Citations
21 Claims
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1. A travel control system for an unmanned surface vehicle provided with steering means and driving means to enable said unmanned vehicle to automatically travel along a predetermined travel path, said travel control system comprising:
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guide means provided throughout said travel path and cooperating with said steering means to guide said unmanned vehicle along said travel path; at least one non-contact type obstacle sensor and at least one contact type obstacle sensor arranged on said unmanned vehicle for detecting an obstacle in front of said unmanned vehicle while travelling along said travel path; first control means for controlling said driving means to cause said unmanned vehicle to stop when an obstacle is detected by at least one of said obstacle sensors; area boundary indicating means arranged in said travel path for defining a predetermined working area along said travel path; detecting means arranged in said unmanned vehicle for detecting signals indicative of said area boundary indicating means while said unmanned vehicle is travelling along said travel path to determine whether said unmanned vehicle is in one of within and outside of said predetermined working area; second control means responsive to signals from said detecting means for controlling detection of signals from said obstacle sensors so that detection of signals from said at least one non-contact type obstacle sensor is disabled when said unmanned vehicle is travelling within said predetermined working area and detection of signals from both of said types of obstacle sensors are enabled when said unmanned vehicle is travelling outside said predetermined working area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A travel control system for an unmanned surface vehicle provided with steering means and driving means to enable said unmanned vehicle to automatically travel along a predetermined travel path, said travel control system comprising:
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guide means provided throughout said travel path and cooperating with said steering means to guide said unmanned vehicle along said travel path; at least one non-contact type obstacle sensor and at least one contact type obstacle sensor arranged on said unmanned vehicle for detecting an obstacle in front of said unmanned vehicle while travelling along said travel path; first control means for controlling said driving means to cause said unmanned vehicle to stop when an obstacle is detected by at least one of said obstacle sensors; area boundary indicating means arranged in said travel path for defining a predetermined working area along said travel path; detecting means arranged in said unmanned vehicle for detecting signals indicative of said area boundary indicating means while said unmanned vehicle is travelling along said travel path to determine whether said unmanned vehicle is in one of inside and outside of said predetermined working area; second control means responsive to signals from said detecting means for controlling detection of signals from said obstacle sensors so that detection of signals from said at least one non-contact type obstacle sensor is disabled when said unmanned vehicle is travelling within said predetermined working area and detection of signals from both of said types of obstacle sensors are enabled when said unmanned vehicle is travelling outside said predetermined working area, said first control means for controlling said driving means causing said unmanned vehicle to travel at a first speed when said unmanned vehicle is outside said predetermined working area and at a second speed lower than said first speed when said unmanned vehicle is inside said predetermined working area; and timing means for determining a time from when said unmanned vehicle is stopped in said predetermined working area to a time when said unmanned vehicle is restarted providing a time delay, said first control means including speed control means for causing said unmanned vehicle to travel at a third speed higher than said second speed when said unmanned vehicle is restarted to recover the time delay incurred by stopping of said unmanned vehicle and determined by said timing means.
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18. A travel control system for an unmanned surface vehicle provided with steering means and driving means to enable said unmanned vehicle to automatically travel along a predetermined travel path, said travel control system comprising:
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guide means provided throughout said travel path and cooperating with said steering means to guide said unmanned vehicle along said travel path; at least one obstacle sensor arranged on said unmanned vehicle for detecting an obstacle in front of said unmanned vehicle while travelling along said travel path; control means for controlling said driving means to cause said unmanned vehicle to stop when an obstacle is detected by said at least one obstacle sensor and to thereafter restart; timing means for determining a time from when said unmanned vehicle is stopped to a time when said unmanned vehicle is restarted providing a time delay; and said control means including speed control means for causing said unmanned vehicle to travel at a speed higher than a previous speed at which said unmanned vehicle was travelling before being stopped, to recover the time delay incurred by stopping of said unmanned vehicle and determined by said timing means, when said unmanned vehicle is restarted. - View Dependent Claims (19, 20, 21)
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Specification