SELF-TRAVELING WORK VEHICLE WITH ULTRASONIC SENSOR
PURPOSE:To accurately and safely control the title vehicle by calculating the steering control instructing quantity of the vehicle on the basis of the position of the center of gravity on a detecting value distribution map prepared by using the output value of an ultrasonic sensor corresponding to t...
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Main Author | |
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Format | Patent |
Language | English |
Published |
21.01.1992
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Subjects | |
Online Access | Get full text |
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Summary: | PURPOSE:To accurately and safely control the title vehicle by calculating the steering control instructing quantity of the vehicle on the basis of the position of the center of gravity on a detecting value distribution map prepared by using the output value of an ultrasonic sensor corresponding to the propagating time of ultrasonic waves transmitted from the sensor until the waves return to the sensor after they are reflected at the place of a target and the transmitted direction of the ultrasonic waves. CONSTITUTION:An ultrasonic sensor 23 mounted on the car body of a self-traveling work vehicle which runs between two rows of targets M on the right and left sides is constituted in such a way that the sensor 23 can be turned clockwise and counterclockwise by means of a turning means 24. Then a controlling means 23 which prepares a detecting value distribution map by using the output value of the sensor 23 corresponding to the propagating time of ultrasonic waves transmitted from the sensor 23 until the waves return to the sensor 23 after they are reflected at the place of one target M and the transmitting direction of the waves and calculates the steering control instructing quantity of the vehicle so as to make the vehicle to run along the target rows is provided. Therefore, the risk of colliding with one target M due to an error which can be contained in a virtual line itself can be eliminated and accurate and safe automatic steering control can be executed. |
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Bibliography: | Application Number: JP19900121527 |