Automatic running work vehicle
An automatic running work vehicle controllable to follow a series of straight courses for working surface is described which consists of: a body; steerable wheels; position sensor means mounted transversely on the body for sensing a boundary between worked and unworked areas and for detecting the front and rear ends of the courses; orientation sensor means mounted on the body for detecting the running direction of the vehicle; and control means mounted on the body and connected to the position sensor means which detects the front end, rear end of each course and the boundary; the control means being responsive to the detection of the rear end of one course by the position sensor means for causing the vehicle to advance the vehicle a first predetermined distance past the next course at a first predetermined angle, to advance the vehicle at a second predetermined angle a second predetermined distance, and then to advance the vehicle and simultaneously adjust the orientation to match a preselected orientation of the next course; the control means being further responsive to the detection of the front end of the next course by the position sensor means for causing the vehicle to translate toward a boundary of the next course without changing its orientation until the boundary is detected and finally return to an original mode in which the vehicle follows the next course upon detection by one of the position sensor means of the boundary thereof between the worked and unworked areas.
- Assignee:
- Kubota, Ltd.
- Patent Number(s):
- US 4603753
- OSTI ID:
- 5284762
- Country of Publication:
- United States
- Language:
- English
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