Title:
STEERING CONTROLLER FOR SELF-TRAVELING WORK VEHICLE
Document Type and Number:
Japanese Patent JPH0344710
Kind Code:
A
Abstract:
PURPOSE:To prevent the repetitive drive of a self-traveling vehicle on the same traveling course which is caused by an error of the teaching information by controlling the direction of a steering wheel so as to move the vehicle to the inner side by at least an inter-wheel distance at the second and subsequent rotary operations of the vehicle. CONSTITUTION:A worker drives a moving machine 1 and performs the first work to travel along the outer circumferential part of a work area. The information received from a self-position sensor 5 and a direction sensor 6 are stored in a storage 7 as the teaching information. In a second rotary operation of the machine 1 where the machine 1 travels the inner side of the first traveling course, a traveling course is automatically generated by a control unit 8 based on the stored teaching information. Thus the machine 1 travels on a course which is moved to the inner side of the first course by at least an inter-wheel distance. In the same way, a steering wheel is controlled in the third and subsequent rotary operations of the machine 1 so that the vehicle travels toward the inner side of the first course by at least inter-wheel distance. Thus it is possible to prevent such an inconvenient case where the machine 1 travels repetitively on the same traveling course due to an error of the teaching information.
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Inventors:
TAKAHASHI HIROSHI
NAKAZAWA MASAAKI
YOKOUCHI TAKESHI
NAKAZAWA MASAAKI
YOKOUCHI TAKESHI
Application Number:
JP17953989A
Publication Date:
February 26, 1991
Filing Date:
July 12, 1989
Export Citation:
Assignee:
ISHIKAWAJIMA SHIBAURA MACH
International Classes:
G05D1/02; A01B69/00; (IPC1-7): A01B69/00; G05D1/02
Attorney, Agent or Firm:
Akira Kashiwagi
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