| 摘要 |
<p>PROBLEM TO BE SOLVED: To exactly avoid an obstacle in automatic traveling accompanied with a work, to suppress an obstacle avoiding operation to the absolute minimum, and to prevent useless work interruption. SOLUTION: When a front obstacle is detected, the work is interrupted, and a vehicle is stopped, and when any obstacle is not detected within a prescribed waiting time, it is judged that the obstacle is removed, and the work traveling is resumed without operating an avoidance operation. On the other hand, when the waiting time passes in a state that the front obstacle is detected, the body is horizontally shifted and the traveling orbit is changed by controlling a steering system, and the obstacle escaping operation is executed while confirming the obstacle by a side sensor. Then, after the obstacle is avoided, the vehicle is restored on the extended line of the original orbit, and when it does not overrun the area edge of a designated working area, the work is resumed, and when it overruns the area edge, the work is resumed after the rotation to the next lane.</p> |
