| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic travel vehicle capable of automatically traveling between trees and artificial erected objects arrayed at a distance from each other without the necessity of installing light reflection means or a reflection board in advance.SOLUTION: An automatic travel vehicle comprises: a distance calculation part for calculating a separation distance to a vehicle body 3 from a reference line SL which passes trees K as two targets O set by a target setting part and is a reference during travel; a travel control part for executing entry travel where the vehicle enters an area between the trees K from a predetermined side according to a location of the target and the separation distance, linear travel where the vehicle travels along the reference line SL between the trees K, exit travel where the vehicle exits to a predetermined side from between the trees K, and side passage travel where the vehicle passes by a predetermined side of the tree K; and a steering control part for outputting a steering control signal to an automatic steering mechanism according to a steering command from the travel control part.SELECTED DRAWING: Figure 1 |
