| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller of an autonomously travelling working vehicle capable of easily calibrating an angular velocity sensor at a low cost without adding a new sensor.SOLUTION: The controller of the autonomously travelling working vehicle includes magnetic sensors for detecting an intensity of a magnetic field generated in an area wire, an angular velocity sensor, and calibration means for the angular velocity sensor. In the controller of an autonomously travelling working vehicle, the magnetic sensors are arranged in a bilaterally symmetrical state about a center being a central axis of a direct advancing direction of the working vehicle. A relative angle of the area wire and the working vehicle is calculated on the basis of the intensity of the magnetic field detected by the left and right magnetic sensors, and the angular velocity sensor is calibrated on the basis of the calculated relative angle (S10-S20).SELECTED DRAWING: Figure 7 |
