| 摘要 |
PURPOSE:To accurately perform the travel and work of a working vehicle by correcting information with respect to the position and the direction of the working vehicle based on a recognition result by a visual recognition means which recognizes a reference mark provided at an edge part in a prescribed area. CONSTITUTION:The working vehicle 1 of a lawn mower robot travels to a recognition point 14 based on range and azimuth information from a par of measuring wheels 7 and 8, and when it arrives at the point 14, a camera 9 is located on a bar shape body 13. The vehicle stops in such state, and fetches the reference number of images of the bar shape body 13 by the camera 9. At this time, a measuring error is generated due to the slippage of the measuring wheels 7 and 8, etc. Here, the position of the bar shape body 13 displayed on the camera 9 is calculated, and the actual position of the lawn mower robot is detected from the inclination and the detected position of the bar shape body 13. Next, the information with respect to the present location and the direction stored in the robot are corrected. By providing plural such recognition points 14, it is possible to perform lawn mowing work accurately. |
