| 摘要 |
PURPOSE:To detect proper information by installing a boundary detecting means of obtaining a straight line corresponding to a boundary based on photographed image information obtained by a photographing means. CONSTITUTION:A body 1 is transferred in parallel without changing the direction of the body by steering front and rear wheels 2 and 3 in the same direction based on an amount X of deviation calculated by operation, then the front and the rear wheels 2 and 3 are steered based on an angle theta of deviation so that the front and the rear wheels are made in a relatively opposite direction to correct direction of the body 1 to a target boundary L0. A working vehicle is controlled in such a way that a detected boundary L is in accord with the target boundary L0 in a field of a monitor camera 5, namely the body 1 is moved along the target boundary L0. |
