| 摘要 |
An autonomously-controllable self-propelling working apparatus comprises a working tool (14) mounted on a carriage (10), the carriage having two coaxial, independently drivable, ground-engaging wheels (11, 12), and the tool being operable along a line of action cuncurrent with the common axis of said wheels in plan view. Each said wheel is preferably driven by a respective stepping motor coupled thereto by a belt which acts both as a turning belt for the motor and a tyre for the wheel. The carriage preferably has a tapered plan shape with the apex of such shape extending axially of said wheels and its base bridging one such wheel; such carriage preferably has castors (13) or other ground-engaging stabilisers at its basal extremities; and such carriage preferably has both forward (19) and transverse (18,20) obstruction sensors. Preferably also the working tool is reciprocably adjustable axially of said wheels. |
