| 摘要 |
PURPOSE:To end and stop work precisely by calculating the proposed number of times of reciprocation on an automatically formed travelling course, and when a service car travels more than a prescribed distance under non-detecting status after passing the calculated number of times, stopping the service car forcibly. CONSTITUTION:An unmanned traveling service car V such as a lawn mower is provided with imitative sensors 5A, 5B, a distance sensor detecting a moving distance and a bearing sensor sensing earth magnetism and detecting a traveling direction to teach the circumference of working land and form a traveling course. The service car V detects the border between unmowed land 11B and mowed land 11C by the imitative sensors 5A, 5B and turns the direction when a moving distance L from the distance sensor coincides with the proposed distance L0 calculated at the time of teaching. After repeating said operation by the proposed number of times or more, the whole work will be completed. When the imitative sensors 5A, 5B detects surrounding land 11D and the service car V travels a prescribed distance X0 or more after turning the direction by said prescribed frequency or more, the work is forcibly stopped. |
