| 摘要 |
PURPOSE:To detect an approaching angle with no malfunction, by discriminating the approaching angle of a car to a boundary based on the detection of boundary by a copying sensor and the detection of boundary by the other copying sensor as well as the attachment space between these sensors. CONSTITUTION:A mower is hanged between front and rear wheels of a car 1, and at the same time copying sensors A and A' are provided at the front side of the car 1 to discriminate the boundary between the worked and unworked areas of a lawn. In addition, a distance sensor 5 of the 5th wheel is provided to detect the traveled distance of the car 1. The sensors A and A' contain optical sensors S1-S4 consisting of a light emitting element P1 and a photodetecting element P2 set within a frame 7 with spaces d1-d4 secured respectively. A distance measuring circuit measures the traveled distance while sensors S1-S4 detect the boundary respectively. An approaching direction discriminating circuit discriminates a code + or - of the approaching angle of the car 1 and at the same time detects the measuring period of the distance measuring circuit. A copying detecting circuit detects the copying state to the boundary for the copying traveling control carried out by the sensors A and A'. An arithmetic circuit calculates the steering degree after receiving a detecting signal and then drives front wheels 2 in the prescribed direction. |
