Dec 1, 1982 ... Osami Fuziwara, Kishiwada, both of. Japan ... lniiiolize g. (i) I. Addr-O. Addy-O. (ii)
Silk-U m“. ' ? o. HIGH. Off. Write IToblel. (in). Add|+Add2. '°". _.
United States Patent [19]
[11] Patent Number:
Okuyama et al.
[45]
[54]
TEACHING-PLAYBACK TYPE
4,328,545
5/1982 148158116181. ..................... .. 180/167
AUTOMATICALLY RUNNING VEHICLE
4,465,155
8/1984
Collins . . . . . . . .
4,500,970
2/1985
Daemmer .......................... .. 180/168
[75] Inventors: Shigeaki Okuyama, Kawachinagano;
[21] Appl. No.: 445,755 [22] Filed:
Dec. 1, 1982
Dec. 2, 1986 . . . ._
364/424
2041095
2/ 1972 Fed. Rep. of Germany .
1259720 2042217 2068587
1/1972 United Kingdom . 9/1980 United Kingdom . 8/1981 United Kingdom .
Primary Examiner—-Felix D. Gruber Attorney, Agent, or Firm-Cushman, Darby & Cushman
Foreign Application Priority Data
Feb. 19, 1982 [JP]
Date of Patent:
FOREIGN PATENT DOCUMENTS
Osami Fuziwara, Kishiwada, both of
Japan [73] Assignee: Kubota, Ltd., Osaka, Japan
[30]
4,626,993
Japan ................................ .. 57-26569
[57]
ABSTRACT
Apparatus and method for controlling an automatically
[51]
Int. Cl.4 ....................... .. G05D 1/02; G05D 3/12;
[52]
US. Cl. .................................. .. 364/424; 180/168;
[58]
Field of Search ............. .. 318/580, 568, 576, 575,
mands used to negotiate the course under manual con trol are stored in a memory. The vehicle has sensors
318/578, 579; 180/169, 167, 168; 324/207, 208,
which detect the presence and location of the guidelines
234; 364/424, 513
as the vehicle passes by. The vehicle travels the course under control of the stored vehicle commands until guidelines are detected indicating the vehicle is off course. Then, vehicle control is switched so that the vehicle returns on course, over the guidelines. When
G06F 15/50
364/513
[56]
References Cited U.S. PATENT DOCUMENTS 3,095,939
7/ 1963
Hine .................................. .. 180/167
3,507,349 3,952,361
4/1970 4/1976
Comer et al. . Wilkins ........... ..
.... .. 180/168 . 180/ 79.1 X . . . . ..
4,066,877
l/l978
Virnot et a1.
4,114,711
9/1978
Wilkins ........... ..
. .. ..
180/168
4,211,921
7/ l 980 Kanetou et al.
.. 180/169
4,253,541
3/1981
Iida et al. .... ..
.. 180/168
4,278,142
7/1981
Kono ................................. .. 180/168
ISO/6.5
running vehicle over a predetermined course which has
guidelines intermittently placed therein. Vehicle com
the guidelines are no longer detected, vehicle control is returned to the memorized vehicle commands in such a fashion as to synchronize the actual vehicle position
with the memorized data.
4 Claims, 10 Drawing Figures
l6 .______
Memory _ _
_ _ _ _ __
______..___1
L_.|1
US. Patent Dec. 2, 1986
Sheet 1 of5
4,626,993
US. Patent Dec. 2, 1986
Sheet2 of5
4,626,993
Fig
3
li‘xl ilx
‘T.
("W1‘"”'(
11 a: A m
‘m
mA
L
U10|
US. Patent Dec. 2, 1986
Sheet 3 of5
4,626,993
US. Patent
Dec. 2, 1986
' Sheet4of5
4,626,993
' ( Siort ) ‘ (i)
Fi g . 7
lniiiolize I
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(Vii) Running distance (iV)
,
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condition '
ofsolenoids
(viii)
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TABLE I
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-
‘
TABLE 2
‘Adda Condition of solenoids Running distance
US. Patent Dec. 2, 1986
( Start
iii’
Sheet 5 of 5
)
i
Fig.8
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