JP2003015740A5 - - Google Patents

Claims (7)

A moving body control device that performs control for reciprocating the moving body at an appropriate interval so that a working moving body that performs a predetermined work can work within a specified range. Serves as a gyro sensor that measures the distance, a distance meter for measuring the distance between the moving object and the obstacle, and a reference wall surface for the moving object to measure the lateral position or moving direction using the distance meter Position / direction calculation means for calculating one or both of the lateral position and the moving direction of the moving body by measuring the distance between the guide and the moving body and the guide, and the moving body calculates the position / direction A moving control device for a working moving body, comprising: a condition determining means for determining a condition for starting execution of the means.   The moving body uses a travel distance measuring means for measuring a travel distance by measuring the number of rotations of a wheel, a vertical position calculating means for calculating a vertical position based on the measured travel distance, and a guide. Measurement position storage means for storing a vertical position for starting measurement of the horizontal position or movement direction, and the condition determination means includes a vertical position stored in the measurement position storage means, and a vertical position. 2. The movement control device for a working moving body according to claim 1, wherein execution of the position / direction calculation means is started when the current vertical position calculated by the calculation means coincides.   The guide has command signal output means for outputting a command signal of at least one item to the moving body, and the moving body has command signal receiving means for receiving a command signal output from the guide, 3. The work moving body according to claim 1, wherein the condition determining means starts execution of the position / direction calculating means when the moving body receives a correction request command signal as one of the command signals from the guide. Movement control device.   The movement control device for a work moving body according to any one of claims 1 to 3, further comprising passage detection means for detecting that the moving body passes in front of the guide.   In addition to the correction request command, the guide has command signal output means for transmitting a zigzag travel longitudinal direction end position setting command, a straight travel command, a right direction change command, a left direction change command, a zigzag travel start command, etc. as a command signal And a selection means for selecting these command signals. The user selects a command by the command signal selection means and controls the movement of the moving body other than the reciprocating movement by placing the command signal at an appropriate position. The movement control device for a work moving body according to claim 3 or 4, which controls movement between traveling areas.   The work according to any one of claims 1 to 5, wherein the guide is a second moving body having moving means and moves in a direction perpendicular to a target travel direction of the working moving body that is the first moving body. A moving control device for a moving body. A moving body control device that controls a working moving body that performs a predetermined work,
A gyro sensor that measures the orientation of a moving object;
A distance meter to measure the distance from the moving object to the obstacle,
Command signal output means for outputting one or more command signals to the moving body,
The said command signal output means is a moving body control apparatus which is a guide which plays the role of the reference | standard wall surface for the said moving body to measure the position and / or moving direction of a horizontal direction using the said distance meter.