Title:
WORKING VEHICLE GUIDING DEVICE USING BEAM LIGHT
Document Type and Number:
Japanese Patent JPS6415811
Kind Code:
A
Abstract:
PURPOSE:To properly detect the position of a working vehicle in its width direction by receiving the guide beams by two pairs of light sensors of plural photodetecting elements provided on the vehicle in a desired array form to detect the position of the vehicle in its width direction and calculating the position of the vehicle based on the photodetecting position set right before a change in case those photodetecting elements receive beams at one time. CONSTITUTION:Two pairs of light sensors S1 and S2 are set on a working vehicle V with a prescribed distance secured between them in the front-back direction. Each of these light sensor consists of plural photodetecting elements set in an array from in the width direction of the vehicle V. The position error of the vehicle V is detected in its width direction based on the position of the photodetecting element that received a guide beam A from the ground. In this case, the shifted position of the vehicle V is calculated by the outputs of both sensors S1 and S2 obtained right before the states of these sensors are changed in case those photodetecting elements of both sensors receive the external beam at one time. Thus the position of the vehicle V can be properly detected in its width direction regardless of the wrong photodetecting information.
Inventors:
TANAKA SHIGERU
TAKAHARA KAZUHIRO
TAKAHARA KAZUHIRO
Application Number:
JP17178687A
Publication Date:
January 19, 1989
Filing Date:
July 09, 1987
Export Citation:
Assignee:
KUBOTA LTD
International Classes:
A01C11/02; B61B13/00; G05D1/02; A01B69/00; (IPC1-7): A01B69/00; A01C11/02; B61B13/00; G05D1/02
Attorney, Agent or Firm:
Kitamura Osamu