Automatically steered self propelled vehicle

Claim 2

Automatically steered self-propelled vehicle for movemeNt over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; motor means on said frame for propelling the same at least in forward direction; steering means on said frame for steering said frame; sensing means on said frame for generating a signal when sensing an obstruction during movement of said frame in said direction, and including front sensor means including a transverse array of front sensors for individually sensing an obstruction, and generating individual signals; and a control device including steering control means responsive to said signal of said sensing means and to said individual signals of said front sensors to operate said steering means to change the direction of movement of said frame so that said frame passes said obstruction and moves on said unobstructed portion of said area.

Claim 3

Automatically steered self-propelled vehicle for movemeNt over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; motor means on said frame for propelling the same at least in forward direction; steering means on said frame for steering said frame; sensing means on said frame for generating a signal when sensing an obstruction during movement of said frame in said direction, and including front sensor means including a transverse array of front sensors for individually sensing an obstruction, and generating individual signals; and a control device including steering control means responsive to said signal of said sensing means and to said individual signals of said front sensors to operate said steering means to change the direction of movement of said frame so that said frame passes said obstruction and moves on said unobstructed portion of said area.

Claim 4

Automatically steered self-propelled vehicle for movemeNt over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; motor means on said frame for propelling the same at least in forward direction; steering means on said frame for steering said frame; sensing means on said frame for generating a signal when sensing an obstruction during movement of said frame in said direction, and including front sensor means including a transverse array of front sensors for individually sensing an obstruction, and generating individual signals; and a control device including steering control means responsive to said signal of said sensing means and to said individual signals of said front sensors to operate said steering means to change the direction of movement of said frame so that said frame passes said obstruction and moves on said unobstructed portion of said area.

Claim 5

Vehicle as claimed in claim 1 comprising a tool mounted on said frame for treating said unobstructed portion of said area.

Claim 6

Vehicle as claimed in claim 1 in combination with at least one conductor surrounding an obstruction in said area; means for supplying an alternating current to said conductors; and wherein said sensing means include induction coils responsive to the alternating field around said conductor to generate said signals for operating said steering means.

Claim 7

Vehicle as claimed in claim 3 in combination with another conductor surrounding said area and connected with said supplying means so that said induction coils respond to an alternating field around said other conductor.

Claim 8

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame, said front sensor means including a transverse row of front sensors for individually sensing an obstruction and generating individual steering signals; and a control device including steering control means responsive to said individual steering signals to operate said steering means to change the direction of movement of said frame so that said frames move on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction.

Claim 9

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame, said front sensor means including a transverse row of front sensors for individually sensing an obstruction and generating individual steering signals; and a control device including steering control means responsive to said individual steering signals to operate said steering means to change the direction of movement of said frame so that said frames move on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction.

Claim 10

Vehicle as claimed in claim 5 wherein said obstructions include boundary obstructions surrounding said area, and at least one obstruction in said area; wherein sensing of said one obstruction and of a first portion of said boundary obstruction by said front sensors causes said reversing control means to reverse said motor means until said rear sensor means senses a second portion of said boundary obstruction and causes said reversing control means to again reverse said motor means; and wherein said rear sensor means also control said steering control means to operate said steering means so that said vehicle moves forward along a new path toward said first portion of said boundary obstruction, said new path being spaced from the former path a distance corresponding to the sensed width of said one obstacle so that the same is passed by said frame.

Claim 11

Vehicle as claimed in claim 6 wherein said sensing means include a lateral sensor projecting laterally from one side of said frame for engaging said one obstruction while said vehicle passes the same on said new path and for separating from said one obstruction when said frame has passed said one obstacle; said lateral sensor transmItting a return signal to said control device when separating from said one obstruction; wherein said control device responds to said return signal to operate said steering means so that said frame moves to said one side a distance corresponding to the width of the frame to a position located between said one obstruction and said boundary portion and then moves in forward direction away from said one obstruction and toward said boundary obstruction.

Claim 12

Vehicle as claimed in claim 5 wherein said steering control means respond to said control signal and to said reversing signal of said sensing means during rearward movement to actuate said steering device to first steer said frame in a direction transverse to said forward and rearward directions, and to then steer said frame into said forward direction.

Claim 13

Vehicle as claimed in claim 8 wherein said transverse direction is perpendicular to said forward and rearward direction.

Claim 14

Vehicle as claimed in claim 5 wherein said obstructions include obstructions surrounding said area.

Claim 15

Vehicle as claimed in claim 10 wherein said obstructions include at least one obstruction in said area.

Claim 16

Vehicle as claimed in claim 5 wherein said reversing means includes a reversing switch responsive to said reversing signals.

Claim 17

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame, said sensing means further including a lateral sensor at least on one side for sensing an obstruction while passing the same in said forward direction, and generating a return signal at the end of said obstruction; and a control device including steering control means responsive to said steering signal to operate said steering means to change the direction of movement of said frame so that said frame moves on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction, said steering control means receiving said return signal and responding to said return signal to operate said steering means to steer said frame transversely to a position located forwardly of said obstruction and then to steer said frame again in forward direction.

Claim 18

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame, said sensing means further including a lateral sensor at least on one side for sensing an obstruction while passing the same in said forward direction, and generating a return signal at the end of said obstruction; and a control device including steering control means responsive to said steering signal to operate said steering means to change the direction of movement of said frame so that said frame moves on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction, said steering control means receiving said return signal and responding to said return signal to operate said steering means to steer said frame transversely to a position located forwardly of said obstruction and then to steer said frame again in forward direction.

Claim 19

Vehicle as claimed in claim 13 wherein said sensing means includes a stop sensor on the other side of said frame for sensing a lateral obstruction bounding said area, and transmitting a stop signal to said control device when sensing said lateral obstruction; and wherein said control device is responsive to said stop signal to disconnect said motor so that said frame stops.

Claim 20

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame, at least said front sensor means including a horizontal row of electromechanical front sensor switches so that only a part of said frOnt sensor switches is operated when a sensed obstruction has a lesser width than said frame; and a control device including steering control means responsive to said steering signal to operate said steering means to change the direction of movement of said frame so that said frame moves on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction, said steering control means and said steering means effecting lateral movement of said frame for a distance corresponding to the width of said part of said front sensor switches.

Claim 21

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame, at least said front sensor means including a horizontal row of electromechanical front sensor switches so that only a part of said frOnt sensor switches is operated when a sensed obstruction has a lesser width than said frame; and a control device including steering control means responsive to said steering signal to operate said steering means to change the direction of movement of said frame so that said frame moves on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction, said steering control means and said steering means effecting lateral movement of said frame for a distance corresponding to the width of said part of said front sensor switches.

Claim 22

Vehicle as claimed in claim 15 wherein said front sensor switches have shiftable contacts connected in series in the open condition of said front sensor switches; said control device including a different resistor for each front sensor switch, said resistors having a series of ends connected with said contacts in the closed condition of said front sensor switches, and having the other ends connected to each other and to said control device.

Claim 23

Vehicle as claimed in claim 16 wherein said control device includes a capacitor having first and second terminals connected with said other ends of said resistors and with said series-connected shiftable contacts, respectively; said control device including an input transistor having a base connected with said first terminal.

Claim 24

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame; and a control device including steering control means responsive to said steering signal to operate said steering means to change the direction of movement of said frame so that said frame moves on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction, said steering control means including a steering motor for operating said steering means to move said frame transversely out of a normal position when said control device receives a reversing signal, timing means for energizing said steering motor for a time dependent on the signals of said front sensor means, and means for returning said steering means after said time to the initial normal position for straight movement.

Claim 25

Automatically steered self-propelled vehicle for movement over the unobstructed portion of an area having obstructions, comprising a vehicle frame located on said unobstructed portion; reversible motor means on said frame for propelling said frame in forward and rearward directions; steering means on said frame for steering said frame; sensing means on said frame for generating a steering signal when sensing an obstruction during forward and rearward movement of said frame, said sensing means including front sensor means and rear sensor means for generating reversing signals when sensing obstructions during forward and rearward movement of said frame; and a control device including steering control means responsive to said steering signal to operate said steering means to change the direction of movement of said frame so that said frame moves on said unobstructed portion of said area, and reversing control means including reversing means responsive to said reversing signals to reverse said motor means so that said frame moves away from any sensed obstruction, said steering control means including a steering motor for operating said steering means to move said frame transversely out of a normal position when said control device receives a reversing signal, timing means for energizing said steering motor for a time dependent on the signals of said front sensor means, and means for returning said steering means after said time to the initial normal position for straight movement.

Claim 26

Vehicle as claimed in claim 18 wherein said means for returning said steering means include resilient means for returning said steering means and de-energized steering motor after said time to the initial normal positions.

Claim 27

Vehicle as claimed in claim 18 wherein said frame includes wheels, and means supporting said wheels for angular steering movement; and wherein said steering control means include a transmission connecting said steering motor with said wheels.