Manual reverse control for a manually operable automatically controlled vehicle

Claim 2

In a vehicle having: a front and a back; at least one steerable wheel; drive means for driving said vehicle along a surface; means coupled to the steerable wheel and to the drive means for automatically controlling the vehicle to follow a predetermined guide path; a door positioned at the front of the vehicle; manual control means positioned behind said door for manually controlling the steerable wheel and drive means while overriding said automatic control means such that said door must be opened in order to obtain access to said manual control means; the improvement which comprises: reverse control means, including a manually operable means positioned at an exterior location of said vehicle, coupled to said drive means to drive said vehicle in a reverse direction upon actuation of said manually operable means; whereby said vehicle can be manually driven in a reverse direction without opening of said door.

Claim 3

A vehicle according to claim 1 wherein said reverse control means includes circuit means for overriding said automatic control means.

Claim 4

A vehicle according to claim 2 wherein said manually operable means is positioned at the rear portion of said vehicle.

Claim 5

A vehicle according to claim 2 wherein said manually operable means includes a button coupled to a switch biased in an open position.

Claim 6

A vehicle according to claim 4 wherein said reverse control means include circuit means to override said manual control means.

Claim 7

A vehicle according to claim 5 wherein said manual control means comprises a tiller; means pivotably mounting said tiller on a vertical steering shaft for rotation between a vertical inoperative position and a horizontal operative position; drive control means in the tiller coupled to the drive means for manually controlling driving of the vehicle; and means coupling the vertical steering shaft to the steerable wheel for manual steering of the steerable wheel at least when the tiller is in the horizontal operable position.

Claim 8

A vehicle according to claim 6 and further comprising switch means actuatable by opening of the door, said switch means being coupled to said automatic control means to override said automatic control means when said door is opened.

Claim 9

A vehicle according to claim 2 wherein said reverse control means includes means to override said manual control means.

Claim 10

A vehicle according to claim 2 wherein said manual control means comprises a tiller, means pivotably mounting said tiller on a vertical steering shaft for rotation between a vertical inoperative position and a horizontal operative position; drive control means in the tiller coupled to the drive means for manually controlling the driving of the vehicle; and means coupling the vertical steering shaft to the steerable wheel for manual steering of the steerable wheel at least when the tiller is in the horizontal position.

Claim 11

A vehicle according to claim 2 and further comprising switch means actuatable by opening of the door, said switch means being coupled to said automatic control means to override said automatic control means when said door is opened.

Claim 12

A vehicle according to claim 1 wherein said reverse control means includes means to override said manual control means.

Claim 13

A vehicle according to claim 1 wherein said manual control means comprises atiller; means pivotably mounting said tiller on a vertical shaft for rotation between a vertical inoperative position and a horizontal operative position; drive control means in the tiller coupled to the drive means for manually controlling the driving of the vehicle; and means coupling the vertical steering shaft to the steerable wheel for manual steering of the steerable wheel at least when the tiller is in the horizontal operative position.

Claim 14

A vehicle according to claim 1 and further comprising switch means actuatable by opening of said door, said switch means being coupled to said automatic control means to override said automatic control means when said door is opened.

Claim 15

In a vehicle having: a front and a back; at least one steerable wheel; drive means for driving said vehicle along a surface; means coupled to said steerable wheel and to said drive means for automatically controlling the vehicle to follow a predetermined guide path; manual control means including a tiller coupled to said steerable wheel and pivotably mounted at a front of said vehicle between a vertical inoperative position and a horizontal operative position; drive control means mounted on the tiller and coupled to the guide means for manually controlling the driving of the vehicle; switch means coupling said drive control means to said drive means, said switch means having actuation means coupled to said tiller such that said switch is open when said tiller is vertically positioned and is actuated to close when said tiller is pulled downwardly to the horizontal position; said manual control means further including means for overriding said automatic control means; the improvement which comprises: reverse control means, including a manually operable means positioned at an exterior location of said vehicle, coupled to said drive means to drive said vehicle in a reverse direction upon actuation of said manually operable means and means for overriding said automatic control means upon actuation of said manually operable means; whereby said vehicle can be manually driven n a reverse direction without pulling said tiller handle to the horizontal position.

Claim 16

In a vehicle having: a front and a back; at least one steerable wheel; drive means for driving said vehicle along a surface; means coupled to said steerable wheel and to said drive means for automatically controlling the vehicle to follow a predetermined guide path; manual control means including a tiller coupled to said steerable wheel and pivotably mounted at a front of said vehicle between a vertical inoperative position and a horizontal operative position; drive control means mounted on the tiller and coupled to the guide means for manually controlling the driving of the vehicle; switch means coupling said drive control means to said drive means, said switch means having actuation means coupled to said tiller such that said switch is open when said tiller is vertically positioned and is actuated to close when said tiller is pulled downwardly to the horizontal position; said manual control means further including means for overriding said automatic control means; the improvement which comprises: reverse control means, including a manually operable means positioned at an exterior location of said vehicle, coupled to said drive means to drive said vehicle in a reverse direction upon actuation of said manually operable means and means for overriding said automatic control means upon actuation of said manually operable means; whereby said vehicle can be manually driven n a reverse direction without pulling said tiller handle to the horizontal position.

Claim 17

A vehicle according to claim 14 wherein said manually operable means is positioned at the rear portion of said vehicle.

Claim 18

A vehicle according to claim 14 wherein said manually operable means includes a button coupled to a switch biased in an open position.

Claim 19

A vehicle according to claim 14 wherein said reverse control means includes means to override said manual control means.

Claim 20

In a vehicle having: a front and a back: at least one steerable wheel; drive means for driving said vehicle along a surface; means coupled to said steerable wheel and to said drive means for automatically controlling the vehicle to follow a predetermined guide path; manual control means including a tiller coupled to said steerable wheel and pivotably mounted at a front of said vehicle between a vertical inoperative position and a horizontal operative position; drive control means mounted on the tiller and coupled to the guide means for manually controlling the driving of the vehicle; switch means coupling said drive control means to said drive means, said switch means having actuation means coupled to said tiller such that said switch is open when said tiller is vertically positioned and is actuated to close when said tiller is pulled downwardly to the horizontal position; said manual control means further including means for overriding said automatic control means; an abutment detecting means at the front of said vehicle for detecting and presence of an obstacle in front of the vehicle; and circuit means coupling said abutment detecting means to said automatic control means for disabling said automatic control means and said drive means when an abutment is detected by said abutment detecting means; the improvement which comprises: reverse control means, including a manually operable means positioned at an exterior location of said vehicle, coupled to said drive means to drive said vehicle in a reverse direction upon actuation of said manually operable means; and means, coupled to said reverse control means, for overriding said abutment detecting circuit means to the extent that it disables said drive means when said reverse control means manually operable means is actuated.

Claim 21

In a vehicle having: a front and a back: at least one steerable wheel; drive means for driving said vehicle along a surface; means coupled to said steerable wheel and to said drive means for automatically controlling the vehicle to follow a predetermined guide path; manual control means including a tiller coupled to said steerable wheel and pivotably mounted at a front of said vehicle between a vertical inoperative position and a horizontal operative position; drive control means mounted on the tiller and coupled to the guide means for manually controlling the driving of the vehicle; switch means coupling said drive control means to said drive means, said switch means having actuation means coupled to said tiller such that said switch is open when said tiller is vertically positioned and is actuated to close when said tiller is pulled downwardly to the horizontal position; said manual control means further including means for overriding said automatic control means; an abutment detecting means at the front of said vehicle for detecting and presence of an obstacle in front of the vehicle; and circuit means coupling said abutment detecting means to said automatic control means for disabling said automatic control means and said drive means when an abutment is detected by said abutment detecting means; the improvement which comprises: reverse control means, including a manually operable means positioned at an exterior location of said vehicle, coupled to said drive means to drive said vehicle in a reverse direction upon actuation of said manually operable means; and means, coupled to said reverse control means, for overriding said abutment detecting circuit means to the extent that it disables said drive means when said reverse control means manually operable means is actuated.