Robot vehicle

Claim 1

A robot vehicle for automatic operation in a predetermined travelling route which comprises: a pair of driving wheels connected to a driving device; means for detecting the revolving speed of each of said driving wheels and providing a travelling distance of said vehicle; a gyro for detecting azimuth of the travelling direction of said robot vehicle; a first memory means for memorizing a travelling program including data of a programmed travelling distance and a programmed azimuth; a control processor device which controls the travelling of said robot vehicle depending upon the travelling program of said first memory means by comparing the travelling distance and azimuth of said travelling program with a travelling distance detected by said revolving speed detector means and an azimuth detected by said gyro wherein said control processor device outputs a control signal; means for controlling the turning of said vehicle in response to said control signal by individually controlling the speed of each of said driving wheels; and calibration adjustment means including a second memory means for storing the value of said detected azimuth of said gyro at predetermined locations during said travelling route, means for adjusting said detected azimuth of said gyro to zero at said predetermined locations in said predetermined travelling route, and a means for updating said detected azimuth by the value stored in said second memory means, wherein said calibration adjustment means further includes a path deviation correcting means for correcting a deviation from a programmed straight line segment of travel of said vehicle, wherein said path deviation means provides a compensation control signal to said vehicle wheels in order to return said vehicle to said programmed straight line segment.