초록 ▼

A sensor that detects the boundary between a first, relatively higher surface, such as the un-mowed vegetation and a second, a relatively lower surface, such as the mowed vegetation, and a controller for steering the semi-autonomous or autonomous vehicle along detected boundary. The boundary between

A sensor that detects the boundary between a first, relatively higher surface, such as the un-mowed vegetation and a second, a relatively lower surface, such as the mowed vegetation, and a controller for steering the semi-autonomous or autonomous vehicle along detected boundary. The boundary between the two surfaces is detected using a plurality of non-contact distance measuring sensors aligned in same direction, and processes these distance measuring sensors for determining the distance sensors that measure said first relatively higher surface and the distance sensors that measure the second relatively lower surface.

대표청구항 ▼

1. An apparatus for detecting a boundary between a first, a relatively higher surface, and a second, a relatively lower surface, comprising: a) a plurality of non-contact distance measuring sensors aligned in a substantially linear array spaced apart from each other; andb) a control means for determ

1. An apparatus for detecting a boundary between a first, a relatively higher surface, and a second, a relatively lower surface, comprising: a) a plurality of non-contact distance measuring sensors aligned in a substantially linear array spaced apart from each other; andb) a control means for determining said distance sensors that measure said first relatively higher surface and said distance sensors that measure said second relatively lower surface. 2. An apparatus in claim 1, where the non-contact distance measuring sensors are optical, infrared, ultrasonic, radar, capacitive, laser, or vision. 3. An apparatus in claim 1, where substantially linear array is a number of sensors, M, aligned in at least one row, N. 4. An apparatus in claim 1, where substantially linear array is a number of sensors, M, in multiple linear rows, N, where the rows, N, are at various reference distances from first relatively higher surface. 5. An apparatus in claim 1, where control means is electronic circuits. 6. An apparatus in claim 1, where control means is microcontroller. 7. An apparatus in claim 1, where the boundary designates the cut and uncut vegetation. 8. An apparatus in claim 1, where the boundary designates the curb between the sidewalk and the street. 9. An apparatus in claim 1, where the boundary designates the furrow between plowed and un-plowed field. 10. Apparatus in claim 1, where the boundary designates the row of vegetation. 11. Guidance apparatus for a robotic vehicle comprising; a) at least one boundary sensor which contains a plurality of non-contact distance measuring sensors aligned in essentially transverse to the normal direction of travel of said vehicle in which the boundary is determined between the distance sensors measuring a first, relatively higher surface, and said distance sensors measuring a second, relatively lower surface;b) a navigation sensor means which determines the location of the vehicle; andc) a computer means which integrates the boundary sensor with the navigation sensor to provide a guidance signal for steering said vehicle. 12. The guidance apparatus in claim 11, where the navigation sensor is a GPS sensor, compass, paddle sensor, vision, RF, or other sensors to indicate the vehicle orientation or location. 13. The guidance apparatus in claim 11, where the computer means using a Kalman filter to integrate the boundary sensor with the navigation sensor. 14. A system for guiding a vehicle along a path defined by a first, relatively higher surface and a second, relatively lower surface, the system comprising: a) a plurality of non-contact distance measuring sensors aligned in essentially transverse to the normal direction of said vehicle travel so sense the vertical distance from the surfaces with distance sensors measuring a first, relatively higher surface, and distance sensors measuring a second, relatively lower surface; andb) a control means for producing control signals for said vehicle in response to said distance sensors showing a deviation from said path.