Patent ID: 8983693
Filing Date: 2015-03-17
Classification: G05D

Abstract:
1. An apparatus for guiding an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, prime movers for driving wheels, and magnetic sensors for detecting intensity of a magnetic field of an area wire, the vehicle being controlled to run about in an operating area defined by the area wire through wheels driven by the prime movers to perform an operation using the operating machine and to return to a charging device installed on the area wire so as to charge the battery, wherein the apparatus comprises a controller configured to control the vehicle in an operating mode and in a return mode, wherein in the operating mode, the controller controls the vehicle to run about in the operating area to perform the operation using the operating machine, and in the return mode, the controller controls the vehicle to run on the area wire so as to return the vehicle to the charging device, and at a position near the charging device, the area wire is laid with an offset to right or left when viewed in a plane such that, as the controller controls the vehicle in the return mode to run on the area wire and the offset of the area wire to the charging device for connection with the charging device, the vehicle is turned from a straight-running position to a direction of the offset and then is returned to the straight-running position, thereby guiding the vehicle to the charging device.