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4-30 Description and Operation
Figure 18. Bump points to correct the driving distance
KEY: 1. Bump point - 2. Bump point
4.4.2.2 Speed
The number of revolutions of the motors are also used to calculate the speed. The speed can be set for a
route or for an action in a route.
4.4.2.3 Distance to a Wall
The ultrasonic sensor sends a pulsed ultrasound wave at an object and then measures the time for the
sound echo to return.
4.4.2.4 Direction
At the start of a route, the angle with the wall is 0 degrees. During the route the gyroscope calculates
each deviation from a straight line. This information is used to control the direction of the vehicle. This is
especially important during so called 'short actions', when there is no contact with the wall.
Short actions
Short actions are:
• Straight.
• Turn L <–.
• Turn R –>.
Due to a combination of factors like skidding, obstacles or drift from gyroscope, the calculated angle with
the wall may differ from the actual angle. This can cause the vehicle to drive in the wrong direction. This is
no problem if the control system is able to correct itself during a 'long action'.
in n o vato rs in ag ricu ltu r e
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