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提出一种引导无导轨自移动作业机械的引导方法。该方法用引导点形成可变更的引导路径。采用盘形磁钢作为引导点，ＨＡＬＬ器件构成的阵列位置偏差传感器组成走行偏差检测系统，进行了仿真计算和实验研究。
A guidance method to guide the self-moving work machine without guide rail is proposed. This method forms a changeable guide path with the pilot point. Disk shaped magnet is used as the guide point. The array position deviation sensor formed by HALL device is composed of walking deviation detection system, and the simulation calculation and experimental research are carried out.