| 摘要 |
PURPOSE:To ensure the effective traveling of a car up to a target point, by switching the car to an automatic traveling mode after deciding the steering scanning degree from the distance traveled to be measured and the data stored previously in case the reception of laser light becomes impossible. CONSTITUTION:A laser light source 1 is provided at a prescribed position A to emit the laser light to scan the inside of a horizontal plane. This laser light is modulated so that the information showing the light emitting direction is put on the laser light. While a car 2, a traveling object, contains three photodetectors 3 which are arrayed on a line with a fixed space among them. If an obstacle 5 cuts off the laser light, the laser light does not irradiate the photodetectors 3 although the prescribed time elapses. Therefore the control method is changed when the time elapsed is measured after irradiation of the laser light and this time elapsed exceeds the prescribed value. Then the distance traveled is measured, and the present position of the car 2 is estimated from the data which is previously stored. Then the traveling of the car 2 is controlled toward the target point. |
