| 摘要 |
PROBLEM TO BE SOLVED: To provide a control unit of an autonomous traveling service car which allows the autonomous traveling service car to efficiently perform work in a work area including a narrow path area and a wide path area.SOLUTION: A control unit 31 of an autonomous traveling service car includes a magnetic field strength detector that detects the strength of a magnetic field induced by current flowing through an area wire, a traveling controller 311 that controls traveling means on the basis of a detection value of the magnetic field strength detector so that a service car traveling in a work area can turn and rectilinearly travel every time the service car reaches the area wire, and a narrow path decider 312 that, when the detection value of the magnetic field strength detector obtained until the service car makes a second turn successively to a first turn is larger than a threshold preliminarily designated based on a minimal magnetic field strength induced in the narrow path area, or when the detection value of the magnetic field strength detector obtained successively to the first turn is continuously larger than the threshold over a predetermined period of time, decides that the service car is traveling in the narrow path area.SELECTED DRAWING: Figure 7 |
