| 摘要 |
PURPOSE:To improve efficiency for carriage by detecting whether an object to be an obstacle exists in the advancing direction of the own carrier or not and detecting the moving direction and moving speed of the object to be the obstacle. CONSTITUTION:Based on a detection signal from a sensor directed to the front advancing direction of the own carrier, an obstacle detection processing 8 decides whether the object exists in the front advancing direction or not. When it is decided in this obstacle detection processing 8 that the obstacle exists in the front advancing direction, a speed and distance detection processing 9 measures the speed and the distance from the own carrier and a calculation processing 10 calculates a relative space between the own carrier and the object after the lapse of fixed time. Thus, the change amount of a current relative position is calculated from the respective predictive positions of arrival and the speed of the own carrier is controlled so as to be accelerated in an acceleration processing 12 in the case of enlarging the change amount or to be decelerated in a deceleration processing 13 in the case of reducing it. |
