| 摘要 |
<p>PROBLEM TO BE SOLVED: To reproduce work including time conception and a travel route on which travel is planned, with fidelity.SOLUTION: An autonomous travel carriage comprises: a travel part; a storage part 73; an autonomous travel pass time counting part 741; and a reproduction travel command calculation part 753. The travel part travels according to a travel control command. The storage part 73 stores travel path data in which plural sub goals and arrival time are stored in association. The autonomous travel pass time counting part 741 counts autonomous travel pass time while adjusting progress of the autonomous travel pass time, in execution of a reproduction travel mode. The reproduction travel command calculation part 753 calculates a reproduction travel control command at the autonomous travel pass time, as the travel control command, based on the sub goal point which is stored in association with the arrival time immediately after arrival time corresponding to the autonomous travel pass time, in the travel path data, in execution of the reproduction travel mode.</p> |
