| 摘要 |
The guided travel control method and guided travel control apparatus capable of creating a traveling course by teaching only target earth unloading points, without traveling through all passage points of the traveling course, prior to the guided traveling, when each traveling course to each target earth unloading point is taught, thereby increasing the efficiency of teaching operation and also increasing the operation efficiency. In the invention, a corrected traveling course for guiding an unmanned vehicle is created based on a hopper detour area, a corrected target earth unloading position, and a target movement direction in a target earth unloading position such that the unmanned vehicle moves in the target movement direction to the corrected target earth unloading position without interfering with the hopper detour area, then the unmanned vehicle is guided to travel along the created corrected traveling course.
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