| 摘要 |
PROBLEM TO BE SOLVED: To provide a safety device of an automatic driving apparatus, and a method of controlling the automatic driving apparatus capable of preventing a collision between a movable portion and an operator or the like while enabling the movable portion to be operated safely even when the operator and the other automatic driving apparatus enter within an operation area of the movable portion of the automatic driving apparatus and safely perform their operation. SOLUTION: The safety device (10) of the automatic driving apparatus has a control unit (21) for controlling an operation of the movable portion which moves along a predetermined path, and an imaging unit (11) for acquiring an image which picked up a monitoring area to be set on the movable portion and a predetermined path. The control unit (21) has a position detecting means (31) for detecting a position of the movable portion based on the image, a determining means (32) for determining whether an invading object exists within the monitoring area or not, a moving distance calculating means (33) for calculating a moved distance from a position of the movable portion until the monitoring area, and a collision preventing means (34) for making the movable portion to be stopped or decelerated if the moved distance is less than a predetermined distance when an invading object is determined exist within the monitoring area. COPYRIGHT: (C)2008,JPO&INPIT
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