| 摘要 |
PROBLEM TO BE SOLVED: To perform obstacle evading travel by temporarily switching to autonomous travel when an obstacle is detected by an obstacle detection sensor even during manual travel and to use a part of a sensor used in the operation mode of autonomous travel also as the obstacle detection sensor used in the operation mode of manual travel. SOLUTION: During the manual travel, left and right drive wheels are rotation-free. At the time, a traveling main body travels forward by being pulled by a work member for a manual operation. Then, when a diagonal forward left obstacle detection sensor and a diagonal forward right obstacle detection sensor detect an obstacle present diagonally forward while traveling, the rotary drive of the left and right drive wheels by a wheel travel motor is turned on and the evading travel for bypassing the obstacle is started. Then, when prescribed time elapses after starting the evading travel, the evading travel is ended. Then, the rotary drive of the drive wheels by the wheel travel motor is turned off to make the drive wheels rotation-free again. COPYRIGHT: (C)2007,JPO&INPIT
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