| 摘要 |
PROBLEM TO BE SOLVED: To properly cope with an obstacle when an opening/closing means and/or a supporting means is moving without detecting, as the obstacle, a closing means fitted to an opening part used as an entrance for the opening/closing means and/or the supporting means with obstacle detection means. SOLUTION: In those cases other than an emergency case, the opening/closing means and the supporting means are stored in a ceiling part, and the movement of these means is started in a stored state. Though the closing means is opened in conjunction with the movement of the opening/closing means and the supporting means, it may be detected as the obstacle when the opening means and supporting means are moved. To avoid this problem, after the closing means is opened, namely, after the closing means is brought into such a state that it is not detected as the obstacle when the opening/closing means and the supporting means are moved, an obstacle sensing means senses the obstacle and performs obstacle avoidance operation. COPYRIGHT: (C)2005,JPO&NCIPI
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