| 摘要 |
PROBLEM TO BE SOLVED: To provide the autonomous straight advance device of an autonomous traveling vehicle capable of highly precisely operating target azimuth setting in teaching traveling in a real work. SOLUTION: The block diagram of a target azimuth setting part in an autonomous straight advance device in a teaching mode is indicated in a figure 1. The calculation of a target azimuthψtgt to be operated by a teaching managing part 41 in this figure 1 adopts a method for integrating the detected vehicle azimuth by the movement distance increment in the detection period of the azimuth, and for dividing the integrated value by a teaching distance St being the total movement distance. Thus, even when the vehicle stops during the teaching traveling, the vehicle azimuth data when the vehicle stops being the factor of an error can be removed from the basic data of the target azimuth calculation, and the calculation of the target azimuth can be highly precisely operated. Also, this device is provided with a speed sensor 8 and a steering angle sensor 11, and the steering state in which the vehicle azimuth being the factor of the error of the target azimuth calculation is detected can be judged from information obtained by those sensors, and the vehicle azimuth data in the improper steering state can be removed from the basic data of the target azimuth calculation. Thus, it is possible to highly precisely operate the calculation of the target azimuth. |
