| 摘要 |
PROBLEM TO BE SOLVED: To very easily and accurately correct guided travel based on a gyroscope sensor in an unmanned vehicle. SOLUTION: In this unmanned vehicle where the gyroscope sensor 4 for detecting the attitude angle of a car body is mounted, a controller 5 performs guided travel on the basis of the data of the attitude angle of the car body, detected by the sensor 4, a magnetic sensor 10 for detecting a magnetic nail 9 installed on a travel line and detecting a horizontal deviation distance of the car body 3 from the line 8 is attached, and the controller 5 corrects the guided travel on the basis of the data of the horizontal deviation distance of the body 3 from the line 8, detected by the sensor 10, the controller 10 controls so as to make the unmanned vehicle travel in a preset prescribed traveling direction as far as a travel distance corresponding to the data of the horizontal deviation distance of the body 3 from the line 8 in the case of correcting the guided travel on the basis of the data of the horizontal deviation distance of the body 3 from the line 8, detected by the sensor 10.
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