| 摘要 |
PROBLEM TO BE SOLVED: To simplify a constitution by reducing the number of necessary sensors, and to simplify the constitution of a marker at a traveling path side while maintaining high stopping precision at a stopping position. SOLUTION: The bottom part of a main body 17 is provided with backward and forward traveling guide sensors 25 and 26 arranged at the front and rear parts for detecting backward and forward traveling guide lines, and lateral guide sensors 28 and 27 at the right and left parts for detecting lateral traveling guide lines. Also, the bottom part of the main body 17 is provided with marker sensors 29 and 30 positioned at a pair of diagonal intersection points of virtual lines L1 and L2 horizontally extended from the backward and forward traveling guide sensor 25 and 26 and virtual lines L3 and L4 vertically extended from the lateral traveling guide sensor 27 and 28 for detecting stop markers. A control circuit operates stop control based on the detection of the stop markers by the marker sensors 29 and 30 and the lateral traveling guide sensors 27 and 38 when the main body 17 is traveling back and forth, and operates stop control based on the detection of the stop markers by the marker sensors 29 and 30 and the backward and forward traveling guide sensors 25 and 26 when the main body 17 is laterally traveling.
|
