CONTROL METHOD FOR MOVABLE DOLLY

摘要

PROBLEM TO BE SOLVED: To enable unmanned traveling to the instructed destination while avoiding an obstacle on a passage even without installing a marker for guide on a moving path or even in an environment having a crossing or the dead end of a road. SOLUTION: The traveling and steering of a dolly are controlled by a program for sensor for detecting and avoiding the obstacle and compensating the parallelism of a car body to the passage on the basis of outputs from plural sensors for sensing the peripheral part of the car body of the dolly, a program for image for recognizing the crossing or corner of the passage based on the images in the advancing direction of the dolly provided from plural cameras 2a and 2b provided on the dolly and a main program for determining the advancing direction and controlling a traveling speed or steering quantity corresponding to the operated results of both the above programs. This control is performed while considering the output results of sensors and the processing results of images from the cameras 2a and 2b.