| 摘要 |
PROBLEM TO BE SOLVED: To prevent generation of a deadlock of an obstacle detection sensor for a plurality of movable robots before hand by setting a region where a safety securing operation is implemented when an obstacle is detected in a detection area in a circumferential part of the robot during operation at a work position and passage of another movable robot is permitted on a running way but its stop is prohibited. SOLUTION: An obstacle detection sensor 12 has obstacle detection areas A1, respectively, in a circumferential part of a moving robot 1, and when intrusion of an obstacle to the inside of the area A1 is detected in the case that the robot 1 is in operation while stopping at a working node, a safety securing operation is implemented to stop a robot arm. A stop prohibiting area A2 is set by a control part 2 and in the area A2 passage of another movable robot 1 on a running way 3 is permitted but its stop is prohibited in correspondence with the area A1 when there is one movable robot 1 stops at the working node and carries out work. Accordingly, generation of a deadlock of the sensor 12 based on interference of the detection area A1 can be prevented before hand.
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