| 摘要 |
PROBLEM TO BE SOLVED: To effectively use an irradiation pattern control function to detect the direction of an obstacle by successively switching plural infrared beam irradiation patterns and scanning an irradiation area of an infrared beam in its width direction when the obstacle is detected. SOLUTION: If an obstacle is detected in one of areas C, R, L, OR, OL, SR and SL where the stoppage of traveling of a vehicle is detected, an infrared sensor 7 outputs a stop signal after deciding the possibility of a collision between the obstacle and the vehicle. Receiving the stop signal, the vehicle is quickly stopped. Under such conditions, an irradiation area is scanned in its width direction by the control of the irradiation pattern of the sensor 7, i.e., by varying the control signals to the sensor 7 and successively switching the irradiation patterns of infrared beams. Then the presence or absence of a detected reflected beam is decided for each of irradiation pattern of infrared beams. Thus, the detecting direction of the obstacle is decided and graphically displayed to the manager of an automated guided vehicle.
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