| 摘要 |
PURPOSE:To freely run a free running vehicle along a free running line by driving a driving means with the extent of driving, which is operated based on the direction and the speed calculated in accordance with red coordinate values of two positions on the free running vehicle and the coordinate value of a target position, to run the free running vehicle. CONSTITUTION:The free running vehicle is driven by the driving means, and coordinate values of at least two positions on the free running vehicle are read, and the direction in which and the speed at which the free running vehicle should go are calculated in accordance with read coordinate values of two positions and the coordinate value of the target position of the free running vehicle. The extent of driving of the driving means is operated based on these direction and speed, and the driving means is driven with the extent of driving operated by an operating means to run the free running vehicle. Consequently, the position and the direction of the free running vehicle are detected, and proper direction and speed for the target position are operated, and the free running vehicle is driven based on these direction and speed so that it goes to the target position. Thus, the free running vehicle is freely run along a free running line. |
