| 摘要 |
<p>PROBLEM TO BE SOLVED: To detect a lost forward obstruction again by moving a car body forwards for a prescribed distance at very slow speed and searching the forward obstruction with an ultrasonic side distance sensor when the forward obstruction can not be detected by an ultrasonic forward distance sensor. SOLUTION: This unmanned traveling vehicle 10 is traveled while detecting the surrounding of car body 41 with an ultrasonic forward distance sensor 43 and an ultrasonic side distance sensor 44 and when any forward obstruction is detected by the ultrasonic forward distance sensor 43, the car body 41 is stopped by starting braking. While the forward obstruction is detected by the ultrasonic forward distance sensor 43 at the position where the car body 41 is stopped, an avoiding operation is performed for moving the car body 41 backwards from the stop position for a prescribed distance and moving the car body 41 forwards later so as to draw an almost S-shaped track. Besides, when no forward obstruction can be detected by the ultrasonic forward distance sensor 43 at the position where the car body 41 is stopped, a searching operation is performed for moving the car body 41 forwards at very slow speed and seaching the forward obstruction with the ultrasonic side distance sensor 44.</p> |
