| 摘要 |
Traveling paths over an entire traveling area are arbitrarily determined and can be flexibly changed. Traveling paths in the traveling area (20) where a moving body is to travel are arranged beforehand. For example, the marks adjacent to one another vertically and horizontally are rotated by 90{ and the marks adjacent to one another in oblique directions are inclined at the same angle. Therefore, when arbitrary predetermined traveling paths (A, B) in the predetermined traveling area (20) are selected and the moving body travels along the paths (A, B), line segment crossing detectors mounted on the moving body detect crossing all line segments which constitute predetermined passing marks corresponding to the paths (A, B). In this manner, it is possible to detect deviation from the paths (A, B). Also, even if some of more than two line segment crossing detectors cannot detect crossing all the line segments which constitute predetermined passing marks (paths C, D), at least one line segment crossing detector can detect crossing all the line segments which constitute the predetermined passing marks (paths A, B), whereby it is possible to detect deviation from the course. |
