| 摘要 |
<p>PURPOSE: To make possible a highly secure autonomous travel by providing a 1st guiding means which guides an unmanned carriage by utilizing a laser beam and a 2nd guiding means which guides the carrier by utilizing a guide line. CONSTITUTION: A guide area A1 which utilizes the laser beam is provided in a building B and a guide area A2 which utilizes the guide line 30 is provided in the guide area A1 in an overlapping state. Then the 1st guiding means which utilizes the laser beam performs triangulation by a laser projecting and photodetecting device 4a, and the controller 4b of the unmanned carrier 4 compares the position of the unmanned carrier 4 obtained through the triangulation with the position of the unmanned carriage 4 based upon the travel information of an encoder 4c to decide whether or not there is an error, and corrects the travel information of the encoder 4c if there in the error, thereby correcting the position of the unmanned carrier 4. Further, the 2nd guiding means guides the unmanned carrier 4 while detecting the guide line 30 by a detector 50. Therefore, the highly secure autonomous travel is realized.</p> |
