| 摘要 |
PCT No. PCT/SE94/00696 Sec. 371 Date Feb. 23, 1996 Sec. 102(e) Date Feb. 23, 1996 PCT Filed Jul. 18, 1994 PCT Pub. No. WO95/03567 PCT Pub. Date Feb. 2, 1995A method and a system for controlling an AGV for route selection upon transfer between different spaces within which the AGV is movable. The spaces are not fixedly related to each other with reference to their relative positions and are restricted from each other by the inclusion of area boarder lines. When an AGV is present within a first of the spaces, it detects for the purpose of transfer of the spaces, the relative position of the space by two reference instruments belonging to the second space. Each of the reference instruments is fixedly related to the present space. The AGV will move over the area border lines between the two spaces selecting route depending on calculating relative position. |
