| 摘要 |
<p>PURPOSE:To reduce an area where the work is tried again, by keeping an unmanned work vehicle traveling up to a position where the body of the vehicle can touch an obstacle as close as possible based on the data on the area of the obstacle. CONSTITUTION:The data showing an area where the obstacles can touch the body 10 of the unmanned work vehicle are previously stored in the work traveling data 31. A controller 30 recognizes the present position of the body 10 based on the signals received from the encoders 17 and 18 and decides whether the body 10 is included in the preceding area or not based on the data 31. If a sensor 11 detects an obstacle when the body 10 is not included in the area, the controller 30 stops the body 10 with a room secured to the obstacle. Meanwhile, the controller 30 reduces the traveling speed of the body 10 when the sensor 11 detects an obstacle when the body 10 is included in the area. Then, the body 10 is made to stop after it moved by a distance that can be presumed between the body 10 and the obstacle when the traveling speed of the body 10 is reduced. As a result, the parts to be cleaned again, for example, can be decreased.</p> |
