| 摘要 |
PURPOSE:To recognize an absolute position during the travel of an unmanned vehicle with high accuracy and to accurately perform position control by finding actual passing time at each travel position of the unmanned vehicle, comparing a found actual passing time with a scheduled passing time stored in advance, and controlling constant speed set in advance so as to make both coincide. CONSTITUTION:A detecting means 19 detects the detecting part of a means to be detected successively. At this time, a position arithmetic means 22 operates the travel position of the unmanned vehicle based on a successive detecting signal from the detecting means 19, and a timepiece means 22a counts the passing time when the unmanned vehicle travels in a prescribed travel section. A time finding means 22a finds the actual passing time at each travel position of the unmanned vehicle based on those operated results. Also velocity control means controls the constant speed set in advance so as to make both the found actual passing time and the scheduled passing time stored in a time data storage means 23 coincide by comparing them. Thereby, it is possible to recognize the absolute position during the travel of the unmanned vehicle with high accuracy, which enables precise position control to be performed. |
