| 摘要 |
PURPOSE:To execute an efficient and exact moving work by determining the moving direction of a vehicle itself based on map information to be prepared by a map preparing means and moving area information in a storing means. CONSTITUTION:A control part 22 receives signals from ultrasonic sensors 9-18 or signals from contact sensors 19-21 and executes the control of the revolution of motors 4 and 5 and the adjustment of moving quantity. Then, the moving distance of a vehicle body 1 is detected by signals from encoders 6 and 7 and a present position is recognized. In correspondence to position information, which are calculated by the control part 22, and distance information up to an obstacle, a map preparing part 23 successively recognizes an indoor shape and the arrangement condition of the obstacle and prepares the map. The prepared map information and the moving area, where the vehicle body 1 is moved, are stored in a storing part 24. A direction determining part 25 determines the moving direction of the vehicle body 1 from the map information and the information of the moving area and in correspondence to this determination, the control part 22 controls the motors 4 and 5 and causes the vehicle body 1 to execute a desired moving. Thus, the efficient and exact work can be executed.
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