| 摘要 |
PURPOSE:To always attain to return to a guided course at a constant angle and to enable an automatically guided travel over a long distance by executing a steering traveling based on a result operated from information detected by the tip of a guide pass detector and the information of an angle to come into the guiding course. CONSTITUTION:At the front part of a truck 11, a guide pass detector 21 is provided and detects a guiding course 1 and detects an automatically guided vehicle 10 and the guiding course 1 and measures the deviation quantity of the automatically guided vehicle 10 and the guiding course 1. To a storage device 310 included in a control device 30, a route necessary for automatically guiding is set, for example, by the coordinates of X-Y system, and the steering angle of a steering wheel 12 and the number of revolutions of driving wheels 13 and 14 at respective positions of axes and the traveling conditions of a stop position, etc., are stored and are controlled through a central processing unit 300. When the automatically guided vehicle deviates from the guiding course 1, one edge of the detector 21 detects the guiding course 1 and the vehicle rushes into the guiding course, and at this time the interval between a rushing angle and the center line of the vehicle of the detector is measured, the steering angle is operated and the automatically guided vehicle is steered.
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