| 摘要 |
PURPOSE:To prevent an erroneous control caused by detecting an guidance tape in the midst of a self-running and to prevent derailing from a running rout by stopping the action of a detection sensor for detecting the guidance tape at the time of guidance running until a vehicle body reaches a set position when the self-running shifts to the guidance running. CONSTITUTION:At the time of self-running in a curved part, the action of the detection sensor for detecting the guidance tape at the time of guidance running is stopped until the vehicle body reaches the set position and the detection sensor is made to detect the guidance tape where the vehicle body completes turning to the curved part so as to shift to the guidance running. According to the size of load, difference between running speeds and the circumstances of a running floor, etc., the vehicle is made to be in self-running in the curved part and when it shifts to a linear part it does not return to the center of guidance to dislocate and shifts to the guidance. As a result, the unmanned vehicle tries to return to the center of the guidance, so that the vehicle body staggers. In this case, by setting the set position where the detecting action of the detection sensor 6 is restarted as a point Q2, the guidance tape 2 can be detected if it exists in the midst of moving from the point Q2 to Q3 and Q4. A steering angle is still set as Q1. |
