| 摘要 |
PURPOSE:To eliminate the needs for laying guide such as a metallic tapes on a travel route by using regular patterns provided on the floor of a clean room and the like and guiding an unmanned vehicle. CONSTITUTION:A picture processing circuit 5 processes a travel picture inputted from a CCD camera 4, and the arrangement pattern picture of through holes 1 is extracted. A deviation quantity detection circuit 6 detects from the extracted arrangement pattern the deviation quantity of a travel mechanism part 3 from the travel route. A guide control circuit 7 outputs a steering command to the travel mechanism part 3 so that it corrects the detected deviation quantity. A travel control part 12 stores the travel route as a panel number group, and instructs departure, stop, travel direction to the travel mechanism part 3 from the travel panel number group and a panel number which is being traveled. Thus, it comes to be unnecessary to lay guide such as the metallic tapes on the travel route. |
