| 摘要 |
<p>PURPOSE:To control the traveling of an automatically guided vehicle based on present and objective position information of a prescribed path by selecting a means detecting an obstacle in forward/side/oblique direction to the path under noncontact state and a required detection means depending on the presence/absence of a preceding track combined together. CONSTITUTION:Obstacle detection sensors 7A-7L for forward/oblique/side directions of the path are provided on the traveling track and when it is detected (5A) that the track enters the combined section, the sensors 7A-7L are operated into the selecting state to detect a track combined from other path. In case of detection, the track is stopped and in case of undetection, the track is started for traveling, and when the state of the obstacle sensors is unchanged for a prescribed time or over in the priority route, the track is started and various controls 10 such as adjustment 6 of the detection range of the obstacle sensors depending on the attitude angle of track and the traveling distance after entering the combined section are attained between tracks and the route having an index of start/end point is subjected to control 10 based on the present and objective position information 1 to run the tracks 11A, 11B. Through the constitution above, the equipment is remarkably reduced and the route changed is easily coped with by this system.</p> |
