| 摘要 |
PURPOSE:To contrive construction of a site of a complicated form by having previously the input of the lateral width and the depth of a robot traveling range to an arithmetic controller and securing the self-traveling of a robot along an indicated traveling path while evading an obstacle if detected by a bumper sensor. CONSTITUTION:A bumper sensor 14 is set at the front part of a truck 1 and has a semicircular arc-shaped sensor body 14a which is symmetrical centering on the center line of the truck 1. The sensor 14 is attached to the truck 1 via a support bar 14b. The body 14q is divided into five sensor parts I-V and the center angle of the part III is set at 60 deg. with those of other sensor parts set at 30 deg. respectively. An arithmetic controller 10 calculates the input signals received from a direction sensor 12 and a traveled distance sensor 13 and then to calculate the total position of the truck 1 via a program. In addition to this program, the controller 10 contains a control program which drives the truck 1 within a prescribed range after input of the lateral width and the depth of said range and a control program which evades the obstacles by the input signals received from the sensor 14.
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