| 摘要 |
PURPOSE:To prevent a movable body from entering an entry inhibition area and to eliminate alarm release operation by providing a means which insures the movable body against entering the entry inhibition area and stops it on the boundary of the entry inhibition area. CONSTITUTION:An interpolation device 7 consists of configured with a speed component pulse string generation part 71, a straight line/arc interpolation processing part 72 and a moving amount integration/update part 73, and generates a pulse string per unit hour. According to a moving speed command the generation part 71 generates a certain pulse, and the processing part 72 converts the pulse by a linear action or an arc one. Then the update part 73 as a stop means integrates and updates the moving amount (pulse number) from the pulse string. As a result the moving body is decided whether it enters the entry inhibition area or not, and can be stopped at a position 12 on the boundary 11. Thus the entry of the moving body to the entry inhibition area can be prevented to maximize a moving area, and besides an escape operation (alarm release) from the entry inhibition area can be eliminated.
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