| 摘要 |
PURPOSE:To drive an omnidirectional traveling vehicle close enough to an obstacle like a station or a wall existing in front on the driving course of the vehicle with a prescribed distance secured. CONSTITUTION:When an omnidirectional traveling vehicle 1 travels to a point B from a point A and vice versa, an obstacle sensor 8 detects a station 6 near the point A or a wall 13 near the point B as an obstacle. Thus the vehicle 1 is decelerated by the detection signal of the sensor 8 and the signal sent from a control part 11. At the same time, the detecting function of the sensor 8 is stopped. Thus the vehicle 1 can approach the station 6 or the wall 13 regardless of a 150cm detection range of the sensor 8. Then the vehicle 1 is stopped when the drive sensors 7 set in front of the driving course of the vehicle 1 are unable to detect a drive mark 9. In other words, the vehicle 1 is stopped at a position close enough to the station 6 or the wall 13.
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