| 摘要 |
PURPOSE:To control the movement of a moving robot in an optional direction by arranging plural direction discriminating sensors in one direction of the robot and setting up marks on direction converting points in accordance with the sensors. CONSTITUTION:When the robot reaches a point S3, line sensors 15, 16 detect the line of a circle 41, the direction of the robot is corrected so as to be turned to the center of the circle 41 on the basis of the detecting signals and the robot is advanced from the position by the radius (r) of the circle 41 which has been previously stored and stopped at the center part of the circle 41. The robot rotates the body at the center of the circle 41 and the direction discriminating sensors 13a, 13b, 14a, 14b detect marks M1-M4 and the direction of the robot is discriminated on the basis of the detected contents. When the body is turned to the direction of a specified work station, the rotation of the body is stopped and then the robot advances in the direction of the specified work station. Thus, the robot advances to working areas W1-W7 corresponding to specified work stations 51a-51g to execute specified work such as arm operation, loading/unloading of a container and automatic docking to an automatic charging jack. |
