| 摘要 |
PURPOSE:To avoid misconversion of direction generated in the middle of a traveling course, by inhibiting and releasing the control for conversion of direction on the basis of the traveling course information which is calculated and stored after teaching previously the outer circumference of a working area. CONSTITUTION:An unmanned truck is provided with copying sensors 5A and 5B which detect the boundary between a worked area and an unworked area, a distance sensor 7 which detects the distance traveled of the truck, a direction sensor 8 for traveling direction of the truck, and a contact type obstacle sensor 6. The truck travels along the outer circumference 12D of a working area. Then the teaching is given to the circumference 12D by sampling the direction information theta detected by the sensor 8 and for each prescribed traveled distance l0 which is detected by the sensor 8. The traveling course distances l1-ln are calculated and stored for each course on the basis of the information theta, the distance l0 and the work width (d) of a traveling course. When the actual traveled distance of each course is nearly coincident with the stored distances l1-ln or when the sensor 6 detects an obstacle, the traveling direction is automatically converted by a hydraulic cylinder 9. |
