JP3362154B2 - Guided traveling vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention
Self-propelled along thisInductiveRelated to running vehicles. [0002] 2. Description of the Related ArtInductiveTraveling vehicles are conventionally
A single driving route consisting of
I was traveling along this road. [0003] However, any of a plurality of travel routes is optional.
Choose a route along and follow itInductiveRun the vehicle
You may want to let it go. One hand to meet such demands
The method is to connect the leads in parallel to form multiple loops.
To form multiple driving routes.
Although it is conceivable, if you connect the induction wires in parallel,
The value of the current flowing through the conductor is different, especially long and large resistance
The value of the current flowing through the inductive wire becomes smaller,Invitation
InductionA situation occurs that cannot be detected by the traveling vehicle. [0004] Therefore, a plurality of traveling routes are provided by one guide line.
Attempts have been made to constructInductiveMultiple running vehicles
Select the desired route from the travel routes
Self-propelled along the road. In this case, configure multiple loops.
Since there is only one guide wire, the
The flow value is constant,InductiveWhich route the traveling vehicle runs
Even if you goInductiveThe traveling vehicle is invited along the route
Always be sure to detect the conductor and travel along the
Can be. [0005] By the way, in the above case,InductiveTraveling vehicle
Is to detect fixed points along the travel route
Various information depending on (for example, whether there is a junction or a junction)
The fixed point is to wind a part of the guide wire in a coil.
It is also constituted by That is, a part of the induction wire is
If it is wound in a shape, the part will have a stronger magnetic field than the other parts
Is generated. By detecting this strong magnetic field,
It is possible to know the existence of fixed points (hereinafter referred to as guide line fixed points)
Wear. [0006] However, the above-mentioned problem is not solved.
When a plurality of loops are configured with one guide wire as in
Strong magnetic field is generated at the junction and junction of the conductor
For clearing, the branch point or junction and the guidance line fixed point are clearly determined.
It becomes impossible to separate,InductivePrecise control of running vehicles
A problem arises in that control cannot be performed. [0007] The present invention has been made in view of the above problems.
The target location is the branch point or junction of the guide line.
By clearly discriminating the fixed point of the guidance line, accurate control
Is doneInductiveIt is to provide a traveling vehicle. [0008] Means for Solving the Problems In order to achieve the above object,
The invention relates to a guide line provided on a traveling path and a part of the guide line.
To detect a fixed point of the guide wire formed by winding a coil
At least a pair of left and right guide wire sensors and a branch point of the guide wire
And fixed point set near the junction
A fixed point sensor, and at least a pair of left and right guide wire sensors
Calculates the amount of deviation from the body guidance line based on the signal from
Normal mode, and either one of the left or right guiding line sensor
Ignore the signal from
Control means having a branch / merge mode for calculating a deviation amount
, Including self-propelled along guidance linesInductiveRunning
In the vehicle,When detecting a signal from the guidance fixed point
In the normal mode,
While changing the running speed,The fixed point sensor is
Control mode changes from normal mode by detecting branch / merge fixed point
After switching to branch / merge mode, return to normal mode
Until it is returned, the signal from the fixed point
A function to ignore is added to the control means.
You. [0009] According to the present invention, the fixed point sensor is a branching / merging fixed point.
When the vehicle approaches the fixed point where the vehicle branches and joins,
Since the signal from the point is ignored,InductiveThe traveling vehicle branches
・ It is not possible to mistakenly detect the fixed point as a fixed point
And saidInductiveAccurate control of the traveling vehicle becomes possible. Soshi
In the normal mode, the guidance
Changing the traveling speed of the traveling vehicle and branching
Or, while merging, even if the fixed point of the guidance line is detected
Even at a constant speed without changing the running speed
The vehicle can be branched or merged. [0010] DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the accompanying drawings.
explain. FIG. 1 relates to the present invention.InductiveBasics of traveling vehicles
FIG. 2 is a perspective view showing a configuration, and FIG. 2 shows a loop configuration of a guide wire.
Figure 3InductiveConfiguration of steering control system for running vehicle
FIG. 4 shows a control procedure of the steering system.
It is a flowchart shown. First, based on FIG.InductiveOf traveling vehicle 1
Explaining the basic configuration,InductiveThe traveling vehicle 1 has its body
A pair of left and right front wheels 3, which are steering wheels in front and rear of 2, and drive wheels
The pair of left and right rear wheels 4
Is held. A substantially central portion in the vehicle width direction of a front portion of the vehicle body 2
The steering shaft 5 is obliquely upward toward the rear
The steering wheel
6 at the lower endfront wheelLeft and right pair for steering 3
Are connected to each other. And
A steering motor 8 is provided near the steering shaft 5.
The output shaft end of the steering motor 8
Pulley 9 attached to the steering shaft 5
Connected via a pulley 10 and a belt 11
You. [0014] Further, the vehicle body 2 is buried under the ground in the lower front part.
Three lead wire sensors for detecting a guided lead wire 12
13L, 13C, 13R are juxtaposed at appropriate intervals in the vehicle width direction
Have been. These guidance line sensors 13L, 13C, 1
3R is generated by current flowing through the induction wire 12.
A sensor for detecting a magnetic field,
Is installed at the center in the vehicle width direction, and the guide line
Sensors 13L and 13R are provided. And each lead
The line sensors 13L, 13C, 13R are connected via an amplifier 14
Electrically connected to the main controller 15 as control means.
Has been continued. The main controller 15 has a steer
The steering mode is controlled via the ring controller 16.
8 is electrically connected. On the other hand, a driving source is provided at a substantially central portion of the vehicle body 2.
The engine 17 is mounted, and the intake air of the engine 17 is provided.
Carburetor 18 and throttle motor 19 are connected to the system
The pulley 20 is connected to the output shaft end of the engine 17.
Is bound. A cell die is provided before and after the engine 17.
A namo 21 and a differential device 22 are provided, respectively.
Pulleys 23 and 24 connected to these input shafts and the pulleys
Belts 25 and 26 are wound between the
ing. The throttle motor 19 and the cell dynamo
21 is a power supply to the main controller 15 as shown in the figure.
It is pneumatically connected. Incidentally, from both sides of the differential device 22
The rear axle 27 extends, and at the outer end of each rear axle 27
The rear wheel 4 is connected. And one rear axle 2
7, an electromagnetic brake 28 is interposed. Also, the difference
An encoder 29 is provided below the driving device 22.
The encoder 29 and the electromagnetic brake 28
Are electrically connected to the in-controller 15, respectively.
You. The electromagnetic brake 28 is an input shaft of the differential device 22.
It may be attached to. Further, a traveling loop is provided substantially below the center of the vehicle body 2.
Are installed near the junction A and the junction B (see FIG. 2).
The fixed point sensor 30 for detecting a fixed point (not shown)
The fixed point sensor 30 is attached to the main controller.
It is electrically connected to the roller 15. Also, behind the steering wheel 6
Is provided with an operation panel 31.
A traveling direction switch 33 (see FIG. 3) is provided above.
I have. When the occupant operates the traveling direction switch 33
At the forkInductiveOne where traveling vehicle 1 should advance
The direction can be selected. The traveling direction switch 3
3 is electrically connected to the main controller 15
I have. FIG. 3 shows the structure of the steering control system.
However, in the main controller 15, the vehicle body 2 is invited.
Deviation amount calculation unit for calculating the deviation amount x from the conductor 12
34, increased from the guide wire sensors 13L, 13C, 13R.
The analog signal input through the width unit 14 is converted into a digital signal.
A / D converter 35 for converting the deviation into
The steering motor according to the deviation x calculated
Motor for calculating the current command value to 8
A current command value calculator 36 is incorporated. Maincon
The controller 15 further includes a memory 37 and the fixed point sensor 3.
0 and interfaces 38 and 3 of the traveling direction switch 33
9, fixed point determination unit 40, travel distance (time) calculation unit 41,
A magnetic brake controller 42, a throttle control calculator 43,
The cell dynamo control operation unit 44 is incorporated,
Brake control unit 42, throttle control calculation unit 43, cell
The dynamo control calculation unit 44 includes the electromagnetic brake 28 and the switch.
Rottle motor 19 and cell dynamo 21 are connected respectively
Have been. In this embodiment, as shown in FIG.
In addition, there is one guide wire 12, and this one guide wire 1
2 form two loops L1 and L2. That is,
The guide wire 12 derived from the AC power supply 42 has a rectangular short side.
A portion which constitutes
B portion constituting the long side of the rectangle, and a certain size from the b portion
It is bent by changing the direction by approximately 90 °
A portion c extending in parallel with the portion a, and
The long side of the rectangle is bent by changing the direction by approximately 90 °
Part d that constitutes a part of, and bent at a substantially right angle from the d part
An e portion that is extended toward the b portion, and the e portion
From the part b and diverge from the part b,
An f portion extending toward the d portion substantially in parallel with the
Change the direction by approximately 90 ° by providing a constant large R from the part
Bends and joins the d part, an extension of the d part
And a portion g extending upward and connected to the AC power supply 42.
Has been established. Thus, in this embodiment,InductiveTraveling vehicle 1
The travel route of
That two routes along the loops L1 and L2 are formed
An alternating current flows through the induction wire 12 in the direction indicated by the arrow.
You. At this time, the f portion of the guide wire 12 branches from the b portion.
At the junction A where the junctions A and d meet,
b and f parts and d and f parts are the same
Direction current flows. In this embodiment, the portion e of the guide wire 12 is
InductiveThe original function for leading the traveling vehicle 1 has been fulfilled.
Instead, two loops L1 and L2 are formed by one guide wire 12.
Is the extra line needed to create
A, a predetermined distance t from the junction B (in this embodiment,
t = 30cm) at positions separated by b and d
Each makes a right angle. This guides the lead wire 12
Line sensors 13L, 13C, 13R move across at right angles
In this case, the guide line sensors 13L, 13C, 13R
Is difficult to detect the magnetic field of the guide wire 12
Therefore, it is erroneously detected that the portion e of the guide line 12 is a traveling road.
It is to prevent. Note that, at a predetermined distance t in FIG.
The portions b and f and the portions d and g of the conductor 12
Overlap (however, electrically non-contact
Is kept in a state). In the present embodiment, the guide wire 12 is
Fixed location (in this example,InductiveStop position of traveling vehicle 1)
Is wound in a coil shape to form a fixed point of the induction wire.
The guide line fixed points are the guide line sensors 13L, 13C, 13R.
Is detected by Thus, the command from the main controller 15
The cell dynamo 21 is driven based on the
When started, a part of the output of the engine 17
0, the belt 26 and the pulley 24,
And transmitted to the rear wheel 4 via the rear axle 27,
Wheel 4 is drivenInductiveThe traveling vehicle 1 is run
You. still,InductiveWhile the traveling vehicle 1 is traveling,
Signal from the main controller 15
It is input to the line distance (time) calculation unit 41 (see FIG. 3),
The running distance (time) calculation unit 41 integrates the number of rotations of the rear wheel 4.
From values etc.InductiveCalculate the traveling distance, time, etc. of the traveling vehicle 1
And outputs the result to the deviation amount calculation unit 34.
You. The throttle motor 19 is connected to the main controller 1.
Opening of throttle valve (not shown) in response to command from 5
To adjust the rotation speed of the engine 17,InductiveRunning
The traveling speed of the vehicle 1 is set to a predetermined value. Here, in this embodiment,InductiveTraveling vehicle
FIG. 4 is a flowchart showing the control of the first steering system.
It will be described according to. The control system of the steering system in this embodiment
At the junction A in the traveling route shown in FIG.
Normal mode selected when traveling at a point other than point B
Is selected when passing through the junction A and the junction B
A branch / merge mode is provided. Not shown
However, to inform them at the junction A and the junction B,
The branch and junction of the
The memory 37 of the camera 15 has a branch / merge fixed point and the
In addition to the type and the meaning of the guide line fixed point, the traveling direction switch 3
3, the coefficient for calculating the deviation x, the branch / merge mode
To return from normal mode to normal mode (Guidance
formulaThe traveling distance of the traveling vehicle 1 from the junction A or the junction B,
The travel time is input in advance. Thus,InductiveSmell during traveling of traveling vehicle 1
The fixed point sensor 30 provided in the vehicle 1
The presence / absence of a fixed point at the junction is detected (STEP in FIG. 4).
1) If a fixed point is not detected, the
The presence or absence is detected (STEP 2 in FIG. 4), and the guide line fixed point is detected.
When informedInductiveThe traveling vehicle 1 is stopped (FIG. 4
STEP3). That is, the main controller shown in FIG.
When the fixed point determination unit 40 in 15 determines the guidance line fixed point,
The electromagnetic brake controller 42 and the throttle control calculator 43
And the cell dynamo control calculation unit 44
Key 28, throttle motor 19, and cell dynamo 21
Send a signalInductiveThe traveling vehicle 1 receives deceleration and braking.
And stopped. On the other hand, when the fixed point of the guide line is not detected,
ball,InductiveThe traveling vehicle 1 is at a position other than the junction A and the junction B
When traveling at a point, the steering system control mode
Normal mode is selected as the mode and the main controller
In the 15 deviation amount calculation unit 34, the A / D converter 35
Sensors 13L, 13C, 1 digitized by
Signal V from 3R_L  , V_C  , V_R  Using all of
The difference x is calculated by the following equation (STEP 4 in FIG. 4). [0030] (Equation 1)           x = f1 (V_L  , V_C  , V_R  …… (1) The deviation x calculated by the above equation (1) is stearin
Input to the motor motor command value calculation unit 36,
6, the electric power to the steering motor 8 corresponding to the deviation x
Flow command value (current command value corresponding to deviation x = 0) is calculated
(STEP 5 in FIG. 4), and the result is
Output to the controller 16 (STE in FIG. 4).
P6). Then, the steering controller 16
The driving of the ringing motor 8 is controlled.
The indicated steering shaft 5 is at a predetermined angle in a predetermined direction
The front wheel 3 is steered by a predetermined amount in the same direction.
And thisInductiveThe traveling vehicle 1 is along the guide line 12
Self-propelled. Next, for example,InductiveThe traveling vehicle 1 is shown in FIG.
Traveling along the b portion of the guide wire 12 in the direction of the arrow shown in the drawing.
The fixed point sensor 30 is installed near the branch point A
When a branch fixed point (not shown) is detected, the detection of the fixed point sensor 30 is performed.
The knowledge signal is sent to the interface of the main controller 15 shown in FIG.
The data is input to the fixed point determination unit 40 via the face 38. Fixed point
The determination unit 40 determines the type of the fixed point input in the memory 37 in advance.
Based on the type and meaning, based on the detected fixed pointInductiveRunning
The direction (right or left) in which the traveling vehicle 1 should travel is determined (see FIG. 4).
STEP 7), and input the result to the deviation amount calculation unit 34.
You. Or,InductiveThe direction in which the traveling vehicle 1 should travel
The occupant operates the traveling direction switch 33 on the operation panel 31.
When you make and select, the signal of the traveling direction switch 33
Is directly transmitted to the deviation calculator 34 via the interface 39.
Is entered. Then, the branch fixed point is detected as described above.
Then, the main controller 15 determines whether a fixed point
These signals are ignored (STEP 8 in FIG. 4). At the branch point A,InductiveTraveling vehicle
If the direction to proceed is left, the control mode and
To select the left branch mode (STEPs 9 and 1 in FIG. 4).
0), the deviation amount calculation unit 34 detects the left and center guidance line sensors.
Signals V from the sensors 13L and 13C_L      , V_C  Using
The deviation x is calculated by the following equation (STEP 1 in FIG. 4).
1). [0034] (Equation 2) x = f2 (V_L  , V_C  …… (2) The deviation calculated by the above equation (2)
x) is the steering motor
The current command value is input to the current command value calculation unit 36, and the calculation unit 36
Current command value to steering motor 8 corresponding to difference x
Is calculated (STEP 12 in FIG. 4), and the result is
Output to the tearing controller 16 (FIG. 4)
STEP 13). Then, the steering controller
16 controls the driving of the steering motor 8, and
The steering shaft 5 is at a predetermined angle in a predetermined direction.
The front wheel 3 is steered by a predetermined amount in the same direction.
And thisInductiveThe traveling vehicle 1 is a section b of the guide line 12.
You can go straight along the minute. In this case, the signal
V_L  Besides V_R  With normal steering control
Is not possible, the signal V_R  Ignore
Was. In some cases, the signal V_R  Completely ignore
Instead of both signals V_L  , V_R  Using both
Multiplied by a factor to effectively produce a signal V_L  The deviation of the body 2
The amount may be calculated. On the other hand,InductiveThe traveling direction of the traveling vehicle 1 is right
In some cases, right branch mode is selected as the control mode.
(STEPs 9 and 14 in Fig. 4), the center and right
Signal V from the sensors 13C and 13R_C  , V_R  Using
The difference amount (the deviation amount of the vehicle body 2 from the f portion of the guide line 12) x is
It is calculated by the following equation (STEP 15 in FIG. 4). [0036] (Equation 3) x = f3 (V_C  , V_R  …… (3) The deviation calculated by the above equation (3)
The deviation amount x of the vehicle body 2 from the f portion) is steered in the same manner as described above.
It is input to the ring motor current command value calculation unit 36,
In the section 36, the steering motor 8 is controlled based on the deviation x.
Is calculated (STEP 12 in FIG. 4).
The result is output to the steering controller 16
(Step 13 in FIG. 4). Then, as above
The steering controller 16 is a steering motor 8
Of the steering shaft 5
Is rotated by a predetermined angle in a predetermined direction, and the front wheel 3 is
Steering in the same direction (right direction) by a predetermined amount,
InductiveThe traveling vehicle 1 is located at the f portion (branch portion) of the guide line 12.
Self-propelled along. In this case, the signal V_R  Besides V_LUsing
In this case, normal steering control becomes impossible,
In the embodiment, the signal V_L  Was ignored. In some cases,
Is the signal V_L  Is not completely ignored, but both signals V_L
  , V_R  Is multiplied by a predetermined coefficient,
Signal V_R  By body2To calculate the deviation of
May be. The control mode is different from the normal mode.
After switching to the branch / merge mode, b section of the guide line 12
Or run on fInductiveFrom junction A of traveling vehicle 1
The mileage or travel time of the main control
Calculated by the travel distance (time) calculator 41 of the
(Step 16 in FIG. 4), the value exceeds a predetermined value.
Control mode returns to normal mode from branch / merge mode.
(Steps 17 and 18 in FIG. 4)
While receiving the signal from the conductor fixed point, all the lead wire sensors
Signal V from 13L, 13C, 13R_L  , V_C  , V_R
 The control of the steering system using the
EP1-6),InductiveThe traveling vehicle 1 is located at b, c of the guide line 12.
Self-propelled along part or f part. And the guide line
13L, 13C, 13R detect the fixed point of the guide line.
WhenInductiveThe traveling vehicle 1 is stopped (see FIG. 4).
STEP2, 3). In this embodiment, the control mode is not set.
Return to normal modeInductiveTraveling distance or time of traveling vehicle 1
During the driving route,
Set a fixed point to indicate that it is possible to return to
When the fixed point is detected, the control mode is returned to the normal mode.
It may be attributed. AndInductiveThe constant installed on the traveling vehicle 1
The unillustrated junction where the point sensor 30 is installed near the junction B
When a fixed point is detected, the signal from the fixed line is ignored again.
(Step 7 in FIG. 4)InductiveAll of the traveling vehicle 1
Direction is determined again (STEP 8 in FIG. 4). This place
IfInductiveThe direction in which the traveling vehicle 1 should travel is a kind of branch fixed point
Kind, that isInductiveThe traveling vehicle 1 is a portion c of the guide line 12 or
automatically depending on which part of the f
It is determined. That is,InductiveThe traveling vehicle 1 is located on the guide line 12 c.
When traveling along the part, at the junction B
The direction to proceed is determined to be left, and the left merging mode
Is selected (STEPs 9 and 10 in FIG. 4), and the same control as described above is performed.
(Steps 11 to 13 in FIG. 4)InductiveTraveling car
Both cars 1 run along the g portion of the guide line 12. Also,InductiveThe traveling vehicle 1 is an f section of the guide line 12
When traveling along the minutes,
The direction to go is determined to be right and the right merging mode is selected.
Is selected (STEPs 9 and 14 in FIG. 4), and the same control as described above is performed.
(Steps 15, 12, 13 in FIG. 4)InductiveRunning
The traveling vehicle 1 also travels along the g portion of the guide line 12.
You. Then, as described above,InductiveTraveling vehicle 1
Confirmed that the vehicle has traveled a predetermined distance or time from junction B
(Steps 16 and 17 in FIG. 4), the control mode
The mode is returned to the normal mode again (STEP 1 in FIG. 4).
8) After that, while receiving the signal from the guide line fixed point,
From the guidance line sensors 13L, 13C, 13R
V_L, V_C  , V_R  Control of the steering system using
(Steps 4 to 6 in FIG. 4)InductiveThe traveling vehicle 1 is invited
Self-propelled along the g portion of the conductive wire 12. And the guidance line
Guideline fixed point detected by sensors 13L, 13C, 13R
When doneInductiveThe traveling vehicle 1 is stopped (FIG. 4
STEP2, 3). Thus,InductiveThe traveling vehicle 1 is one guide line
12 along two loops L1, L2 formed by
Select an arbitrary route from two driving routes and drive
In this embodiment, the fixed point sensor 3
0 detects the branch / merge fixed pointInductiveThe traveling vehicle 1 branches
・ When approaching the fixed point, the signal from the fixed line is ignored.
BecauseInductiveThe traveling vehicle 1 has a guidance line at the branch / merge fixed point.
There is no erroneous detection that it is a fixed point.InductiveTraveling vehicle
One precise control is provided.And in normal mode
The traveling speed of the guided traveling vehicle 1 using the guidance line fixed point.
And during branching or merging,
Even if the fixed point of the guide line is detected, the traveling speed changes
Branching or merging at a constant speed without any
You can run. In this embodiment, one guide wire 1 is used.
Since the value of the current flowing through 2 is constant,InductiveTraveling vehicle
No matter which route the person 1 is traveling, invitation along that route
Always detect the lead wire 12 and run along the guide wire 12
Can be done. [0044] As is clear from the above description, the present invention
If so, the guide line provided on the traveling path and a part of the guide line
A small coil that detects a fixed point
At least a pair of left and right guidance wire sensors,
For detecting the fixed point of branching and merging installed near the junction
A point sensor and at least a pair of left and right guiding wire sensors
Calculate the deviation of the vehicle from the guidance line based on these signals.
Normal mode and either the left or right guidance wire sensor
Signal from the vehicle's guide line by ignoring the signal from the vehicle.
Control means having a branch / merge mode for calculating the difference
Contained and self-propelled along guidance linesInductiveTraveling car
In both,When detecting a signal from the guidance fixed point
In the normal mode, the traveling of the guided vehicle
While changing the line speed,The fixed point sensor
The control mode is separated from the normal mode by detecting the
Return to normal mode after switching to branch / merge mode
Until it is stopped, the signal from the fixed point
Function was added to the control means,InductiveRunning
The traveling vehicle clarifies the junction or merging point of the guidance line and the guidance line fixed point.
Can be accurately determined, and when that precise control is performed
The above effect can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a basic configuration of a guided traveling vehicle according to the present invention. FIG. 2 is a diagram showing a loop configuration of a guide wire. FIG. 3 is a block diagram showing a configuration of a steering control system of the guided traveling vehicle. FIG. 4 is a flowchart showing a control procedure of a steering system. [Description of Signs] 1 Guided traveling vehicle 12 Guide lines 13L, 13C, 13R Guide line sensor 15 Main controller (control means) 30 Fixed point sensor A Branch point B Junction points L1 to L3 Loop

Continuation of the front page (56) References JP-A-64-38810 (JP, A) JP-A-50-8274 (JP, A) JP-A-59-81709 (JP, A) JP-A-48-50461 (JP, A) , A) JP-A-56-157505 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (1)

(57) [Claim 1] At least one pair of left and right guides for detecting a guide line provided on a traveling path and a fixed point of a guide line formed by winding a part of the guide line in a coil shape. A line sensor, a fixed point sensor installed near the branch point and the junction of the guide line for detecting a branch / merge fixed point, and a deviation amount of the vehicle body from the guide line based on signals from at least the pair of left and right guide line sensors. And a control unit having a branching / merging mode for calculating a deviation amount from the guide line of the vehicle body by ignoring a signal from either the left or right guide line sensor. Invite to be self-propelled along the guidance line
In a guided traveling vehicle, when detecting a signal from the guidance fixed point,
In the mode, the traveling speed of the guided vehicle changes
After the control point mode is switched from the normal mode to the branch / merge mode by the fixed point sensor detecting the branch / merge fixed point, a signal from the guide line fixed point is used until the normal mode is restored. A function for ignoring the above is added to the control means.