JP2002333920A5 - - Google Patents

Claims (6)

  A moving body control device that performs control to reciprocate the moving body at an appropriate interval so that a working moving body that performs a predetermined work can work within a specified range. A guide moving body that travels on a predetermined track along a guide provided in parallel to the guide is provided, and the work moving body emits ultrasonic waves toward the guide moving body to move the guide. An ultrasonic range finder that receives a reflected wave reflected by the body and measures the distance from the guide moving body based on the time difference, and controls the direction so that the distance measured by the range finder is constant. A moving body control device for a working moving body, characterized in that a control device is provided.   When the work moving body reaches the end of the work area, the control device controls the U-turn to travel in the opposite direction to the previous time by making a U-turn with a predetermined width, and the width of the U-turn is The movement control device for a working moving body according to claim 1, wherein the direction control is performed so that the added distance becomes constant by adding to the reference distance.   The guide moving body is provided with two receiving devices for receiving distance measurement ultrasonic signals emitted from the working moving body in the front and rear, and travels with the working moving body based on the difference between the reception times at the two front and rear. The movement control device for a working mobile body according to claim 1, further comprising a travel speed control device that calculates a positional deviation in a direction and controls a travel speed so as to travel parallel to the work mobile body.   The guide moving body is provided with detecting means for detecting the distance from the working moving body, and based on the distance detected by the detecting means and the difference in the reception times of the receiving devices provided at the two locations. 4. The movement control device for a work mobile body according to claim 3, wherein a displacement amount in a traveling direction with respect to the work mobile body is obtained.   A distance measurement value with the guide moving body measured by the work moving body using the ultrasonic sensor is transmitted to the guide moving body using a communication means such as infrared wireless communication or radio communication using radio waves. The moving body receives the distance information, and obtains the amount of displacement in the traveling direction between the guiding moving body and the working moving body from the distance information and the difference in reception time between the front and rear ultrasonic receivers. The movement control device for a working moving body according to claim 3. A moving body control device that performs control to reciprocate a working moving body that performs a predetermined work at an appropriate interval,
While providing a guide moving body that travels along a predetermined track,
The working moving body is provided with a distance meter that measures a distance from the guide moving body and a control device that controls the direction so that the distance measured by the distance meter is constant. A moving body control device for a working moving body.