JP2005041597A - Travel control method for unmanned vehicle and unmanned vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel control method for an unmanned vehicle to travel without greatly meandering until a shift amount between the center of a vehicle body and a guide line is zero while gently converging it, and to provide the unmanned vehicle. <P>SOLUTION: When an unmanned forklift changes its moving direction, a travel control device calculates a shift amount between a center position of a guide line detecting sensor before stating travel and the guide line (S120), sets an offset position (S130) and starts the travel of the unmanned forklift (S140). The travel control device controls the unmanned forklift to travel while determining whether it travels a travel distance of 100 mm or not, and procedures are repeated for returning the offset position 1 mm to the side of the center position of the guide line detecting sensor each for the travel distance of 100 mm (S160-S190). The travel control device allows the travel of the unmanned forklift while controlling steering at a small steering angle, therefore preventing the unmanned forklift from travelling while greatly meandering. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a driving control method for an unmanned vehicle and an unmanned vehicle.
[0002]
[Prior art]
An unmanned forklift travels along a guide wire such as a magnetic bar laid vertically and horizontally on a floor surface, and unloads the load handling work by placing the load at the loading place on the fork and transporting it to the loading place. This type of unmanned forklift is provided with a guide sensor in front of and behind the vehicle, and the guide sensor measures the amount of deviation between the guide wire and the center of the unmanned forklift. Then, the unmanned forklift is caused to travel along the guide line by controlling the steering angle so that the guide line and the center of the unmanned forklift coincide with each other based on the measured deviation amount. In general, this type of unmanned forklift has a large meandering angle until the steering angle increases and the center of the unmanned forklift travels along the guide line when the deviation amount is large.
[0003]
The traveling of the unmanned forklift includes the switchback traveling shown in FIGS. 9 (a) to 9 (c). In the switchback traveling, an unmanned forklift 61 that travels (reverse travel) along a curved guide line L1 is placed on a straight guide line L2, and then temporarily stopped at the straight guide line L2. Then, the unmanned forklift 61 travels (moves forward) along the straight guide line L2 to move the unmanned forklift 61 from the curved guide line L1 to the straight guide line L2, thereby changing the travel direction.
[0004]
By the way, in this switchback running, the amount of deviation between the center of the unmanned forklift 61 and the straight guide line L2 is very large immediately before the unmanned forklift 61 moves from the curved guide line L1 to the running control based on the straight guide line L2. large. Therefore, when the unmanned forklift 61 moves from the curved guide line L1 to the straight guide line L2, the center of the unmanned forklift 61 and the straight guide line L2 are aligned along the straight guide line L2 at a considerable distance until they coincide with each other. It was necessary to run the unmanned forklift 61 (reverse running).
[0005]
However, for example, when a loading place or a loading place is provided in the vicinity where the curved guide line L1 and the straight guide line L2 overlap, the unmanned forklift 61 has a deviation amount between the center and the straight guide line L2. Stopped in a very large state and had to carry out loading or loading work. Therefore, when the amount of deviation between the center of the unmanned forklift 61 and the straight guide line L2 is large, a technique has been proposed that enables loading or loading work by shifting the fork in the width direction based on the amount of deviation. (For example, Patent Document 1).
[0006]
[Patent Document 1]
Japanese Patent Laid-Open No. 2003-63790
[Problems to be solved by the invention]
However, when the unloading or loading operation is finished and the unmanned forklift 61 travels (moves forward) along the straight guide line L2, the unmanned forklift 61 travels in a meandering manner because the displacement is very large. Will do. This is because the unmanned forklift 61 travels in a meandering manner even when the straight guide line L2 cannot be laid sufficiently long in the reverse travel direction of the unmanned forklift 61.
[0008]
In such a meandering manner, there is a problem that a mark such as a magnetic mark for instructing operation information provided on the traveling route on the floor is read out and the efficiency of the cargo handling work is lowered.
[0009]
The present invention has been made to solve the above problems, and its purpose is to travel while slowly converging without greatly meandering until the amount of deviation between the center of the vehicle body and the guide line becomes zero. It is an object of the present invention to provide an unmanned vehicle traveling control method and an unmanned vehicle.
[0010]
[Means for Solving the Problems]
According to the first aspect of the present invention, the guide line laid on the floor surface is detected by the guide line detection sensor provided in the vehicle body, and the deviation amount between the guide line and the reference position of the guide line detection sensor is calculated. In the driving control method for an unmanned vehicle that is controlled by steering so that the guide line and the reference position of the guide line detection sensor coincide with each other based on the calculated deviation amount, Based on this, a position coincident with the displaced position or a position close to the displaced position is set as an offset position which is regarded as a reference position of the guide line detection sensor, and a deviation amount between the offset position and the guide line is calculated. The steering control is performed while the vehicle is traveling, and the offset position is brought closer to the reference position of the guide wire detection sensor every time a predetermined distance is traveled. As its gist that is weight was adapted to run while determined.
[0011]
According to a second aspect of the present invention, in the driving control method for an unmanned vehicle according to the first aspect, when the offset position is not more than a predetermined value from a reference position of the guiding line detection sensor, the guiding line detection sensor The amount of deviation between the reference position and the guide line is calculated.
[0012]
In the invention according to claim 3, in the unmanned vehicle, a traveling motor for driving the drive wheels, a steering motor for adjusting the steering angle of the drive wheels, and a guide wire detection sensor for detecting a guide wire laid on the floor surface A travel distance detection means for detecting a travel distance, a calculation means for calculating a shift amount between the guide line and the reference position of the guide line detection sensor based on the guide line detection sensor, and a calculation based on the calculated shift amount. A setting means for setting a position that coincides with the shifted position or a position close to the shifted position as an offset position that is regarded as a reference position of the guide line detection sensor, and calculates a shift amount between the offset position and the guide line Motor drive means for driving and controlling the steering motor and the travel motor for steering travel control, and the offset position with a predetermined distance. And a offset position updating means for updating to a new offset position so close to the reference position of the guide line detecting sensor every time the traveling.
[0013]
According to a fourth aspect of the present invention, in the unmanned vehicle according to the third aspect, the setting means does not set an offset position when the setting means is equal to or less than a predetermined value from a reference position of the guide wire detection sensor. And
[0014]
According to a fifth aspect of the present invention, in the unmanned vehicle according to the third aspect, the offset position updating means is configured such that the offset position to be updated is equal to or less than a predetermined value from a reference position of the guide line detection sensor. The offset position is not set.
(Function)
According to the first aspect of the present invention, when there is a deviation amount between the reference position of the guide line detection sensor and the guide line, the steering control is performed while calculating the deviation amount between the offset position and the guide line. Therefore, a large steering angle control for matching the reference position of the guide line detection sensor with the guide line is not performed. The offset position is updated so as to approach the reference position of the guide line detection sensor every time the vehicle travels a predetermined distance. As a result, the unmanned vehicle travels while slowly converging without greatly meandering until the amount of deviation between the reference position of the guide line detection sensor and the guide line becomes zero.
[0015]
According to the second aspect of the present invention, when the offset position is close to the reference position of the guide line detection sensor, the steering control based on the amount of deviation between the reference position of the guide line detection sensor and the guide line is performed. Even if it goes, it does not meander and the steering control is not performed. As a result, it is possible to quickly perform steering control to zero the deviation between the reference position of the guide line detection sensor and the guide line, and reduce the load of steering control while updating the offset position from time to time. Can do.
[0016]
According to a third aspect of the present invention, the motor driving means drives and controls the steering motor and the traveling motor in order to calculate a deviation amount between the offset position set by the setting means and the guide wire and to perform steering traveling control. To do. The offset position is updated to a new offset position by the offset position updating means so as to approach the reference position of the guide line detection sensor every time the vehicle travels a predetermined distance. As a result, the unmanned vehicle travels while slowly converging without greatly meandering until the amount of deviation between the reference position of the guide line detection sensor and the guide line becomes zero.
[0017]
According to the fourth aspect of the present invention, when the offset position is set, if the offset position is close to the reference position of the guide line detection sensor, the offset position is between the reference position of the guide line detection sensor and the guide line. Even if the steering control based on the deviation amount is performed, the steering control is not performed by meandering greatly. As a result, it is possible to quickly perform steering control for making the amount of deviation between the reference position of the guide line detection sensor and the guide line zero.
[0018]
According to the fifth aspect of the present invention, when the offset position is updated, if the offset position is close to the reference position of the guide line detection sensor, the offset position is between the reference position of the guide line detection sensor and the guide line. Even if the steering control based on the deviation amount is performed, the steering control is not performed by meandering greatly. As a result, it is possible to quickly perform steering control for making the amount of deviation between the reference position of the guide line detection sensor and the guide line zero.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the unmanned forklift 1 as an unmanned vehicle travels along a guide line L laid on the floor surface R. Further, the unmanned forklift 1 detects a magnetic mark M installed at a predetermined position on a travel route that travels along the guide line L, and moves forward, backward, stop, and turn based on the detected magnetic mark M. The traveling control such as is executed.
[0020]
A pair of left and right reach legs 3 are provided on the front side of the vehicle body 2 of the unmanned forklift 1. The unmanned forklift 1 is provided with drive wheels 4 and caster wheels 5 on the lower surface of the vehicle body 2, and driven wheels 6 on the lower surface of the front end of the reach leg 3. A pair of left and right masts 7 are provided between the pair of left and right reach legs 3 so as to be movable along the reach leg 3 in the front-rear direction. A lift bracket 10 is disposed between the pair of left and right masts 7, and a fork 11 is provided on the lift bracket 10. The lift bracket 10 (fork 11) moves up and down along the mast 7 based on the expansion and contraction operation of a lift cylinder (not shown).
[0021]
The drive wheel 4 is drivingly connected to a traveling motor M1 (see FIG. 3), and is rotated by forward and reverse rotation of the traveling motor M1 to move the unmanned forklift 1 forward and backward. The drive wheels 4 are rotated in the horizontal direction by a steering motor M2 (see FIG. 3), and the steering angle is controlled.
[0022]
In the center of the lower surface of the vehicle body 2, a rear guide sensor 12 as a guide line detection sensor is provided. A sensor fixing member 13 is formed to extend forward at the front lower center of the vehicle body 2, and a front guide sensor 14 as a guide wire detection sensor is provided at the tip of the sensor fixing member 13. The rear guide sensor 12 and the front guide sensor 14 detect the guide wire L. A pair of mark detection sensors 15 are provided on both sides of the rear guide sensor 12 on the lower surface of the vehicle body 2 to detect the magnetic marks M installed on the travel route. The detection signals detected by the sensors 12, 14, 15 are output to the travel control device C as calculation means, setting means, motor driving means, and offset position updating means provided in the vehicle body 2.
[0023]
Next, the electrical configuration of the unmanned forklift 1 configured as described above will be described.
In FIG. 3, the travel control device C is composed of a microcomputer and is connected to the rear guide sensor 12, the front guide sensor 14 and the mark detection sensor 15, and receives detection signals from the sensors 12, 14 and 15. The traveling control device C executes various processes for traveling according to a program prepared in advance based on detection signals from the sensors 12, 14, and 15 to drive-control the traveling motor M1 and the steering motor M2. It is supposed to be.
[0024]
More specifically, the traveling control device C, when the unmanned forklift 1 travels backward, based on a detection signal from the rear guide sensor 12, a center position C1 (vehicle body) as a reference position of the rear guide sensor 12 with respect to the guide line L. 2) (which coincides with the center of 2). Further, when the unmanned forklift 1 travels forward, the travel control device C calculates a deviation amount D of the center position C1 of the front guide sensor 14 with respect to the guide line L based on a detection signal from the front guide sensor 14. To do.
[0025]
As shown in FIG. 5, the rear and front guide sensors 12, 14 are guided when the center position (coincides with the center position of the vehicle body 2) C 1 is positioned on the guide line L laid on the floor surface R. A detection signal indicating that L is at the center position C1 is output. Further, as shown in FIG. 6, when the center position C1 is shifted to the left side or the right side with respect to the guide line L laid on the floor surface R, the both guide sensors 12 and 14 are relative to the shift amount D. The detection signal with the specified value is output. Then, the traveling control device C obtains a deviation amount D of the center position C1 (the center of the vehicle body 2) with respect to the guide line L based on a detection signal having a value relative to the deviation amount D from both the guide sensors 12 and 14. .
[0026]
The traveling control device C adjusts the steering angle (steering traveling control) so that the deviation amount D becomes zero by controlling the steering motor M2 to rotate based on the calculated deviation amount D. . This steering travel control is executed according to a steering travel control program stored in advance in the travel control device C.
[0027]
Further, when the traveling control device C receives a detection signal for detecting the magnetic mark M from the mark detection sensor 15, the unmanned forklift 1 performs next based on the detection signal, for example, forward, reverse, stop, or turn. And the determined traveling control is executed.
[0028]
The travel control device C is connected to a travel distance sensor 20 as travel distance detection means, and calculates the travel distance of the unmanned forklift 1 at that time based on a detection signal from the travel distance sensor 20. Yes. The travel distance sensor 20 is composed of a rotary encoder, and outputs a pulse signal (detection signal) relative to the rotation of the drive wheel 4. The traveling control device C calculates the traveling distance by counting the number of pulse signals (detection signals).
[0029]
Next, the steering travel control operation of the unmanned forklift 1 will be described.
Now, as shown in FIG. 7, the unmanned forklift 1 travels backward along the curve guide line L1 to the straight guide line L2, and the center position C1 of the rear guide sensor 12 coincides with the guide line L2. Stopped in a state. At this time, the unmanned forklift 1 is stopped in a state where the center position C1 of the front guide sensor 14 is deviated from the straight guide line L2. In FIG. 7, the unmanned forklift 1 is in a state where the center position C1 of the front guide sensor 14 is shifted to the left by a shift amount D with respect to the straight guide line L2.
[0030]
In this state, the unmanned forklift 1 starts traveling forward in the arrow direction along the guide line L2. At this time, the traveling control device C executes a steering traveling control program according to the flowchart shown in FIG.
[0031]
The travel control device C first switches from the reverse travel mode based on the guide line L1 to the forward travel mode based on the guide line L2 (step S110). When the traveling control device C switches to the forward traveling mode based on the guide line L2, the traveling control device C validates the detection signal from the front guide sensor 14, and thereafter calculates the shift amount D based on the detection signal of the front guide sensor 14. . Then, the traveling control device C calculates the deviation amount D of the unmanned forklift 1 in the stopped state using the detection signal of the front guide sensor 14 (step S120). That is, the shift amount D of the guide line L2 with respect to the center position C1 of the front guide sensor 14 is calculated.
[0032]
When calculating the deviation amount D, the traveling control device C performs a process of setting an offset position (step S130). In this process, first, it is determined whether or not the deviation amount D exceeds a predetermined value (10 mm in the present embodiment). The predetermined value is set to a value that may cause the unmanned forklift 1 to meander greatly and cause the magnetic mark M to be undetectable when the vehicle is driven by steering control to an amount that deviates from the deviation amount of the value. And when the calculated deviation | shift amount D is below a predetermined value, the traveling control apparatus C performs normal steering traveling control. On the other hand, when the calculated deviation amount D exceeds a predetermined value, the traveling control device C determines that the deviation amount D is large and sets the offset position.
[0033]
The travel control device C is set as follows in the present embodiment. First, using the calculated shift amount D as an offset amount, as shown in FIG. 6, a position shifted by the shift amount D from the center position C1 of the front guide sensor 14 is used to calculate the shift amount from the guide line. A new reference position (offset position C2) is set.
[0034]
When the offset position C2 is set, the traveling control device C drives the traveling motor M1 to start the unmanned forklift 1 traveling forward, that is, traveling (step S140). The travel control device C resets the content of the built-in counter when the travel starts, starts counting the detection signal (pulse signal) from the new travel distance sensor 20, and starts measuring the travel distance (step S150). ).
[0035]
Then, the traveling control device C controls traveling of the unmanned forklift 1 while determining whether or not the traveling distance is 100 mm (step S160). During this time, the traveling control device C drives the steering motor M2 so that the amount of deviation is zero while calculating the amount of deviation between the offset position of the front guide sensor 14 set before the start of traveling and the guide line L1. The steering is controlled. Therefore, although the center position of the vehicle body 2 (the center position C1 of the front guide sensor 14) is shifted by the shift amount D with respect to the guide line L2, the traveling control device C calculates the shift amount based on the offset position C2. Therefore, the calculated shift amount becomes small. As a result, the traveling control device C performs steering control with a small steering angle.
[0036]
When the unmanned forklift 1 travels 100 mm (YES in step S160), the traveling control device C updates the position where the offset position is closer to the central position C1 by 1 mm as a new offset position C2 (step S170). Subsequently, the traveling control device C resets the contents of the counter and starts measuring a new traveling distance (step S180). Next, the traveling control device C determines whether or not the updated offset position C2 is 10 mm or less from the center position C1 (step S190). Then, the traveling control device C repeats the processing operations of Step S160 to Step S190 until the updated offset position C2 becomes 10 mm or less from the center position C1 of the front guide sensor 14. Accordingly, the traveling control device C causes the unmanned forklift 1 to travel while performing steering control with a small steering angle from the center position C1 of the front guide sensor 14 to the offset position C2 of 10 mm. As a result, the unmanned forklift 1 does not travel while meandering.
[0037]
When the updated offset position is 10 mm or less from the center position C1 of the front guide sensor 14 (YES in step S190), the traveling control device C invalidates (zeros) the offset position C2 (step S200). Subsequently, the traveling control device C executes normal steering traveling control while obtaining a deviation amount D between the center position C1 of the front guide sensor 14 and the straight guide line L2. That is, as shown in FIG. 8, the unmanned forklift 1 travels while being controlled by the steering so that the center of the vehicle body is on the straight guide line L2.
[0038]
In addition, also when making the unmanned forklift 1 drive backward, the traveling control device C executes similarly and performs steering traveling control. In the case of this reverse travel, steering travel control is performed based on a deviation amount D between the rear guide sensor 12 and the guide wire L instead of the front guide sensor 14. Even in travel other than switchback travel, the travel control device C performs the same steering travel control as described above if the deviation amount D before the start of travel is greater than or equal to a predetermined amount.
[0039]
Next, the effect of the unmanned forklift constructed as described above will be described.
(1) In this embodiment, when the deviation amount D between the center position C1 of the front guide sensor 14 and the guide line L2 before the start of traveling exceeds a predetermined value (10 mm), the displaced position is set as an offset position. Then, the amount of deviation between the offset position and the straight guide line L2 is calculated to control the steering travel. Each time the vehicle travels a predetermined distance (100 mm), the offset position C2 is updated so as to approach the center position C1 of the front guide sensor 14. As a result, the unmanned forklift 1 travels while slowly converging without greatly meandering until the deviation D between the center position C1 (center of the vehicle body 2) of the front guide sensor 14 and the straight guide line L2 becomes zero. be able to.
(2) In this embodiment, when the deviation amount D before the start of traveling is equal to or less than a predetermined value (10 mm), normal steering control is performed based on the deviation amount D between the center position C1 and the straight guide line L2. I made it. Accordingly, it is possible to quickly perform steering control for making the amount of deviation between the reference position of the guide line detection sensor and the guide line zero without meandering.
(3) In the present embodiment, when the offset position is updated to be equal to or less than a predetermined value (10 mm) from the center position C1, normal steering control based on the deviation amount D between the center position C1 and the straight guide line L2 To do. Accordingly, it is possible to quickly perform steering control for making the amount of deviation between the reference position of the guide line detection sensor and the guide line zero without meandering.
[0040]
In addition, embodiment of invention is not limited to the said embodiment, You may implement as follows.
In the above embodiment, the offset position C2 is updated to a position approaching the center position C1 by 1 mm, but may be updated with other values. Further, although the offset position C2 is updated at a constant interval (1 mm), it may not be constant. For example, the offset position C2 is initially set at a position that is largely close to the center position C1, and the ratio of approaching the center position C1 is reduced each time it is updated.
[0041]
In the above embodiment, the offset position C2 when starting traveling is the position of the deviation amount D calculated before the start, but is not limited to this. For example, a position smaller than the shift amount D and close to the center position C1 may be set as the offset position C2. In this case, the unmanned forklift 1 has a faster convergence time until the deviation amount D between the center position C1 of the front guide sensor 14 (the center of the vehicle body 2) and the straight guide line L2 becomes zero.
[0042]
In the above embodiment, when starting the running, when the deviation amount D is 10 mm or less, the normal steering control based on the deviation amount D between the center position C1 and the straight guide line L2 is performed. However, it is limited to 10 mm. It may be changed as appropriate. For example, 5 mm, 15 mm, etc. are appropriately changed in relation to the traveling speed.
[0043]
In the above embodiment, when the offset position C2 to be updated becomes 10 mm or less from the center position C1, normal steering control is performed based on the deviation amount D between the center position C1 and the straight guide line L2 from the offset position C2. However, it is not limited to 10 mm and may be changed as appropriate. For example, 5 mm, 15 mm, etc. are appropriately changed in relation to the traveling speed.
[0044]
In the above-described embodiment, the offset position C2 is updated every time the vehicle travels 100 mm. However, the offset position C2 may be appropriately changed to 50 mm, 150 mm, 200 mm, or more.
[0045]
In the above embodiment, the unmanned forklift 1 is embodied as an unmanned vehicle, but may be embodied as an unmanned vehicle that travels along a guide line, such as an unmanned transport vehicle.
In the above embodiment, the center position C1 of the front guide sensor 14 is the reference position, but the present invention is not limited to this. In short, the reference position may be appropriately changed as long as the relationship with the center position of the vehicle body 2 can be specified.
[0046]
【The invention's effect】
According to the present invention, the vehicle can travel while slowly converging without greatly meandering until the amount of deviation between the center of the vehicle body and the guide line becomes zero.
[Brief description of the drawings]
FIG. 1 is a side view of an unmanned forklift according to an embodiment.
FIG. 2 is a plan view of an unmanned forklift.
FIG. 3 is a block diagram showing an electrical configuration of an unmanned forklift.
FIG. 4 is a flowchart of a steering travel control program.
FIG. 5 is a schematic diagram for explaining a relationship between a guide sensor and a guide wire.
FIG. 6 is a schematic diagram for explaining offset position setting.
FIG. 7 is an explanatory diagram when setting an offset position of an unmanned forklift.
FIG. 8 is an explanatory diagram when the offset position of the unmanned forklift becomes zero.
FIG. 9 is an explanatory diagram when switching the traveling direction of a conventional unmanned forklift.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Unmanned forklift, 2 ... Vehicle body, 12 ... Rear guide sensor as guide line detection sensor, 14 ... Front guide sensor as guide line detection sensor, 15 ... Mark detection sensor, 20 ... Travel distance as travel distance detection means Sensor, C: calculating means, setting means, motor driving means, travel control device as offset position updating means, D: deviation amount, L: guide wire, M ... magnetic mark, C1 ... center position, C2 ... offset position, L1 ... curve induction line, L2 ... straight induction line, M1 ... travel motor, M2 ... steering motor.

Claims (5)

A guide line laid on the floor is detected by a guide line detection sensor provided in the vehicle body, and a deviation amount between the guide line and a reference position of the guide line detection sensor is calculated, and based on the calculated deviation amount. In the traveling control method of the unmanned vehicle, the steering control is performed so that the guide line and the reference position of the guide line detection sensor coincide with each other.
Based on the calculated displacement amount, a position that coincides with the displaced position or a position close to the displaced position is set as an offset position that is regarded as a reference position of the guiding line detection sensor, and the offset position and the guiding line are set. The vehicle travels with steering control while calculating the deviation amount, and calculates the deviation amount so as to approach the reference position of the guide line detection sensor every time the offset position travels a predetermined distance. The unmanned vehicle traveling control method. In the driving control method of the unmanned vehicle according to claim 1,
An unmanned vehicle characterized in that when the offset position is equal to or less than a predetermined value from the reference position of the guide line detection sensor, a deviation amount between the reference position of the guide line detection sensor and the guide line is calculated. Driving control method. A traveling motor for driving the drive wheels;
A steering motor for adjusting the steering angle of the drive wheels;
A guide wire detection sensor for detecting a guide wire laid on the floor;
Mileage detecting means for detecting the mileage;
Calculating means for calculating a deviation amount between the guide line and the reference position of the guide line detection sensor based on the guide line detection sensor;
Based on the calculated displacement amount, a setting means for setting a position that coincides with the displaced position or a position close to the displaced position as an offset position that is regarded as a reference position of the guide line detection sensor;
Motor driving means for driving and controlling the steering motor and the traveling motor in order to calculate a deviation amount between the offset position and the guide wire and to perform steering traveling control;
An unmanned vehicle comprising offset position updating means for updating the offset position to a new offset position so as to approach the reference position of the guide line detection sensor every time the vehicle travels a predetermined distance. 4. The unmanned vehicle according to claim 3, wherein the setting means does not set an offset position when the setting means falls below a predetermined value from a reference position of the guide wire detection sensor. The unmanned vehicle according to claim 3, wherein the offset position update means does not set the offset position when the offset position to be updated is equal to or less than a predetermined value from a reference position of the guide wire detection sensor. Unmanned vehicle to do.

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