JPH03286313A - Unmanned carrier driving device - Google Patents

Abstract

PURPOSE:To improve the driving accuracy of an unmanned carrier by providing the detection subjects at each bending point on a driving course, and controlling a steering device based on the steering angle stored in a storage means when the detection subject is detected by a detector. CONSTITUTION:The detection subjects 10 are provided at the bending points P1 - P4 and an end point on a driving course of an unmanned carrier. At the same time, the steering angles of points P1 - P4 are stored in a storage means 12 of a controller 7. When the carrier reaches a bending point P, one of detection subject detectors 8a - 8d detects the subject 10 at the point P. Then a steering angle control means 13 controls a steering device 4 based on the steering angle of the point P stored in the means 12. Thus the carrier can be accurately driven, furthermore the number of detection subjects provided can be decreased. Then the overall installing cost is reduced for an unmanned driving device.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an unmanned traveling device using a so-called teaching-playback method that does not require use of guide lines or the like.

[Prior Art] Generally speaking, unmanned driving equipment installed in a factory installs a guide line along the route of the unmanned vehicle and guides the unmanned vehicle by sending an AC signal or the like through the guide line. (For example, see Japanese Utility Model Application Publication No. 57-67507).

When such a guide line system is adopted for an unmanned traveling device used as a lawnmower, for example, there are the following disadvantages.

In other words, if the ground is uneven, guidance is difficult due to sensor sensitivity. In addition, since the guide wire is buried underground, it is not only expensive, but also damages the grass, and furthermore, the grass does not grow back for some time after the wire is buried. In addition, because there is grass growing on the ground, the distance between the sensor and the guide wire becomes large, making the configuration for detecting the guide complicated and expensive (curved). Maintenance is difficult, and changing the travel route requires a lot of time and expense.

Therefore, a so-called teaching playback type 6 automatic driving vehicle has been proposed, which teaches the unmanned vehicle to memorize the relationship between the steering angle and the steering angle, and causes the unmanned vehicle to automatically travel based on that memory. . In this case, in order to drive accurately, it is necessary to correct the discrepancy between the set travel route and the actual travel route. A guideline section is provided, and the unmanned vehicle detects the guideline section and corrects deviations in the driving route. The guideline section had a large number of objects to be detected, such as metal rods, arranged closely along the travel route (for example,
8-144214, JP-A-83-314613).

[Problem to be solved by the invention].

With the above-mentioned conventional configuration, it is impossible to guide the unmanned vehicle at the bending point of the travel route, so it is difficult to accurately correct deviations in the travel route. In addition, it was necessary to install a large number of objects to be detected in the guideline section, and the installation work required a lot of time and expense. In particular, in order to improve the running accuracy of an unmanned vehicle, it is necessary to provide a guideline section over almost the entire length of the running route, which is not practical.

[Means for Solving the Problems] In order to solve the above problems, the unmanned traveling device of the present invention has a plurality of bending points from a starting point to a terminal point, and has a plurality of bending points from the starting point to the first bending point. An unmanned traveling device equipped with an unmanned vehicle that automatically travels along a straight line between points and from the last bending point to a terminal point and a straight line, and a detected object is installed at each 1+ii bending point of the driving route. The unmanned vehicle has a steering device that changes the steering angle of the wheels of the unmanned vehicle, a detected object detector that detects a detected object, and stores the steering angles of the wheels at each bending point of the 47 routes. The apparatus is provided with a storage means and a steering angle control means for controlling the steering device based on the steering angle stored in the storage means when the detected object is detected by the detected object detector.

[Operation] The steering angle control means controls the steering g position based on the steering angle stored in the storage means when the detected object detector detects the detected object.

[Example Code] An example of the present invention will be described below based on FIGS. 1 to 4.

FIG. 2 is a side view of an unmanned vehicle employed in an unmanned t-I device according to an embodiment of the present invention. 2a, 2b
, 3a, 3b, a steering device 4 that varies the steering angle of, for example, the front wheels 2a, 2b, and, for example, a rear wheel 3a.
3b is installed with a lawn mower 6 that cuts the grass as the [j1 rotating S-drive device and the unmanned vehicle] moves, and inside the unmanned vehicle 1 there is a steering device 4 and a A control device 7 for controlling the drive device 5 and the lawn mower 6 is installed.The control device 7 is composed of a microcomputer, and the steering VC device 4, the drive device 5, and the lawn mower 6 are of a well-known configuration. Further, at the front edge of one track of the unmanned vehicle 1, a plurality of (four in this embodiment) detection object detectors 83 to 8d are installed at regular intervals along the direction of the unmanned vehicle 1. The detection object detectors 8a to 8d are constructed of, for example, gold layer sensors, and detect objects to be detected, which will be described later.

FIG. 3 is an explanatory diagram of the detection ranges of the detection object detectors 8a to 8d. As shown by the imaginary lines, the detection ranges of the detection object detectors 88 to 8d are slightly different from those of the adjacent ones. There is. In addition, the intervals between the detected object detectors 8a to 8d are equal distances from each other, and the detected object detectors 8a and 8b are located at mutually symmetrical positions with respect to the center line in the width direction of the unmanned vehicle 1. The detected object detectors 8c and 8d are also located at positions symmetrical to each other with respect to the center line in the width direction of the unmanned traveling turret 1.

FIG. 4 is an explanation of the traveling route of the unmanned vehicle 1 [with threshold, starting point S, and one point P1 of multiple (four in this example) Iui songs]
P4 and the terminal point E are set at predetermined positions, and there are straight lines between them. Each h! 1 song “、＼PI〜P
4 and the terminal point, there is a valley limb detection object]0 buried. The object to be detected] 0 is constituted by a plow metal rod, such as a nail, and is inserted into the ground to the extent that the entire object is exposed. Swim the starting point, L train S and the ending point E at the same position G.
Even if it's '+'f, it's still J.

FIG. 1 is a schematic configuration diagram of an unmanned traveling device employed in the unmanned traveling device at t5 as a major example of the present invention, and the control device 7 includes:
The starting point of the travel route, from S to the first bending point P1 and each bending point P] to P4, and the last bend, from P4 to the end point P1 and each Bend point PI~P41
Dropping wheels 2. ．． 2b's t steering rq z: self-pity; memory means 12 and each curve point)] In 1 to P4, the steering device 4 detects the steering angle stored in the memory 1 stage 12.
Steering angle control f stage 3 that controls the steering angle control and each bending point P1 to P4
The unmanned vehicle 1 depends on which of the detection object detection devices 8a to 8d detects the detection object 10 (FIG. 4).
and a steering angle control means 13 that corrects the steering angle regarding the bending point of the current location stored in the storage means 12 based on the judgment result of the total positional deviation judgment means 14. a steering angle correcting means 15 for supplying the steering angle to Angle calculation means 16
and a storage content changing means 17 for rewriting the steering angle for the bending point one point before the current location stored in the storage means 12 based on the calculation result. Specifically, the storage means 12 is composed of various types of memories, including a steering angle control means 13 , a total positional deviation determination means 14 , a steering angle correction means 15 , an appropriate steering angle calculation means 16 , and a memory content changing means 17 is realized by software. The operation box (not shown) of the unmanned vehicle 1 includes an operation switch 18 for changing memory contents that turns on/off the memory contents changing means 17, and a start switch (not shown) that starts driving the unmanned vehicle 1. There are various operation switches such as:

Next, the operation will be explained. First, the traveling route of the unmanned vehicle 1 is determined, and the detected object 1 is placed at each bending point P1 to P4 and the terminal point E.
Set 0. Next, each bending point P1 to P is stored in the storage means 12.
Store the steering angle at 4. This work may be performed manually or manually without actually driving the unmanned vehicle 1 along the travel route, or may be performed manually using a keyboard or the like after measuring the steering angle in advance. This completes the installation and preparation work.

When mowing the lawn, the unmanned vehicle 1 is first positioned at the starting point S and directed toward the first Ju1 curve point P1.

Then, by operating the memory content changing operation switch 18, the memory content changing means 17 is activated, and when the start switch (not shown) of the unmanned vehicle 1 is operated, the unmanned vehicle 1 runs toward the bending point P1. . When the unmanned vehicle 1 arrives at the bending point P1, one of the detected object detectors 8a to 8d detects the detected object 10. Now, it is assumed that the position of the unmanned vehicle 1 is almost the same, and the detected object detector 8a and the detected object detector 8b have detected the detected object 10.

In this case, the complete positional deviation determination means 14 determines that there is no positional deviation, and supplies a correction-unnecessary signal to the steering angle control means 13. Thereby, the steering angle control means 13 controls the steering device 4 based on the steering angle at the Ju1 curve point P1 stored in the storage means 12. That is, the steering angle control means 13 controls the steering device 4 to first set the above-mentioned steering angle, and gradually decrease the steering angle as the unmanned vehicle travels. Therefore, the unmanned vehicle 1 travels toward the bending point P2.

When the unmanned vehicle 1 arrives at the bending point P2, one of the detected object detectors 8a to 8d detects the detected object 10.

It is now assumed that the unmanned vehicle 1 has shifted to the left and the detected object detector 8d has detected the detected object 10. In this case, the total positional deviation determination means 14 determines that there is a positional deviation, and a signal indicating that the unmanned vehicle 1 has shifted to the left by the distance between the detected object detector 8d and the center line of the unmanned vehicle 1 is operated. It is supplied to the corner correction means 15. The steering angle correction means 15 includes the storage means 1
The steering angle at the Iti1 bending point P2 and the d1 distance between the Iui turning point P2 and the bending point P3 stored in 2 are read out,
The steering angle at the point P2 (Mount Iui) is corrected based on the information from the total judgment means 14 (.) and is supplied to the steering angle control means 13. That is, the steering angle correction means 15 An appropriate steering angle is calculated from the amount of deviation and the distance to the bending point P3.The steering angle control means 13 controls the steering device 4 based on the signal from the steering angle correction means 15.Therefore, the unmanned vehicle 1 travels toward the bending point P3. On the other hand, the signal from the position error determining means 14 is also supplied to the appropriate steering angle calculating means 16.
reads out the steering angle at the bending point P1 and the distance between the bending point P1 and the first bending point P2 stored in the storage means 12, and converts the steering angle at the bending point P1 into the signal from the position shift mil+cutting point]4. Based on the correction, the steering angle at the bending point PI stored in the storage means 12 is rewritten.

That is, the appropriate steering angle calculation means 16 calculates the appropriate steering angle of the bending point PI by /jt from the amount of deviation of the unmanned vehicle and the distance from the bending point P1. Below, each bending point P3. The same operation is repeated every P4, and the unmanned vehicle 1 reaches the landing point E. When the unmanned vehicle 1 reaches the destination C, the detected object detector 88
8d detects the detected object 10, the control device 7 stops the operation of the drive device 5.

At this time, if the position of the unmanned vehicle l has shifted, the stored content of the storage means 12 is rewritten by the stored content writing means 17 in the same manner as described above.

Note that if the memory content change manual operation switch] 8 is operated to put the memory content change means 17 in an inactive state, the memory content of the memory means 12 will not be rewritten.

The memory contents of the memory means 12 may be rewritten by the memory contents changing means 17 from the time when the unmanned vehicle 1 first runs until it starts to travel accurately and stably on the travel route, or when it rains heavily. It may also be configured to always perform this when driving under special conditions other than those such as.

In this way, the detected object 10 is provided at each bending point P1 to P4 of the travel route, and the detected object detector 8 is installed at each bending point P1 to P4.
Since the detected object 10 is detected by the signals a to 8d and the steering device 4 is controlled, the unmanned running time is reduced compared to the conventional device.
Since the travel of h1 is accurate and the number of objects to be detected 10 to be installed is small, the installation cost of the entire device can be reduced. In addition, the detected object detection S8a to 8d is performed by the unmanned vehicle 1.
When a positional deviation of the unmanned vehicle 1 occurs at any of the bending points P1 to P4, the positional deviation amount of the unmanned vehicle 1 is determined by the positional deviation amount determining means 14, and the steering angle is corrected. Since the steering angle is corrected by the means 15 and the steering device 4 is controlled based on the corrected steering angle, the unmanned vehicle 1 at any bending point P1 to P4
Even if a positional shift occurs, the unmanned vehicle 1 will move to the next bending point P.
Since the vehicle accurately travels toward 2 to P4 or the destination point E, and there is no accumulation of positional deviations, the traveling accuracy can be further improved. Also, any bending point P2 to P4 or the terminal point E
The fact that the positional deviation of the unmanned vehicle 1 has occurred in , means that the steering angle at the bending point P1 to P4 that is one position before the position is not appropriate. Since the appropriate steering angles at the bending points P1 to P4 are calculated and the stored contents of the storage means 12 are rewritten, the unmanned vehicle 1 can repeatedly travel fI! Go in the direction i degree.

In addition, since the memory content changing means 17 is configured to be switchable between an active state and a non-active state by the memory content change operation switch 18, under special conditions such as strong rain opening II, etc. It is possible to interrupt the rewriting of storage means] 2, and prevent the memory contents of storage means 12 from being altered.
I'll do it. In addition, when unmanned, Ji 100 row single position deviation is, for example, when there is a ["It" 11 part] on the ground in the middle of the driving route, the 1 digit on the drawing is the correct steering angle. This occurs when it is not possible to accurately grasp the

[Another Embodiment] FIG. 5 is a schematic configuration diagram of an unmanned vehicle maintained in an unmanned traveling device in another embodiment, which is different from the embodiment shown in FIG. 1.
Directly, the unmanned vehicle is detected by a well-known traveling forceps detection means 21 that detects the traveling distance of the unmanned vehicle 1 from, for example, the rotational speed of the center shaft, the memory contents of the storage means 12, and a signal from the traveling distance detecting means 21. 1 has just reached the vicinity of the next hlI bending point P+-P4.
The bending point approach judgment means 22 or the next bending point P1 is provided.
It is determined that ~P4 has approached, and the detected object detector 8a~
Is it one of 8d? The configuration is such that the EHQ output 1 output 1 output steering VC device 4 is controlled.

For example, if the unmanned vehicle 1 is traveling from a bend y,'
, c When reading the distance between P 1 and the bending point P2) 1
, the distance between the lui song, 6Pl and the current unmanned running i't1.1 is calculated based on the signal from the traveling distance detection means 21, and the unmanned line 41 vehicle weight is hj, and from the i song 1 point P2, a predetermined distance is calculated. II has reached the remote position! Steering angle control means 1 with j and a
Approaching 3 f. Output the number. Note that the Ju1 curve point contact approach determination means 22 is physically realized by the software of the control device 7.

In this way, for example, L? of the unmanned traveling device 1? If a water pipe or the like is installed on the j route and at a position away from the bending points P1 to P4, the detected object detectors 8a to 8
Even if d detects a water XrA pipe or the like by mistake for the detected object 10, the steering angle control means 13 does not receive the approach signal from the bending point approach judgment means 22 because the approach signal from the bending point approach judgment means 22 is not supplied to the steering angle control means 13.
does not control the steering device 4, and the bending points P1 to P4
Error detection can be prevented.

FIG. 6 is an explanatory diagram of the traveling route of the unmanned vehicle 1 in yet another embodiment. In this way, a large number of detected objects 10 are installed in the shape of a base in a predetermined range including the entire traveling route shown by the solid line. You may. Of course, the detected objects] 0 are arranged at appropriate intervals so that the detected object detectors 88 to 8d do not detect two detected objects 10 at the same time.

Further, as in the embodiment shown in FIG.
If not provided, the detected object 10 should not be placed at any position other than the bending point on the travel route.

In this way, the travel route can be changed extremely easily by rewriting the stored contents of the storage means 12. Note that the arrangement of the detection objects 10 is not limited to the grid pattern, but may be arranged at uneven pitches, or may be arranged only in the periphery of the travel route in the Iti1 pattern. Further, a plurality of travel route patterns are set in advance, and the information is stored in the storage means 12,
It may be configured such that an arbitrary travel route can be selected by operating an operation switch.

FIG. 7 is a schematic explanatory diagram of an unmanned traveling device in another embodiment. In this embodiment, a wireless transmitting device 24 is provided on the ground side, and a receiving device 25 is mounted on the unmanned JT vehicle. Sending 1 = By operating the device 24, the unmanned vehicle 1 can be made to travel at will. Further, the control device 7 in this embodiment is almost the same as the control device 7 in FIG. 5, and the control device 7 in FIG.
6, this embodiment is equipped with an appropriate steering angle calculation means 16. Instead, a transmitting device 24 is provided.
The only difference is that the storage content changing means 17 rewrites the storage contents of the storage means 12 based on the steering angle correction information from the steering angle correction information. For example, if the position of the unmanned vehicle 1 is blurred at the bending point P2, the amount of positional deviation is determined by the operator, and the appropriate steering angle for the bending point P1 is determined accordingly.
It is sent as steering angle correction information by the sending IS device 24.
6, the receiving device 25 receives it, and the receiving device 25
The steering angle at the bending point P1 stored in the memory content changing means 17 or the storage means]2 is rewritten based on the signal from the steering wheel.

By doing this, it is possible to perform teaching by radio control even when there is no stored content in the storage means 12, which is extremely convenient. However, after that, the stored contents of the storage means 12 can be rewritten wirelessly while checking the running state of the unmanned vehicle 1, so that more accurate running can be ensured.

[Effects of the Invention] As explained above, according to the present invention, each 1o of the travel route
A detected object is installed at the I bend point, and the unmanned vehicle is provided with a steering device that changes the steering angle of the wheels of the unmanned vehicle, a detected object detector that detects the detected object, and each bending point of the driving route. and a steering angle control means for controlling the steering device based on the steering angle stored in the storage means when the detected object detector detects the detected object. , the detected object is detected by the detected object detector at each bending point and the like to control the steering system, so the driving of the unmanned vehicle is more accurate compared to conventional devices, and the detection object is Since only a small number of installations are required, the installation cost of the entire device can be reduced.

In addition, objects to be detected are installed at each 1tiJ curve point of the driving route, and the traveling distance of the unmanned vehicle is detected during unmanned events.
a steering device that varies the steering angle of the wheels of the unmanned vehicle; a detected object detector that detects a detected object; and storage means for storing each distance from the last bending point to the terminal point and the steering angle of the wheels at each bending point, and the running distance detected by the travel distance detection means and the distance stored in the storage means. a bending point approach judgment means for determining whether the unmanned vehicle has just arrived near the next bending point by comparing the steering angle control means for controlling the steering device based on the steering angle stored in the storage means when the object detector detects the object to be detected; Approach? By configuring the steering device to be controlled by the steering angle control means based on the steering angle stored in the storage means when the detected object is detected by the detected object detector, the steering device is controlled based on the steering angle stored in the storage means. If a water pipe or the like is located far away from the bending point, even if the water pipe or the like is detected by the detection object detector by mistake for the detection object, the bending point approach judgment means will not be able to approach the object. Since the signal is not supplied to the steering angle control means, the steering angle control means does not control the steering device, and erroneous detection of the bending point can be prevented.

In addition, by arranging a large number of objects to be detected over a predetermined range including the entire running route, and by changing the memory contents of the storage means, the running route can be arbitrarily changed.
The travel route can be changed extremely easily simply by rewriting the memory contents of the storage means.

In addition, a plurality of detected object detectors are arranged at predetermined intervals in the direction of the unmanned vehicle, and the unmanned vehicle has 1411 points depending on which detected object detector detects the detected object. A positional deviation amount determining means for determining the positional deviation amount of the unmanned ANT vehicle, and a steering angle with respect to the bending point of the current residence stored in the storage means based on the determination result by the positional deviation amount determining means is corrected I7. A steering angle correction means for supplying the steering angle to the control means is installed, and the steering angle control means or the steering device is controlled based on the corrected steering angle when the position of the unmanned vehicle is deviated at the bending point. Therefore, even if the unmanned vehicle misaligns at any bending point, the unmanned vehicle will accurately travel toward the next bending point.
Since there is no accumulation of positional deviations, the accuracy of traveling can be further improved.

In addition, the unmanned vehicle is provided with an appropriate steering angle calculation means for calculating an appropriate steering angle at a bending point one bending point before the current location based on the determination result by the positional deviation amount determination means, and a calculation result of the appropriate steering angle calculation means. a memory content changing means for changing the memory content of the memory means based on the bending point; By rewriting the steering angle related to a point to an appropriate steering angle, the driving accuracy is improved as the unmanned vehicle repeatedly travels.

In addition, the unmanned vehicle is provided with an operation switch for the memory ``8'', and the memory ``8'' is configured to be able to switch between the operating state and the non-operating state of the memory ``8'' support stage using this memory contents operation switch. However, under special conditions such as strong meat fat, rewriting of the memory means can be interrupted, and the contents of the memory means can be prevented from being changed.

Also, on the ground side, there is a transmission system that can remotely control an unmanned vehicle! A device is installed and the transmission from the transmitting device is sent to the unmanned vehicle 1o1! Received the issue 1. ; a receiver 16 device for changing the memory content of the storage means; and a memory content changing means for changing the memory content of the memory means;
= If steering angle correction information is transmitted from the transmission 13 device while the position is on the T side, the receiving device receives it and the storage content changing means changes the current position from the current position stored in the storage means. By configuring the steering angle regarding the previous bending point to be rewritten based on the steering angle correction information transmitted from the transmitting device, it is possible to perform steering by far IW & longitudinal in a state where there is no stored content in the storage means. It is very convenient. After that, the contents of the storage means can be rewritten as needed by remote control 0 without checking the running condition of the unmanned L7 car, so it is more i)'
: Dem correct j5: I'll secure it.

[Brief explanation of the drawing]

Fig. 1 is a schematic configuration diagram of an unmanned L-row vehicle employed in an unmanned running system according to an embodiment of the present invention, Fig. 2 is a bottom view of the unmanned running vehicle, and Fig. 3 is a detection object detector. FIG. 4 is an explanatory diagram of the driving route of the unmanned vehicle, FIG. 5 is a schematic purchasing diagram of the unmanned vehicle employed in the unmanned traveling device in another embodiment, and FIG. 6 is a further diagram of the unmanned vehicle. An explanatory diagram of a travel route of an unmanned vehicle in another embodiment, and FIG. 7 is a schematic diagram of an unmanned traveling device in yet another embodiment. 1. Unmanned traveling device, 2a, 21-, -wheel, 4. Steering device, 8a to 8d. Detected object detector, 10.. Detected object, 12.. Storage means, 13. Steering angle control means, 14. −
・Position deviation determination means, 15 ・Steering angle correction means, 16
・・Appropriate steering angle calculation means, 17・Memory content changing means, 1
8. Operation switch for changing memory contents, 21.. Travel distance detection means, 22.. Means for determining approach to bending point in FIG. 1, 24.. Transmitting device, 25.. Receiving device.

Claims (1)

[Claims] 1. It has a plurality of bending points from the starting point to the ending point, and the points from the starting point to the first bending point, between each bending point, and from the last bending point to the ending point are each a straight line. An unmanned traveling device equipped with an unmanned vehicle that automatically travels along a certain travel route, wherein a detected object is installed at each bending point of the travel route, and the steering angle of the wheels of the unmanned vehicle is determined by the unmanned vehicle. a steering device for detecting the detected object; a storage means for storing steering angles of wheels at each bending point of the travel route; and a steering device for detecting the detected object; and a steering angle control means for controlling the steering device based on the steering angle stored in the storage means when the steering angle is detected. 2. Automatically travels along a travel route that has multiple bending points from the starting point to the ending point and is a straight line from the starting point to the first bending point, between each bending point, and from the last bending point to the ending point. An unmanned traveling device comprising an unmanned vehicle, wherein a detected object is installed at each bending point of the traveling route, and a traveling distance detecting means for detecting a traveling distance of the unmanned vehicle; a steering device that varies the steering angle of the wheels of the unmanned vehicle; a detected object detector that detects the detected object; A storage means for storing each distance from a point to a terminal point and a steering angle of the wheels at each bending point, and a comparison between the travel distance detected by the travel distance detection means and the distance stored in the storage means. bending point approach determining means for determining whether the unmanned vehicle has reached the vicinity of the next bending point; and a steering angle control means for controlling the steering device based on the steering angle stored in the storage means when the vehicle detects the detected object. 3. Claim 1 characterized in that a large number of objects to be detected are arranged over a predetermined range including the entire running route, and the running route can be arbitrarily changed by changing the stored contents of the storage means. The unmanned traveling device according to item 1 or 2. 4. A plurality of detected object detectors are arranged at predetermined intervals in the width direction of the unmanned vehicle, and a bending point is set on the unmanned vehicle depending on which detected object detector detects the detected object. a positional deviation amount determining means for determining the positional deviation amount of the unmanned vehicle at , and a steering angle with respect to the bending point of the current location stored in the storage means based on the determination result of the positional deviation amount determining means. A steering angle correction means for supplying the steering angle to the control means is provided, and when the position of the unmanned vehicle is deviated at the bending point, the steering angle control means controls the steering device based on the corrected steering angle. An unmanned traveling device according to any one of claims 1 to 3. 5. The unmanned vehicle is provided with an appropriate steering angle calculation means for calculating an appropriate steering angle at a bending point one point before the current location based on the determination result by the positional deviation amount determination means, and a calculation result of the appropriate steering angle calculation means. a memory content changing means for changing the memory content of the memory means based on the information stored in the memory means, and when the position of the unmanned vehicle is shifted at a bending point, the memory content changing means changes the memory content of the memory means based on The unmanned traveling device according to claim 4, characterized in that the steering angle is rewritten to an appropriate steering angle. 6. The unmanned vehicle is equipped with an operation switch for changing the memory contents,
The unmanned traveling device according to claim 5, characterized in that the storage content changing means can be switched between an activated state and a non-activated state by the storage content changing operation switch. 7. A transmitting device capable of remotely controlling the unmanned vehicle is provided on the ground side, and the unmanned vehicle includes a receiving device for receiving a transmission signal from the transmitting device, and a storage content changing means for changing the stored content of the storage device. and when steering angle correction information is transmitted from the transmitting device when the unmanned vehicle is located near a bending point, the receiving device receives the steering angle correction information, and the storage content changing means stores the steering angle correction information. Claim 1, characterized in that the steering angle related to the bending point one point before the current position stored in the means is rewritten based on the steering angle correction information transmitted from the transmitting device. 4. The unmanned traveling device according to any one of items 4 to 4.