JPH09282032A - Guidance system for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To speedily take a proper attitude along a guide line after passing a crossing part while avoiding the complication of the guide line by performing the steering control of steering wheels so as to be curved on the opposite side based on stored information in a steering information storage means when moving to another traveling route. SOLUTION: An ID tag reader 9 on a moving vehicle V detects an ID tag installed before each crossing part and when necessity to move to the other traveling route crossing a route under traveling at present is judged, steering control following up a guide line L is switched to autonomous traveling. The steering information storage means on the moving vehicle V stores the steering information for a steering control means to control the steering of steering wheels HW. Then, when moving from one traveling route to the other traveling route, based on the stored information in the steering information storage means, the steering control means performs the steering control so that the moving track of the steering wheels HW can be curved to the other traveling route opposite to the side where one traveling route exists.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a guide line for guiding a moving vehicle along a traveling route of the moving vehicle, which is installed near the front side of the vehicle body on the moving vehicle and which is a vertical axis with respect to the vehicle body. Based on the steering wheel whose direction can be changed around the core, the guide line detecting means for detecting the guide line, and the detection information of the guide line detecting means, the moving vehicle travels along the guide line. The present invention relates to a guidance system for a moving vehicle, which is provided with a steering control means for controlling the steering wheels.

[0002]

2. Description of the Related Art Such a guide system for a moving vehicle is arranged such that the steering control means for the moving vehicle follows the guide line based on the information detected by the guide line detecting means provided in the moving vehicle. The steering wheel is controlled so as to travel, and is used, for example, when a load is transferred by a moving vehicle between stations installed along a guide line. By the way, a guide line for guiding the moving vehicle V may intersect with a plurality of travel routes, but conventionally, in such a case, it is necessary to simply branch a plurality of guide lines from one guide line. Different arrangements are considered, and the vehicle is made to follow the guide line even at the intersection of a plurality of traveling routes.

[0003]

However, in the above-mentioned conventional configuration, in the case of a moving vehicle in which the steering wheels are arranged closer to the front side of the vehicle body, the steering wheels suddenly move when passing the intersection of the traveling route. When the direction is changed, the rear part of the vehicle body of the moving vehicle draws a different trajectory from the steering wheel, and after passing through the intersection of the traveling routes, the moving vehicle is relatively in a proper posture along the guide line. You need to drive a long distance.
Therefore, in order to make the posture of the moving vehicle proper after passing through one intersection and reaching the next intersection, it is necessary to make the space between the intersections sufficiently wide and the guide line installation area There is an inconvenience that it becomes large.

In order to avoid such inconvenience, the steering wheel of the moving vehicle once passes through the guidance line at the branch destination, and then the steering control is executed so that the steering wheel returns to the guidance line at the branch destination again. When steering control is performed so that the locus of movement of the wheels bulges toward the opposite side of the guide line at the branch destination to the side where the travel route that had been running up to that point is present, the rear part of the vehicle body of the moving vehicle quickly moves to the branch destination. It is possible to have an appropriate posture along the guide line.
However, if the guide line is installed so that the steering control as described above is possible, the original guide line and the guide line for branching may be complicated and the arrangement structure of the guide line may be complicated. become. The present invention has been made in view of the above circumstances, and an object thereof is to quickly guide a moving vehicle after passing through an intersection of traveling routes while avoiding the guide line from becoming complicated. The point is to provide guidance equipment for a moving vehicle that has an appropriate posture along the line.

[0005]

By providing the structure according to the above-mentioned claim 1, the steering control means of the moving vehicle can move from one traveling route to another traveling route at the intersection of the traveling routes. , The moving path of the steered wheels of the moving vehicle is on the side opposite to the existing side of the one travel route that has traveled until reaching the intersection of the travel route with respect to the other travel route at the branch destination. The steering wheel is steered and controlled so as to bulge. In other words, the steered wheels of the moving vehicle draw a locus of movement that once passes through the traveling route at the branch destination and then returns to the traveling route side at the branch destination. The posture of the vehicle quickly becomes the proper posture along the guide line.

On the other hand, when performing the above-mentioned steering control, the steering control means performs steering control based on the stored information of the steering information storage means for storing steering information, that is, so-called autonomous driving which does not depend on the guide line. Direction control. Therefore,
It is possible to partially omit the guide line at the intersection of the travel route, and it is possible to avoid complication of the guide line as much as possible, while moving quickly after passing the intersection of the travel route. Has been able to provide guidance equipment for moving vehicles that has an appropriate posture along the guidance line.

Further, by providing the configuration according to the above-mentioned claim 2, the moving locus of the steering wheel when the steering wheel moves from one traveling route to another traveling route, and the other traveling route. When the merging point is reached, that is, when the steering control for swelling to the side opposite to the existing side of the one traveling route is finished with respect to the other traveling route, the rear part of the vehicle body of the moving vehicle travels to the other traveling route. Since the moving vehicle is located at the proper position with respect to the guide line along the route and has the proper posture along the guide line, the movable vehicle can be brought into the proper posture along the guide line as quickly as possible. With the configuration according to the third aspect, the stored information of the steering information storage means, which is the basis of the steering control by the steering control means, is the traveling distance information of the moving vehicle and the steering wheel orientation information. Are associated with each other, and the steering control is executed based on the stored information and the detection information of the steering distance detecting means. As a configuration for autonomously traveling the traveling vehicle at the intersection of the traveling routes, for example, a configuration in which the traveling speed is constant and the direction of the steering wheel is changed according to the traveling time is conceivable. By associating the traveling distance of the vehicle with the steering wheel direction information, acceleration and deceleration of the moving vehicle during autonomous traveling is arbitrary, and even if the moving vehicle stops during autonomous traveling, it is easy. It will be possible to restart autonomous driving.

Further, by providing the configuration according to the above-mentioned claim 4, the steering information for the autonomous traveling of the moving vehicle at the intersection of the traveling routes is divided into a plurality of set traveling distances, and within each division. In the above, since the change in the travel distance and the change in the direction of the steered wheels are set to be in a proportional relationship, the information stored in the steering information storage means is also divided into the travel distance categories and It suffices to store the steering wheel direction change ratio with respect to the travel distance in step S3 in association with each other. Therefore, compared to a configuration in which the traveling distance and the steering wheel direction information corresponding to the traveling distance are simply associated and stored,
The storage capacity required for the steering information storage means can be made as small as possible.

Further, by providing the configuration according to claim 5, the steering control means performs steering control by the steering information storage means, that is, steering control for autonomous traveling from a storage medium installed on the traveling road surface. It starts by the command of. That is, since a large amount of information can be stored in the storage medium as compared with a configuration in which various marks and the like are installed on the traveling road surface, for example, a moving vehicle can move at the intersection of the traveling routes corresponding to each storage medium. It can be used in various ways, for example, by storing the steering information when passing autonomously in each storage medium, and it is possible to make the guidance equipment of the moving vehicle more advantageous in terms of actual manufacturing.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. The moving vehicle V for conveying goods shown in FIGS. 1 to 3 automatically travels along a traveling route mainly formed by the guide line L as illustrated in the overall layout diagram of FIG. The cargo is transported by. The moving vehicle V is provided with a fork mechanism FM provided with a reach 7 that can be moved in and out toward the rear of the vehicle body and can be raised and lowered, and is shown in FIG. 3 with the rear side of the moving vehicle V facing the station ST. As shown, the reach 7 moves in and out as well as moves up and down to transfer the load C between the station ST and the moving vehicle V. On the bottom surface side of the moving vehicle V, at the front side of the vehicle body 1, the left and right central portions are separated from each other, and the rotation axis core P1 is provided.
A pair of drive wheels 2a and 2b arranged in parallel with each other is provided, and a driven wheel 3 that is rotatable around an axis in the left-right direction is provided at each of left and right side edge portions of the rear portion of the vehicle body 1.

As shown in FIGS. 4 to 6, the pair of drive wheels 2a, 2b at the front of the vehicle body are arranged outside the drive wheels 2a, 2b and are directly connected to the respective drive wheels 2a, 2b.
4b, each of the driving wheels 2a, 2b is freely supported by the vehicle body 1 so as to freely change its direction around a longitudinal axis P3 located at the center between the driving wheels 2a, 2b. The vehicle is steered by giving a difference to the drive rotation speeds of the drive wheels and integrally changing the directions of the pair of drive wheels 2a and 2b around the longitudinal axis P3. Therefore, the pair of driving wheels 2a and 2b are also steering wheels HW of the moving vehicle V.

As for a concrete support structure of the drive wheels 2a and 2b, one set of the drive wheel 2a on one side and a motor 4a for the set are connected and supported, and the other side similarly has the drive wheel on the other side. The drive wheels 2a, 2b are provided with a connecting frame 5a for connecting and supporting the set of the motor 2b and the motor 4b.
A pair of front and rear vertical frames 5b and 5c which are disposed between the two and separately support the front end and the rear end of the connecting frame 5a so as to be rotatable around a front-rearward axis P4, respectively, near the lower ends of the driving wheels 2a and 2b. The annular frame 5d is concentrically arranged with respect to the longitudinal axis P3 at the height of the vertical axis P3.
It is attached to rotate (turn) freely around 3.

That is, the pair of drive wheels 2a, 2b, and
The supporting frames 5 for attaching the motors 4a, 4b to the driving wheels 2a, 2b are connected to the frames 5a to 5d.
And the support frame 5 is provided with the above-mentioned vertical axis P3.
By being attached to the vehicle body 1 so as to be able to turn around, the drive wheels 2a and 2b, the motors 4a and 4b, and the support frame 5 are turned integrally around the longitudinal axis P3 to form a pair of drive wheels 2a and 2b.
The structure is such that a and 2b are integrally changed in direction.

The sensor bracket 1 is attached to the front vertical frame 5b on the front side of the pair of drive wheels 2a and 2b having the above structure.
A guide sensor 16 is mounted via the drive wheel 7 and rotates above the pair of drive wheels 2a and 2b on the passing frame 5e between the vertical frames 5b and 5c while being supported on the vehicle body side on the longitudinal axis P3. A rotary encoder 18 having a shaft connected thereto is mounted. The guide sensor 16 is configured by arranging a plurality of magnetic sensors side by side in the left-right direction, detects the magnetic field of the magnetic strip-shaped guide line L, and guides the vehicle body 1 of the moving vehicle V by the detection signal. The positional deviation with respect to the line L is detected and used for steering control of the moving vehicle V. Then, the direction change angle of the pair of drive wheels 2a and 2b that turn by the steering control is determined by the rotary encoder 18.
It is detected by. Therefore, the guide sensor 16 functions as a guide line detection unit that detects the guide line L.
Although not shown in FIGS. 4 to 6, the motors 4a,
Each of the 4b is also provided with rotary encoders 10a and 10b for detecting the respective rotation amounts, and the detection signals of the rotary encoders 10a and 10b are used to calculate the traveling distance information of the moving vehicle V.

On the bottom side of the moving vehicle V, the above-mentioned drive wheels 2 are provided.
In addition to a, 2b, etc., a mark sensor 8 including a magnetic sensor is provided on the left end side of the rear part of the vehicle body, and the recorded information of the ID tag T as a storage medium installed on the traveling road surface is detected by wireless communication in the central portion of the vehicle body. The ID tag reader 9 is provided. The ID tag T stores an identification signal unique to each ID tag T. As shown in FIG. 7, the detection information of the above-described sensors and the like is input to the control device CO of the moving vehicle V, and the control device CO performs steering control of the moving vehicle V and transfer control of the load C. Be seen. Therefore, the control device CO functions as steering control means HC that controls the pair of driving wheels 2a and 2b that are also steering wheels HW based on the detection information of the guide sensor 16.

The traveling route of the moving vehicle V is mainly formed by the guide line L as shown in FIG. 10, but there is a portion where the guide line L is not laid at the intersection of the traveling routes. Of the guide lines L, the main guide line L formed in a loop shape is set to be one-way in the counterclockwise direction indicated by the arrow in FIG. 10 in order to make the operation of the moving vehicle V easy to understand. Although the case where it is carried out is illustrated, of course, it may pass through in both directions.
As shown in FIG. 10, as the intersections of the traveling routes, the intersections of CR1 to CR5 entering the stations ST1 to ST5 from the guide line L and the intersections of CR6 and CR7 where the guide lines L intersect each other. And all intersections are three-way intersections where three traveling routes intersect. At the intersection of CR1 and CR3 to CR5, the guide line L is provided on the traveling route on the station ST side.
Is not laid. At the intersection of these travel routes, the moving vehicle V autonomously travels under the control of the control device CO.

The autonomous traveling at the intersection of the traveling routes is performed by the traveling distance of the moving vehicle V and the pair of drive wheels 2 shown in FIG.
The relationship between the travel distance and the steering angle is stored in the storage unit M of the control device CO together with various control programs. Therefore, the storage unit M of the control device CO functions as a steering information storage unit that stores steering information when moving the traveling route at the intersection of the traveling routes.
The relationship between the traveling distance and the steering angle shown in FIG. 9 is obtained by dividing the traveling distance into three set intervals of 0 to P, P to Q, and Q, and within each division, the change in the traveling distance and the steering angle. The change is set so that the slopes have a proportional relationship of α, β, γ, respectively, and the data stored in the storage unit M is switched between the slopes α, β, γ and the slopes α, β, γ. Only the values of mileage (P, Q) are enough.

Here, the traveling distance of the moving vehicle V is the distance obtained by taking the average value of the detection signals of the rotary encoders 10a and 10b for detecting the rotation amounts of the pair of drive wheels 2a and 2b by the control unit CO. And is the travel distance at the center position of the pair of drive wheels 2a and 2b. Therefore,
Rotary encoders 10a, 10b and control device CO
Is a traveling distance detecting means R for detecting the traveling distance of the moving vehicle V.
Functions as D. The starting point for detecting the traveling distance of the moving vehicle V is
It is the time when the mark sensor 8 of the moving vehicle V detects the branch mark 11 installed on the front side of each of the intersections CR1 to CR7. The branch mark 11 is a short strip of a magnetic strip-shaped member having the same structure as the guide line L. Further, the steering angle information is obtained by converting the detection signal of the rotary encoder 18 into a tilt angle around the vertical axis P3 of the pair of drive wheels 2a, 2b from the front-rear direction of the vehicle body 1.

Next, the control operation of the control device CO during the autonomous traveling will be described with reference to the flow chart shown in FIG. In the flowchart of FIG. 11, the ID tag reader 9 of the moving vehicle V detects the ID tags T1 to T9 installed at the front side of each intersection, and detects the detected I.
It starts when it is determined that it is an intersection where it is necessary to move from the identification signal of the D tag T to the other traveling route that intersects the traveling route that is currently traveling, and guidance is performed based on the detection information of the guide sensor 16 up to that point. The steering control that follows the line L is switched to autonomous traveling that does not depend on the guidance line L.
The time when the ID tag T is detected and the above-mentioned branch mark 1
T1 to T9 so that the detection time of 1 is almost the same time.
The positional relationship between the ID tag T and the branch mark 11 is set.

First, the mark sensor 8 is operated by the branch mark 11
The rotary encoders 10a and 10b
Based on the detection signal of, the measurement of the traveling distance at the center position of the pair of drive wheels 2a and 2b is started (step # 1). FIG.
As shown in, until the traveling distance reaches P (step # 4), the steering angle is controlled so that the steering angle of the pair of drive wheels 2a and 2b increases with the inclination α with respect to the measured traveling distance. Yes (Steps # 2, #
3). Next, until the mileage reaches Q (Step #
7), with respect to the measured traveling distance, a pair of drive wheels 2a,
The steering angle is controlled so that the steering angle of 2b increases with the inclination β smaller than the inclination α (steps # 5, # 6).

After the mileage exceeds Q, until the guide sensor 16 detects the guide line L (step #
8), with respect to the measured traveling distance, a pair of driving wheels 2a,
The steering angle is controlled so that the steering angle of 2b changes with the inclination γ (steps # 9, # 10). Here, γ is a negative value, and actually, the pair of drive wheels 2
The steering angle of a and 2b is returned to the straight traveling state side. When the guide sensor 16 detects the guide line L (step # 8), the steering control is returned to follow the guide line L.

For reference, the posture change of the moving vehicle V and the movement locus of the pair of driving wheels 2a and 2b during the above-mentioned autonomous traveling are described in the guide line L starting from the station ST where the moving vehicle V is ST1. FIG. 8 shows an example of the case of merging. The pair of drive wheels 2a and 2b once pass through the branch destination guide line L by the steering control shown in FIG. 9, and then return to the branch destination guide line L again.
The moving locus MP of 2b is opposite to the traveling route along the guidance line L at the branch destination, that is, the traveling route that has been traveling up to that time, that is, the side on which the traveling route along the guidance line L on the station ST side of ST1 is present. It becomes a swelling shape. As a result, the posture of the moving vehicle V quickly becomes a posture along the guide line L.

When the pair of drive wheels 2a and 2b reach the confluence point of the movement locus MP and the branching guide line L, the rear portion of the vehicle body of the moving vehicle V is positioned at an appropriate position with respect to the guide line L. The relationship between the traveling distance and the steering angle shown in FIG. 9 is set so that the moving vehicle V has an appropriate posture along the guide line. Such a setting can be obtained experimentally by a test run, but is calculated by considering the movement of the center of gravity of the moving vehicle V when the pair of drive wheels 2a and 2b are run at the set steering angle. be able to.

This steering control for autonomous traveling is appropriately executed at each of the intersections CR1 to CR7 where the divergence mark 11 is installed, and not only when starting from each station ST and joining the guide line L, Crossing point CR6
In CR7, loop-shaped guide lines L to ST4, S
It is also executed when the station ST of T5 branches to the installed guide line L. Incidentally, in the case where the vehicle departs from the station ST of ST5 and merges with the guide line L, the steering operation is to the left, contrary to the case illustrated in FIG.

Next, the traveling vehicle V when branching from the state where it is traveling on the guide line L to each station ST located near the side of the guide line L at the intersections CR1 to CR5. The operation will be described. As shown in FIG. 8 exemplifying the case where the vehicle branches off from the guide line L to the station ST of ST2, the moving vehicle V enters each intersection, and the ID tag reader 9 detects the ID tags T of T10 to T14. When the mark sensor 8 detects the intersection stop mark 12, the mark sensor 8 stops and the pair of drive wheels 2a and 2b is stopped.
The steering angle is about 90 degrees to the left, and the vehicle turns at 90 degrees inside the intersection, and the rear end side of the vehicle body 1, that is, the side where the reach 7 of the fork mechanism FM is present faces the station ST.

After that, the steering angle is returned to 0 degree, that is, the pair of drive wheels 2a and 2b face the front of the vehicle body 1, and the attitude of the vehicle body 1 is set so that the guide sensor 16 detects the guide line SL for entering the station. Adjust and move toward station ST in reverse. When the moving vehicle V performs such an operation, the driven wheels 3 and the like pass through the guide line L, but as shown in FIG. 8, in order to prevent the guide line L from being soiled by the driven wheels 3 and the like, A portion of the guide line L where the driven wheel 3 and the like will pass is partially cut off. Thereafter, the moving vehicle V approaches the station ST, the ID tag reader 9 detects the ID tags T of T15 to T19 arranged near the station ST, and the mark sensor 8 detects the station stop mark 13. Then, the operation is stopped and the fork mechanism FM is operated to transfer the load C to each station ST. still,
Station ST of ST3 from the loop-shaped guide line L
In the case of branching to, since the distance from the bent portion at the upper left corner of the guide line L in FIG. 10 to the intersection CR is short,
The guide line L of the bent portion is formed so as to bulge outward more than the others.

[Other Embodiments] Other embodiments will be listed below. In the above embodiment, the steering control means HC for the moving vehicle V
Performs steering control at the intersection of the traveling route based on the direction information of the steered wheels HW stored in the steering information storage unit M in association with the traveling distance information of the moving vehicle V. The moving vehicle V is provided with a gyro sensor and means for detecting the traveling distance of the moving vehicle V, and the control device CO is provided based on the detected information.
The position of the moving vehicle V can be detected, and the direction information of the steered wheels HW is stored in the steering information storage means M in association with the position of the moving vehicle V. The steering wheel HW may be steered based on the stored information stored in the steering information storage unit M.

In the above embodiment, the traveling information storage means M stores the traveling distance information of the moving vehicle V and the direction information of the steered wheels HW in association with each other. And the steered wheel H with respect to the mileage within each section
Although the ratio of the change in the direction of W is stored in association with each other, the direction information of the steered wheels HW may be directly associated with the travel distance information of the moving vehicle V and stored. In the above embodiment, the steering control by autonomous traveling at the intersection of the traveling routes exemplifies only the relationship between the steering angle and the traveling distance shown in FIG. 9, but the steering wheel stored in the steering information storage means M. A plurality of types of the relationship between the angle and the traveling distance are stored according to the intersection of the traveling route, and the steering signals of the plurality of types of steering angles are stored according to the identification signal of the ID tag T installed on the front side of the intersection of the traveling route. A configuration may be adopted in which one is selected from the relationship with the traveling distance and is used for steering control at the intersection where the other side is about to pass.

In the above-described embodiment, the relationship between the steering angle and the traveling distance for the steering control by autonomous traveling at the intersection of the traveling routes is stored in advance in the steering information storage means M. , The ID tag T installed at the front side of the intersection of the traveling route stores the relationship between the steering angle and the traveling distance required to pass the intersection of the traveling route existing ahead of the ID tag T. Alternatively, the relation may be read by the ID tag reader 9 of the moving vehicle V and stored in the steering information storage means M. In the above-described embodiment, the intersection of the traveling routes of the moving vehicle V is formed of only a so-called three-forked road where the three traveling routes intersect, but the same autonomous traveling as above is performed at the intersection of four or more forked roads. Control can be applied. Further, at the intersections CR1, CR6, CR7, only a straight guide line L is laid near the position where the traveling routes intersect, but for example, four traveling routes intersect each other in a cross shape at the intersections of the traveling routes. In the case of a four-forked road, the guide line L may be laid in a complete cross shape in consideration of the stability of straight traveling.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a plan view of a vehicle body showing a steered wheel and the like according to an embodiment of the present invention.

FIG. 2 is a plan view of the vehicle body of the mobile vehicle according to the embodiment of the present invention;

FIG. 3 is a side view of the vehicle body of the mobile vehicle according to the embodiment of the present invention;

FIG. 4 is a plan view of a main part according to the embodiment of the present invention.

FIG. 5 is a front view of a main part according to the embodiment of the present invention.

FIG. 6 is a side view of a main part according to the embodiment of the present invention.

FIG. 7 is a block configuration diagram according to an embodiment of the present invention.

FIG. 8 is an explanatory diagram of steering control according to the embodiment of the present invention.

FIG. 9 is an explanatory diagram of steering control according to the embodiment of the present invention.

FIG. 10 is an overall layout diagram of a traveling route of the mobile vehicle according to the embodiment of the present invention.

FIG. 11 is a flowchart according to the embodiment of the present invention.

[Explanation of symbols]

 1 vehicle body 16 guidance line detection means HC steering control means HW steering wheel L guidance line M steering information storage means RD mileage detection means T ID tag V mobile vehicle

Claims (5)

[Claims] 1. A guide line (L) for guiding a moving vehicle is installed along a traveling route of the moving vehicle (V), and the guiding line (L) is installed on the moving vehicle (V) near a front side of the vehicle body (1). A steerable wheel (HW) whose direction can be changed around a vertical axis with respect to the vehicle body (1), a guide line detecting means (16) for detecting the guide line (L), and the guide line detecting means (16). Steering control means (HC) for steering control of the steered wheels (HW) so that the moving vehicle (V) travels along the guide line (L) based on the detection information. And a steering control means for moving the vehicle (V) from one traveling route to another traveling route at an intersection of the traveling routes of the traveling vehicle (V). (HC) is the steering wheel (HW)
Steering information storage means (M) for storing steering information for steering control of the vehicle is provided, and the steering control means (HC) moves from one traveling route to another traveling route at the intersection. At this time, based on the stored information of the steering information storage means (M), the movement path of the steered wheels (HW) is different from the other traveling path with respect to the existing side of the one traveling path. A guidance system for a moving vehicle that is configured to control the steering so that it swells to the other side. 2. The stored information stored in the steering information storage means (M) is stored when the steering wheel (HW) reaches a confluence point between the movement track and the other travel route. 2. The guiding equipment for a moving vehicle according to claim 1, wherein the vehicle body rear portion of the moving vehicle (V) is set so as to be positioned at an appropriate position with respect to the guiding line (L) of the other traveling route. 3. The steering information storage means (M) associates, as the steering information, mileage information of the moving vehicle (V) and orientation information of the steering wheels (HW). The traveling vehicle (V) is provided with traveling distance detection means (RD) for detecting the traveling distance of the traveling vehicle (V), and the steering control means (HC) is provided with the traveling distance detection means (RD). The guidance equipment for a mobile vehicle according to claim 1 or 2, which is configured to perform steering control based on detection information of RD) and stored information of the steering information storage means (M). 4. The steering information divides a travel distance into a plurality of set intervals, and within each section, a change in the travel distance and a change in the direction of the steering wheel (HW) are in a proportional relationship. In the steering information storage means (M), the traveling distance classification and the steering wheel (H) corresponding to the traveling distance in each classification are stored.
The guidance equipment for a mobile vehicle according to claim 3, wherein the ratio of the direction change of (W) is stored in association with each other. 5. The steering control means (HC) starts steering control based on the stored information of the steering information storage means (M) by a command from a storage medium (T) installed on the road surface. The guidance system for a mobile vehicle according to claim 1, 2, 3, or 4, which is configured to: