SELF-PROPELLED VEHICLE SYSTEM, SELF-PROPELLED VEHICLE, AND METHOD FOR CONTROLLING SELF-PROPELLED VEHICLE TRAVELLING

摘要

PROBLEM TO BE SOLVED: To provide a self-propelled vehicle system capable of stably and smoothly changing a travel direction of a self-propelled vehicle to any of two directions even if a travel line branches in two directions.SOLUTION: A self-propelled vehicle 10 comprises: a plurality of travel line sensors 17A to 17F arranged in a wider range than a width of a travel line 31 in a direction crossing a travel direction of the self-propelled vehicle 10; marker sensors 16R and 16L which detect a start marker 35; and a control unit 14 which nullifies detection output of one group among a plurality of groups into which the travel line sensors 17A to 17F are classified and aligns the travel direction of the self-propelled vehicle 10 to the travel line branched into the other group side among the two travel lines branched in two directions on the basis of detection output of other groups when the start marker 35 is detected by the marker sensor 16R or 16L.SELECTED DRAWING: Figure 1