To provide an automatic follow-up type self-traveling carriage having an automatic follow-up function in a self-traveling carriage equipped with a differential type caster.
An automatic follow-up type self-traveling carriage 1 includes differential type casters (31, 32, 33) and an automatic follow-up device. The differential type caster (for example, 31) is equipped with first and second driving wheels (30e, 30f) to be driven to rotate independently from each other, and configured to freely vary their driving directions with respect to a carriage body 2. Then, the automatic follow-up device includes: detection means (11, 12) for detecting information relating to the distance and angle of the carrier 1 with respect to an object P to be followed-up; and a control device 20 for determining a direction in which the carrier 1 should travel and the traveling or stop of the carrier 1 on the basis of information detected by the detection means (11, 12), and for supplying control currents to the differential type casters (31, 32, 33) on the basis of the determined information.
NAGAI TAKAHIRO
NAGASE YUICHI
ISOMURA TOSHIAKI
