To provide a method for guiding a traveling object, which can easily set the guiding route from the present position to a target position and also easily change the guiding route even when the positions of obstacles are changed in a warehouse and distribution equipment.
Map data in a predetermined area is divided into a plurality of grid-like fractionized areas 12, an origin point position (1st position) A being the start point of a carrying means (traveling object) 1 and the target position (2nd position) B being a stop position are also set on dots 14 on the map data, the guiding route 13 going through dots 14 from the origin point position A to the target position B is also set by combining a 1st linear moving route (a and b) along the side of the dots with a 2nd circular arc-shaped moving route (c to f) being in contact wit two sides where the dots cross orthogonally, and the carrying means 1 is moved along the guiding route 13.
TAKAHASHI YUICHI
TAZAKI FUTOSHI
ANDO RYUICHI
HUMAN RINKU KK