To position the loading device of an unmanned carriage staying at a station without an X-Y table by providing a means for finding the position and tilt of a swivel device to a station, swiveling the device so that the tile is eliminated, and controlling the driving quantity of the loading device according to the position to the station.
The swivel device is provided with a means which finds the position and tilt to the station and swiveled so that the tile is eliminated, thereby controlling the driving quantity of the loading device according to the position to the station. In this system, a swivel table 6 is provided with three distance sensors 21 to 23 at intervals. For example, distance sensors 21 and 23 are provided nearby both the lengthwise ends of the swivel table 6 and the distance sensor 22 is provided nearby the lengthwise center part. A control part 24 controls the swivel table 6 and a scalar arm 8 and finds that the tile is eliminated and the position of the unmanned carriage 2 to the station in the travel direction and the position perpendicular to the travel direction from signals of the distance sensors 21 to 23.
ITO YASUHISA
HATTORI MASARU
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