Patent attributes
An article conveyance apparatus including a front imaging device, a left-side imaging device, and a right-side imaging device. The front imaging device determines the presence or absence of an obstacle ahead of the imaging device and calculates a distance from the obstacle based on a comparison between images captured by a plurality of cameras. In a transition region from a linear section to a curved section, the left-side imaging device and the right-side imaging device capture images ahead of the left or the right side and determine the presence or absence of an obstacle ahead of the left or the right side. If a distance from a front obstacle is at most a predetermined threshold value and if it is determined that an obstacle is present ahead of the left or the right side, a controller avoids a collision between the article conveyance apparatus and the obstacle.