| 摘要 |
PURPOSE:To setting the left and right ends of the mark tape with the visual field of an image sensor on a moving body and to facilitate path specification at a branching and a merging point of the run path by sticking a path mark tape which can be discriminated optically on a road surface or floor surface of the run path. CONSTITUTION:Image sensors 1 and 1' for path detection are mounted on the moving body of a run path detection system, and the outputs of the sensors 1 and 1' are supplied to path detecting circuits 2 and 2'. A run control circuit 3 determines the controlled variable of a wheel motor by using position data l1 and l2 on the sensors 1 and 1' on the path obtained by said circuits 2 and 2', and performs run control over the moving body along the path. The path mark tape 10 which can be discriminated optically is stuck on the rod surface or floor surface on the run path of the moving carriage 11 mounting the sensors 1 and 1'. Then, the mark tape 10 is picked up within visual fields 12 and 12' of the left and right image sensors, and data from either one is outputted to control the driving system of the carriage 11, facilitating the specification of the path.
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