| 摘要 |
PURPOSE:To execute the unattended running in accordance with a running program, by the information obtained from the rotational frequency of driving wheels. CONSTITUTION:Driving wheels 5R, 5L are provided with rotary encoders 7R, 7L, respectively, and the right and left encoders detect the rotational frequency independently. From this rotational frequency information of the driving wheels, a running distance and a direction are calculated and derived, and servomotors 9R, 9L for driving the driving wheels are controlled, comparing and referring to the obtained information and the information stored in a running program, by which conveyance in a plant is executed. |
