| 摘要 |
<p>PURPOSE:To enable a dolly which confronts an obstracle to move forth by evading that, by generating a signal for a run in the opposite direction to a previous direction when the running dolly is disturbed in its run, and then generating a signal for a run in the original direction. CONSTITUTION:When a dolly 3 is given a forward movement command signal 6, outputs of AND gates 9 and 17 as logical circuits go up to a level H and a forward movement signal 19a is outputted through an OR gate 19, allowing the dolly 3 to move forth on a guide path 2. When this dolly 3 moves forth, a pulse signal 5 is generated in accordance with the rotation of wheels 4 and if there is an obstacle on the guide path 2, the pulse signal 5 is stopped and the output of an AND gate 8 is held at the H. When the output of the gate 8 is held at the H for a certain time, the output of a timer 12 goes up to the H and a monostable element 15 outputs an H-level signal to invert the signal 19a to an L, stopping the forward movement of the dolly 3. The backward run signal 20a of an OR gate 20, on the other hand, is held at the H to move the dolly 3 back, and the signal 5 is counted by a counter 22, so that the dolly 3 stops a certain time later. The signal 6 is outputted again and the dollymoves forth by removing the obstacle or advancing over it.</p> |
