| 摘要 |
PURPOSE:To execute branching by a command from a carrying car, by applying a branching bias signal corresponding to a branching direction, to a steering controlling circuit of the carrying car, and biasing a run of the carrying car. CONSTITUTION:A steering controlling circuit is constituted of a guidance line detector 61, a signal amplifying circuit 62, a signal converting circuit 63, in a branching signal generating circuit 64, a deviation amplifying circuit 65, a motor driving circuit 66, a servomotor 67, a steering wheel 68 and a steering angle detector 69. In the branching signal generating circuit 64, a triangular wave- shaped signal of plus or minus corresponding to the branching direction is generated by a branching signal generating circuit 643 from the time point when a branching marker signal has been obtained, by the branching mark signal obtained from the ground and a branching direction command signal stored in the car, and it is applied to the deviation amplifying circuit 65 as a branching signal output 645. In this way, the steering wheel 68 is moved forcibly and smoothly to the right side or the left side of the guidance line at the branching point, so as to become the maximum movement at the separating point, and when it is passed through the branching point in this state, it can be branched to the biased direction. |
