| 摘要 |
PURPOSE:To make a starting position of a step and an admission angle of a moving element toward the step judgeable each, by disposing plural photosensors at both sides of a front part of the moving element in parallel with a forward direction of the moving element in directing the projecting direction of each beam toward a running floor face. CONSTITUTION:When a moving element 1 travels on a floor face by means of a crawler 2, a distance between a photosensor 3 and this floor face 4 keeps L0 all the time, so that all judging circuits of respective photosensors 3a-3h generate effective output there. At this time, if a front part of the moving element 1 is entering a step, for example, only each of two pieces of these photosensors 3a, 3b, 3e and 3f is situated in the upper part of a step 5a from a side nearer to the front part of the moving element, each distance among these sensors comes to L0+L1, so that each output of respective judging circuits of these photosensors comes to ineffectiveness. On the other hand, since each output of these judging circuits of photosensors 3c, 3d, 3g and 3h keeps effectiveness, this variation is detected whereby a fact that the moving element 1 is entering the step is thus judgeable. |
