| 摘要 |
PURPOSE:To easily operate and determine the manipulated variable of an automatic carrier car, by taking the mean value of signals of plurally arrayed optical sensors by giving prescribed weights to the signals and calculating the positional error of the carrier car to its moving path, and then, controlling the carrier car so that the steering angle can become the minimum. CONSTITUTION:Output signals of optical sensors 14-18 become '1' or '0' depending upon whether a metallic tape 19 is detected or not in their visual fields. Weights of '-2', '-1', '0', '1', and '2' are given to the signal of each sensor in their arrayed order from left and the signals are converted into prescribed logical levels at an inter face 20, and then, the mean value A1 of the sensor unit 13 at the front section of a carrier car and the mean value A2 of the sensor unit 12 at the rear section of the carrier car are found by means of a mean value circuit 23. Both the mean values A1 and A2 represent the positional deviation of the carrier car 1 to the metallic tape 19 and take values of -1.5-1.5. Then the manipulated variable Qc [Qc=K1(A1+A2)+ K2(A1-A2)] is found by means of an arithmetic circuit 21. The K1 and K2 of the formula in the bracket are gain constants determined in accordance with a control rule. The manipulated variable Qc is converted into a steering angle command by means of a DA converter 22 and controlled. |
