| 摘要 |
PROBLEM TO BE SOLVED: To enable a self-travel vehicle to freely travel along a travel line by calculating a direction that the self-travel vehicle should take from the coordinate values of two read positions and the coordinate values of the target position of the self-travel vehicle. SOLUTION: An X-coordinate detecting means 42x and a Y-coordinate detecting means 42y when detecting a sent signal from a coil 30f stores the counter values of an X-coordinate counter 40x and a Y-coordinate counter 40y in a coordinate value memory 44. Similarly, a signal is sent by a coil 30r with a transmission instruction, the sent signal from the coil 30r is detected, and the coordinate position of the coil 30r is stored in the coordinate value memory 44. Once the coordinates of the positions of the coils 30f and 30r are stored in the coordinate value memory 44, an angle error arithmetic part 48, a tangential-direction error arithmetic part 50, and a mean speed arithmetic part 52 calculate an angle errorα, a tangential-direction errorβ, and a mean speedβ. According to the arithmetic results, an instruction generation part 56 generates a motor driving instruction and motors 16l and 16r are driven according to the motor driving instruction. |
