| 摘要 |
PROBLEM TO BE SOLVED: To make precisely measurable the direction of a car body and a change in the outer diameter of a wheel by detecting two bodies to be detected and calculating the linear travel distance of the steering wheel between the detection hours based on a rotary angle detection means and a steering angle detection means. SOLUTION: The direction of a car body 2 at a first hour is calculated based on a distance between first and second wheels 3 and 4, a distance between first and second bodies to be detected 20 and the change quantity of the direction of the car body 2 between the first hour and a second hour by a gyro 11. The displacement quantity of the direction of the car body 2 is added to the value and the direction of the car body 2 at the second hour is calculated. A steering angle detection means 12 resolves the travel distance whenever the wheel 3 rotates by a micro angle in the directions of x-axis and y-axis based on a rotary angle detection means 13 and the steering angle detection means 12, and the linear distance between the first and second wheels 3 and 4 is calculated by integrating them. Even if the direction of the car body 2 changes between the first hour and the second hour, the linear distance between the first and second wheels 3 and 4 can precisely be calculated and the direction of the car body 2 can be calculated.
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