| 摘要 |
PROBLEM TO BE SOLVED: To improve controlling performance and accuracy, by mounting a plurality of movement sensors at a lower part of a vehicle body to be kept in touch with a running face each of which holds a sphere in a rotatable state, detects the rotation of a shaft in touch with the sphere by an encoder and operates the moving amount from an output signal of the encoder by a moving amount operation means. SOLUTION: When an automatic running vehicle 10 moves, a sphere 3 rolls on a floor face and rotates. Because of the rotation of the sphere 3, shafts 4a, 4b rotate, which is detected by encoders 5a, 5b. Counted values of the encoders 5a, 5b are input to a moving amount operation means 15, thereby to operate the rotating amount of the sphere 3, namely, moving amount in X, Y directions of the automatic running vehicle 10. The moving amount is input to a position operation means 16, thereby to obtain the moving amount and a moving direction. In consequence, the present position of a movement sensor 1, i.e., automatic running vehicle 10 is operated. A plurality of movement sensors 1 are mounted at a lower part of a running body 11 of the automatic running vehicle 10. |
