| 摘要 |
PURPOSE:To correct the displacement of the progressive direction automatically even when the traveling direction is displaced, and to improve the performance of rectilinear travel operation by correcting the number of revolution of a motor on the basis of the value of the quantity of correction calculated from the angular velocity of displacement from the traveling direction and the number of revolution of the motor. CONSTITUTION:When a control lever 3 is inclined in the rectilinear travel direction, the indication of the rectilinear traveling is input to a CPU 6 by a lever-position detector 4, motor driver circuits 8, 9 are controlled at the traveling speed corresponding to an inclination, and motors 10, 11 are driven. When the traveling direction is displaced, a gyro-sensor 1 detects the displacement of the traveling direction as angular velocity, and a signal is amplified by an amplifier 2, converted by an A/D converter 5 and input to the CPU 6. The number of revolution of the motors obtained from revolution-number detecting sensors 12, 13 is also waveform-shaped simultaneously by a revolution-number detector 7 and input to the CPU 6, the quantities of errors from the traveling direction are calculated and the quantities of correction are calculated operated, and the number of revolution of the two left and right motors is controlled so as to be rectilinearly traveled from the quantities of correction. Accordingly, the performance of rectilinear travel operation can be improved. |
