| 摘要 |
PURPOSE:To accurately control traveling of a self-supporting traveling vehicle and to suppress a decrease in an operating efficiency by generating an interrupt each time the number of pulses from encoders of right and left wheel driving motors only at the time of turning the vehicle, correcting a traveling direction or correcting a track reaches a predetermined value, and decreasing a traveling speed by the interrupt. CONSTITUTION:A main microcomputer 6 outputs information to a pulse counter 10 at the time of, for example, turning the vehicle body, correcting the traveling direction or correcting the track. Then, the counter 10 counts the number of pulses from each encoder according to information from the microcomputer 6, and applies an interrupt to the microcomputer 6 at each of a predetermined counted value. The microcomputer 6 outputs a command for outputting a voltage for delaying a traveling speed so far and altering the numbers of revolutions of right and left wheels to a speed switching unit 7 in order to reverse the vehicle or correct a traveling direction. |
