| 摘要 |
PURPOSE:To suppress the extension of a brake stop distance on a downward slope without providing any special inclined angle sensor and to stop an automatic travelling vehicle at a desired position by calculating the downward inclined angle of a course with the power braking force of a DC dynamo adopted for controlling running speed. CONSTITUTION:An automatic steering device 33 to be operated at the time of unmanned traveling is arranged at a steering device 3. This automatic steering device 33 connects a steering motor 34 through a decelerator 35 to a transmitter 36 and connects the output axle of the transmitter 36 to a planar sensor arm 37 of T-shape. A gear group for linking the steering motor 34 and a steering axle 31 and a transmitting mechanism for oscillating the sensor arm 37 from side to side are housed inside the transmitter 36. Further, guide line sensor 38a for detecting guide lines 38b embedded in the course are arranged at the center and on the right and left sides of the sensor arm 37. A power plant 4 mounts a decelerator 42 between right and left rear wheels 13 and transmits the output of the decelerator 42 to the rear wheels 13. |
