| 摘要 |
PURPOSE:To save the memory capacity for running-path data by discretely imparting the target running path of a self-propelled truck with the X and Y coordinate values of a starting point, an end point and one or more turning points between the starting point and the end point in a running plane. CONSTITUTION:A self-propelled-truck host CPU 1 transmits the X/Y-coordinate data lines of a starting point, an end point and turning points as running path commands for a self-propelled truck by radio to the self-propelled truck through a radio device 2, a relay 3 and an antenna 4. The self-propelled truck receives the command signals 4through an antenna 5 and a radio device 6. The signals are stored into a truck control CPU 8. The present-position coordinate data and truck-advancing-direction-angle data are transmitted into the truck control CPU 8 from a guidance device 7 which detects the present position of the truck as the X and Y coordinates within a running plane at a constant time pitch. In the truck control CPU 8, logic/operation processing is performed. A speed command and a steering command for a motor 10 are outputted through a motor driver 9. |
