| 摘要 |
PURPOSE:To obtain a profile-working device which decides a steering angle of a wheel to a command running locus of a truck and a pointing direction of the truck from an output information of a working line profile sensor installed to a running truck, and controls the steering angle of the wheel basing on said decision. CONSTITUTION:A device for controlling a steering angle of a wheel by an output information of a working line profile sensor provided on a running truck is provided with each means for comparing whether the steering angle of the wheel to a command running locus of the truck is larger or smaller than a reference angle, and also discriminating a pointing direction of the wheel to this locus. Subsequently, approach or remoteness of a steering direction of a present wheel and the command locus is decided, also a present steering angle is compared with a reference angle, and basing on its result, the steering angle of the truck is controlled. In this case, the approach of the truck to the command locus is executed gradually, and a large amplitude is not generated in its attenuation locus. In this way, a sudden approach of the truck to the command running locus does not occur, and the working speed becomes almost constant. |
