| 摘要 |
PURPOSE:To assure safe running by providing driven wheels and driving wheels on both ends of the first lever with its intermediate section swayably supported on both sides of the front section of a car body frame, and supporting the driven wheels on the second lever swayably supported on the intermediate section of the rear section of the car body frame. CONSTITUTION:The intermediate sections of the first levers 5 extended in the running direction on both sides of the front section of the main body frame 3 of an unmanned self-traveling vehicle are swayably supported on shafts 7, the first driven wheels 9 are rotatably supported on the front end section of the lever 5, and driving wheels 11 connected to the rotary shafts of electric motors 13 are rotatably supported on the rear end section respectively. The intermediate section of the second lever 15 extended in the direction perpendicular to the running direction is swayably supported on the rear intermediate section of the main body frame 3 around a shaft 18, and the second driven wheels 17 are pivotally supported on both end sections of the lever 15. The electric motors 13 are driven and controlled so that the light radiated from the light emitting member 19a of a running path detecting device provided at the front end section of the main body frame 3 and reflected by a running path is received by a corresponding light receiving member 19b. |
