SYSTEM FOR TWO- DIRECTIONAL CONDUCTING OF ROBOCAR

摘要

The System is applicable in the automatic control of the movement of three and four-base robocars. It creates opportunities for the reverse movement along fixed trajectories different from straight lines, and enhances the precision of guidance in both directions. The system consists of a fixed trajectory (1) for the movement of a robocar (2), to which a guiding wheel (7) with a moveable connection is connected through a transmission (8) to the motor (9). The motor (9) is connected to a power unit (10) controlled (depending on the signals of the left or right-hand front sensor (2 and 3) mounted on a front console (11) fixed to the guiding wheel (7). It has a moveable mechanical connection (27) to a rear console (12) rotating around the shaft (28). The right and left hand rear reading sensor (4 and 5), connected to the processing circuits (15 and 16) are mounted on the back console (12). Each of the circuits is connected to the inputs of a difference amplifier (18) and a logical circuits (20) connected simultaneously to the guiding unit (21) and the controlling input of a switch (23). The latter connects the difference amplifier (18) to an AD converter (24) connected to a control unit (25) connected to the power unit (10) with a speed reading device (26) and the assigning unit (21). The other units, which steer the forward movement, are connected in an identical manner.