| 摘要 |
PURPOSE:To make it possible to detect the accurate running position even if there are undulations on the surface of a road by correcting the effect of the inclination of a body when a moving body runs on a predetermined course during which the moving amount and the moving direction of the moving body are obtained from the rotations of the right and left wheels. CONSTITUTION:The rotating amounts of right and left rear wheels 12 are detected with a pair of right and left encoders 24, respectively. A front wheel 14 is attached to the lower end of a steering shaft 28 which is held with a steering shaft tube 26. A steering motor 32 is connected to the upper end of the steering shaft 28 through a clutch 30. Meanwhile, the rotation of a handle shaft 36 is transmitted through a link 34. Namely, the steering of the front wheel 14 is selectively performed by the motor 32 in automatic running and by the handle 38 in manual running based on the connection and disconnection of the clutch 30. Furthermore, a controller 40 has a circuit for controlling the electric power for the running and steering motors 16 and 32, an interface and the like. |
