| 摘要 |
PURPOSE:To automatically run a vehicle along a complicated locus by sticking four ultrasonic distance measuring means in total to the right and the left of the front and the rear of the vehicle body. CONSTITUTION:Wheels W1 and W2 are provided in the left and the right of the front in the advance direction of an arrow 2 of a vehicle body 1, and wheels W3 and W4 are provided in the left and the right of the rear. Front wheels W1 and W2 or rear wheels W3 and W4 are driven by a driving means 3 to freely run the vehicle. Ultrasonic distance measuring means S1-S4 are fixed to the right and the left of the front and the rear of the vehicle body 1. The distance measuring means S1 emits an ultrasonic wave and detects the reflected wave from a wall 6 to measure the shortest distance between the means S1 and the wall 6. The other measuring means S2-S4 measure distances in the same manner. These outputs are inputted to an arithmetic circuit 7, and front wheels W1 and W2 are steered by a steering means 8 in accordance with arithmetic results, and the vehicle body 1 is run along the locus set by a setting circuit 9. |
