| 摘要 |
PURPOSE:To prevent an unmanned carrier vehicle from being derailed in a curved section by providing the title device with a means for detecting a curve start point and switching a guidance traveling to autonomous traveling (unguided traveling). CONSTITUTION:At the time of autonomous (unguided) traveling, the 1st sensor 2 fixed to the carrier vehicle 1 detects a curve start detecting chip 5 on the curve starting point of a guidance line 4 and drives a D-type FF 54. Consequently, an AND circuit 59 is connected, a keep relay Ry1 is excited and its contact is switched to the (b) side. As the result, the output voltage of a curve setter 52 is inputted to an inversion circuit 16 through the 2nd switch element 57 and the 1st switch element 56 and added or subtracted to/from a speed command voltage inputted from a speed setter 11. Thereby, the rotation of one driving motor 13 is reduced, the rotation of the other driving motor 32 is increased and L-shape or U-shape traveling is executed. |
