| 摘要 |
PURPOSE:To simplify a traveling control by detecting a taxiway having a detecting sign such as a magnetic body with a single sensor equipped with a carrier and steering and controlling the carrier in the direction to pursue the peak value of the receiving level of the sensor. CONSTITUTION:When a single sensor is on a taxiway, an analog direct current level is read, steering is executed in either of right and left directions specified beforehand, and when for the steered direction, an analog direct current level is higher than a first read value, the steering to the same direction is further executed. Reversely, when the analog direct current level is lower, the steering is returned to a first position, the reverse action is executed, the steering is always executed in the direction to obtain the peak value of the analog direct current level, and the carriage is traveled on the taxiway. Consequently, from when the right and left steering is repeatedly executed, arrives at the maximum point of the analog direct current level, the right and left is executed thinner and the smooth traveling can be executed along the taxiway. Especially, because of a maximum point level detecting system, the fine adjustment of a sensor or an unmanned carrier traveling control not related to a temperature characteristic can be executed. |
