| 摘要 |
PURPOSE:To obtain the position detecting device of simple constitution with small errors by detecting the angle of deflection of the vehicle from the difference in rotating speed between a couple of wheels of the vehicle. CONSTITUTION:This detecting device consists principally of a CPU 1, a color CRT 2b, an input keyboard 4, counters 5a and 6a, rotary encoders 5b and 6b, a speech synthesis unit 7a, a speaker 7b, etc. The encoders 5b and 6b are coupled with the axle shafts of the right and left rear wheels respectively and output about 20 pulses in every turn of the shafts. An R counter 5a and an L counter 6a count the output pulses of the encoders 5b and 6b respectively. Then when the vehicle turns clockwise by thetarad, the traveling distances of the right and left rear wheels are expressed as rR.theta and rL.theta using the distances rR and rL from the center of the turn to the right and left rear wheels RW and LW, so the angle theta of deflection is calculated from the difference in traveling distance between the right and left wheels. Therefore, any misdetection due to an external factor is caused and the constitution of the device is simplified. |
