| 摘要 |
<p>PURPOSE:To automatically reset an automatic traveling vehicle to a light receiving state by applying the steering control to the vehicle based on the light receiving position information obtained right before the vehicle changes to a non-light receiving state in case a light sensor is changed to a state where the sensor does not receive the beam light at its end part from a light receiving state. CONSTITUTION:When the light receiving elements set at the end parts of light sensors S1 and S2 change to a non-light receiving stage from a light receiving state, it is judged that an automatic traveling vehicle has a lateral slip and is unable to receive the light. Then it is discriminated whether the right or left end part of the sensor received the light right before the light receiving element changes to a non-light receiving state. Thus the vehicle is shifted in parallel in the right or left direction in response to the light receiving element of the right or left end of the sensor. For this purpose, the directions of a front wheel 1F and rear wheel 1R are changed by set angles until either one of light receiving elements D forming the sensors S1 and S2. Thus, the vehicle is shifted in parallel and therefore reset automatically to a light receiving state.</p> |
