| 摘要 |
PURPOSE:To obtain an accurate stop position, by arranging a magnet on the floor of a factory, etc., decelerating a carrier vehicle by detecting the boundary of the N and S poles of the magnet with a magnetic sensor provided at an unmanned vehicle, next operating a measuring machine, and stopping the carrier vehicle when the value of the measuring machine arrives at a set value. CONSTITUTION:A magnetic field 13 from an inductive wire 12 installed on the floor of the factory, etc., is received by two pickup coils 2 in a travel controller 1 provided at the unmanned vehicle, and a differential amplifier 3 is operated by finding an output difference between the two coils 2. Next, a digital value obtained by A/D- converting the above output is added on a deviation processing part 4, and its output is supplied to a travel control part 5 which controls a right and a left driving wheels 9. The control part 5 supplies two outputs to a pair of acceleration/deceleration control parts 6, servo amplifiers 7, and servomotors 8, and also, the boundary of the N and S poles of a permanent magnet embedded under the floor is detected with the magnetic sensor 10, and a deceleration signal is sent to the control part 5, thereby, the carrier vehicle is decelerated. Afterwards, a travel distance is found by the measuring machine 11 utilizing the rotation of the wheels 9, then the carrier vehicle is stopped at a regulated position.
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