| 摘要 |
PURPOSE:To guide a smooth and safe traveling even on a complicated road without orbit by rotating, steering and controlling a wheel based on a detection signal from a hindrance detection means, avoiding a hindrance and guiding a robot. CONSTITUTION:Twelve ultrasonic sensors 4 are disposed at an angle interval of 30 deg. on the same outer periphery of the robot main body. A ultrasonic sequence control circuit 10 drives the oscillator circuit 5 of each sensor 4 in terms of time division, and a transmitted ultrasonic wave is reflected by the hindrance and is made incident on a corresponding reception circuit 6. A timer counter group 11 measures the interval between a transmission pulse and a reception one by a corresponding counter, transmits the data to a CPU 7, and causes the CPU 7 to calculate a distance up to the hindrance. According to data from a rotational angle detection circuit 24 and from the CPU 7, a servo circuit 15 drives a DC motor 19 and turns steering shaft 22. On the basis of data from a rotational frequency detection circuit 30 and from the CPU 7, a servo circuit 16 rotates and controls a DC motor 20, and simultaneously rotates and drives wheels 2a-2d. |
