| 摘要 |
PURPOSE:To cope with the change of the drive route of an unmanned carried without changing the position of a sign body, by forming the boundary lines continuous between adjacent sign bodies and non-sign bodies into a lattice and setting a guide line on the road surface along the boundary line. CONSTITUTION:The magnetic sign bodies 1 and floor tiles 2 are set alternately in a lattice form on a plane. While the detecting elements 4a and 4b of a magnetic sensor 4 set on an unmanned carrier 3 are set so that they are fixed at the symmetrical positions centering on a guide line (boundary line) when the position shift of the carrier 3 is equal to zero. The sum (Va+Vb) of the outputs of both elements 4a and 4b has such output characteristics as shown in the diagram against the shift of the carrier 3 from the guide line. Thus the carrier 3 detects the direction and amount of its position shift from the output signals of the elements 4a and 4b and at the same time performs the steering for its automatic drive. The relation of values between both outputs Va and Vb is reversed in case the sensor 4 covers both areas A and B. Therefore it is possible to detect the shift of an area, i.e., the pass through an intersecting point on the guide line from the difference between both values Va and Vb. In addition, the sloping degrees are different between both areas A and B for the sensor output (Va+Vb) against the position shift. Even in such a case, it is possible to detected and correct the present area. |
