| 摘要 |
PURPOSE:To control the orbit independently of a quantity of current by detecting an induced magnetic field due to the current flowed to a cable by three coils attached under a carriage body and comparing outputs to control the orbit. CONSTITUTION:Detecting coils 3, 4, and 5 are attached under the carriage body, and a cable 7 where the induced current is flowed is laid on a road sur face 6. Outputs of coils 3, 4, and 5 are subjected to waveform shaping, and outputs of coils 3 and 4 are compared with the output of the coil 5 by comparators 10 and 11, and outputs are not generated from comparators 10 and 11 is the output of the coil 5 is larger than them. If the carriage body 1 is deviated from the orbit so that the output of either of comparators 10 and 11 is larger, this output operates a stop control circuit 14, and a steering motor drive 15 and a running motor drive 16 are controlled to stop the carriage body 1.
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