| 摘要 |
PURPOSE:To make the unmanned carrier close to the station in the parallel condition by correcting the inclination of the unmanned carrier for the station based upon the swing angle of the driving wheel. CONSTITUTION:A pulse detecting circuit detects the swing angle theta of a driving wheel 4. When the angle theta exceeds the prescribed angle, it is judged that an unmanned carrier 1 goes sidewise for a station 2. Here, it is judged whether the angle theta is 90 deg. or not. When the angle theta is 90 deg., the unmanned carrier 1 has no inclination for the station 2 and therefore, traveling is continued as it is. On the other hand, when the angle theta is not 90 deg., either of driving motors 12 and 13 to drive driving wheels 4 and 5 is controlled, and the inclination of the unmanned carrier 1 is corrected. Thus, the unmanned carrier 1 can be made close to a platform 2 in the parallel condition. |
