| 摘要 |
PURPOSE:To set various running courses different from a reference course and guide a moving body along changed courses by changing a target position of deviation or both of the target position of deviation and a target angle of deviation in each position of the reference course formed with markers. CONSTITUTION:Casters 3 are arranged on both sides in front and rear parts of a car body 2 of an unattended moving body 1, and driving wheels 4L and 4R are arranged in the center part, and an ITV camera 6 as a visual means and a light projector 7 are arranged on a supporting base 5 in the front of the car body 2. Guide markers 8 are arranged interruptedly along the preliminarily set reference course on which the moving body 1 runs, and these markers are arranged at such intervals that two markers 8 are always within the visual field of the camera 6. The output from the camera 6 is converted by an A/D converter 13 in a guide device, and one picture written in a frame memory 14 is read out to a CPU 12. This picture is operated with counted values from pulse generators 9L and 9R belonging to driving wheels 4L and 4R, and the target position of deviation or both of the target position of deviation and the target angle of deviation in each position of the reference course are changed to set various running courses. |
