| 摘要 |
PURPOSE:To control accurately the position of a self-traveling truck by providing an arithmetic and control unit which controls the drive of the truck according to the detection signals sent from a direction sensor and a distance sensor. CONSTITUTION:A truck 1 is supported by drive wheels 2 and 3 and a caster type follower wheel 4 and contains an arithmetic and control unit 19. This unit 10 operates both the driving direction and speed of the truck 1 from the signals sent from various sensors and the data on an indicated driving course. Thus the truck 1 is driven under the control of a driver 13. Those sensors include a direction sensor 14 and a distance sensor 16. The sensor 16 contains a tension reel 17 with an encoder and a wire 18 fixed at a fixing point 0 at its end part. The unit 10 discriminates the minimum value between the point 0 and the truck 1 in a specific drive section from the signal of the sensor 16 and the data on the driving course and calculates a corrected driving angle of the truck 1. Then the driving direction of the truck 1 is controlled from the angle signal and the data on the driving course. |
