| 摘要 |
PURPOSE:To run an unattended carrying truck accurately on a guide path by providing an array type photodetector and a covered distance detector to control accurately the attitude and the extent of movement. CONSTITUTION:An array type photodetector 10 consisting of plural photodetecting elements expresses the incident state of a laser beam with an 8-bit parallel signal. When cells corresponding to the third and the fourth bits receive light, driving motors 22 and 22' are operated in a steady speed. When cells corresponding to bits other than the third and the fourth bits receive light, the number of rotations of motors 22 and 22' are so changed that the laser beam strikes these cells, and the attitude of the truck is corrected. In the covered distance control, a subtracting counter 101 or the like is used to count output pulses from an encoder 36, and the count value of the number of pulses corresponding to the extent of movement is set to this counter, and subtraction is performed by the rotation of a distance measuring wheel to run the truck for a prescribed distance. Thus, the attitude and the extent of movement of the unattended carrying truck are controlled accurately by the photodetector 10, the distance measuring wheel, and the encoder 36. |
