| 摘要 |
PURPOSE:To position an unattended truck at the center of a guide line at the end of the swing motion by detecting an end signal in the process of the transition to the swing motion from the AND of two kinds of state signals. CONSTITUTION:Detection signals 12a, 14a are outputted from pickup devices 12, 14 provided respectively at both front sides of the unattended truck. Then a derailment detection circuit 38 outputs a signal representing the derailing restoration state based on an add signal between both the signals 12a and 14a. Moreover, a zero cross detection circuit 40 outputs a signal that a deviation signal between both the signals 12a and 14a is nearly zero, that is, a zero cross signal. When a swing motion transition end detecting circuit 42 receives two kinds of the state signals outputted respectively from the circuits 38 and 40, the circuit 42 generates a detection signal for the end of transition of swing motion to inform the end of transition of the swing motion to a microcomputer 18. Thus, the unattended truck is positioned at the center of the guide line at the end of the swing motion. |
