| 摘要 |
PURPOSE:To omit a floor surface reflecting tape or the like and to guide a robot precisely by detecting light reflected on the cylindrical reflecting surface of an object by photodetectors and correcting the route of the robot in accordance with the detected state to guide the robot to the object. CONSTITUTION:Light emitted from an infrared light emitting element 7 which is modulated by a square wave signal outputted from a modulating circuit 11 is reflected on the cylindrical reflecting surface formed on the object and detected by right and left photodetectors 8b, 8a. Output signals from the photodetectors 8a, 8b are amplified by amplifiers 12a, 12b respectively, the influence of external light is removed from the signals by BPFs 13a, 13b and the filtered signals are sent to level detecting circuits 14a, 14b. When the output signals of the BPFs 13a, 13b exceed a set level, the circuits 14a, 14b detect the state and output the detected results to a microprocessor 15. The processor 15 controls motor drivers 16a, 16b in accordance with the state signals from the circuit 14a, 14b to rotate right and left wheel motors 17b, 17a. |
