| 摘要 |
PURPOSE:To travel moving robots smoothly even if there is a junction or the like in a traveling course or a loop when plural independent type robots are used by providing each moving robot with a pair of a light emitting elements and a photodetecting element. CONSTITUTION:The independent type moving robot 10 is provided with a light emitting element driving circuit 24 and a phototransistor (Tr)26 as a photodetecting element and the circuit 24 drives an infrared-ray emitting element LED25 on the basis of a reference pulse signal from an oscillation circuit 23. When the traveling course of the robot is in a counterclock rotation system, the LED25 is arranged on the left side of the front part of the robot 10 and set up to have 60-70 deg. emitted light directing angle from the just left side of the robot to its front direction. The Tr26 is arranged on the right side of the front part of the robot 10 and light shielding plates 27, 28 are arranged on the opposite side to the LED25 so that irradiated light from the LED25 is prevented from incidence on the Tr26. Consequently, the plural robots recognize and decide mutually at their junction point to travel on the traveling course smoothly. |
