| 摘要 |
PURPOSE:To run an unmanned carrier car in a curved section entirely similarly to a straight section, by running the carrier car in such a way that the carrier car runs in a straight section of its guided route by detecting a buried guide line and in a section, such as crossing point, etc., where no guide line is available under autonominous control by means of a micro computer. CONSTITUTION:Running conditions of an unmanned carrier car are stored in a storage device 410 and a guide current is read as signals of two electromagnetic pickups 30. Steering of the car is operated so as to minimize the difference between the signals. When the signals become equal to each other, it is detected that the car enters a non-detecting section and the receiving times of a position detector 100 are counted, and then, it is discriminated by means of a program that at which non-detecting section the car must change its advancing direction. When the car reaches an advancing direction changing point, a set command is discriminated and the car advances in the direction set in the program. A driving wheel 111 is driven in a previously fixed rotating number by means of a controller 40 and a steering wheel 210 is driven to a fixed steering angle by a steering motor 220. By counting the rotating number of the driving wheel 111 by means of a rotary encoder 170, the running distance of the car is known. Therefore, the car can be run in a curved section entirely similarly to a straight section. |
