| 摘要 |
PURPOSE:To attain the use of the same hardware/software in the straight drive and lateral drive modes by securing the same scan width with an image pickup device between a straight drive and branch paths to obtain the center of a scan surface and obtaining the deviation between a reference drive path connecting said center of the scan surface and an unmanned carrying vehicle. CONSTITUTION:When an unmanned carrying vehicle 3 travels on a straight drive path 1, a white band pattern of the fixed width (w) is obtained between black backgrounds by an image pickup device 4. Then only the scan of a white line part of the path 1 is detected to each scan line to obtain the horizontal coordinates at the center of the white line part. Thus it is possible to detect the angle of posture and the lateral shift amount of the vehicle 3 to the path 1. The truck 3 is stopped temporarily at a junction and only the drive wheels 5 are set in a different direction. Thus the vehicle 3 is driven laterally on a branch path 2 and a pattern containing the white and black parts arranged alternately is obtained at the device 4. The image pickup viewfield l is set at (2w+g) and more to obtain the center vertical coordinates of the white line part which is image-picked up completely. Thus the angle of posture and the lateral shift amount of the vehicle 3 are detected like the straight drive mode. |
