| 摘要 |
PURPOSE:To obtain a controller for unmanned truck which has a long lifetime with low cost by feeding back the output of a revolving angle detector provided to a main shaft of an orthogonal axis wheel to perform the steering control. CONSTITUTION:A reference signal generating part 20 of a wheel controller delivers a reference signal showing the driving direction of an unmanned truck as a steering angle command signal. This signal is compared with the output of an encoder 18 which detects the revolving angles of both main shafts through a comparator 21. The result of this comparison is supplied to a servomechanism 23 for control of a steering motor 22. Thus the truck is driven along its route. Both a direction indication mark 3a and a steering indication mark 6a are provided to the driving route together with a deflection detector 24 and a steering detection part 25. When the mark 3a is detected by an optical senosor 6a, the detector 24 detects the deflection of the truck from its driving route. Then the reference signal of the part 20 is corrected. While a signal is delivered to change said reference signal when the mark 6a is detected at the part 25.
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