| 摘要 |
PURPOSE:To perform accurate steering even on a passage of varied topography by adjusting the height of a line sensor from the road surface in accordance with a height adjusting signal of a height adjusting sensor and controlling a steering driving mechanism with the line sensing signal of the line sensor. CONSTITUTION:A line sensor 7 is provided in the front end part of an elevating rod 6a of an elevating mechanism 6 added to a vehicle 1, and a height adjusting sensor 8 is provided on a casing 7a of the sensor 7 in parallel with the sensor 7. The sensor 8 consists of an ultrasonic oscillator and a detecting circuit, and the height of the sensor 8 from the road surface is calculated in the detecting circuit on a basis of the time from radiation of ultrasonic waves to return of ultrasonic waves reflected on the road surface and is transmitted to a control circuit of the mechanism 6. Therefore, the sensor 7 is always held at a certain height with respect to the road surface. The light of an illuminating lamp 9 is reflected strongly on a tape line 10, and the sensor 7 uses this quantity of light as a normal value and senses a difference of the quantity of light, and the steering driving mechanism is operated by this sensing signal. Thus, the vehicle 1 is always run along the line 10. |
