| 摘要 |
PURPOSE:To correct a deviation from a programmed travelling course by arranging range finders each of which consists of a projection part and an optical point position detector on the front, back and both the sides of a car body and finding the posture angle and horizontal displacement of the car body from the programmed travelling course on the basis of signals from the range finders. CONSTITUTION:The projection part 3a in the range finder 3 projects light to a wall surface W and the optical point position detector 3b detects the reflected light from the wall surface W. The distance between the car body 1a at the position of the device 3 and the wall surface can be searched on the basis of the deviation of the photodetecting point of the detector 3b from a reference point. Since the fitting pitches of the devices 3, 4 on the omnidirectional movable track 1, the range between the center point of the front wheels and the devices 3, 4 and the distance between the wall surface W and the programmed travelling course have been already known, the posture angle and horizontal displacement of the car body from the programmed travelling course can be obtained by obtaining range signals from the devices 3, 4. These displacement values are cancelled by the detecting signals from the range finders 3, 4 and the shear from the programmed travelling course is corrected to travel the track. |
