| 摘要 |
PURPOSE:To obtain a controller of high accuracy for an unmanned truck by setting an object to be detected on a driving path of the truck, detecting the driving direction of the truck with a detector attached to the truck and then correcting the driving direction from the angle of the actual driving direction and the deflection from the driving course. CONSTITUTION:An object 20 for detection of direction, distance and the steering point is set at a proper position of a driving path of an unmanned truck 15. This object 20 is detected by a detector 19 for course deflection distance put on the truck. While the data on the driving direction is set to a register 10 for steering angular speed reference value from a driving path pattern memory 9 storing a prescribed driving pattern. This data is defined as the reference value, and the deflection delta from the course of the truck 15 which is obtained from the steering angle speed of the truck 15 detected by a rate gyroscope 16 through an integrator 17 and an arithmetic unit 18 is fed back to control a steering controller 12 so as to set an error to the above-mentioned reference value. In addition, a steering indication mark 22 is put at a point where the truck 15 turns right or left. This mark 22 is detected by a steering indication mark detector 21. Then the right/left turning reference value is extracted from the memory 9, and the control is carried out according to this reference value. |
