| 摘要 |
PURPOSE:To detect quickly and surely a true obstacle on the running route by making the beam of a beam sensor point to the direction of steering at all times. CONSTITUTION:A bearing 12 that turns in horizontal direction is provided at the center of front part of an unmanned car 11, and a steering shaft 13 extending in vertical direction penetrates and fixed at the center of the bearing 12 and rotated by a steering motor 15 through a transmission mechanism for steering 14. A nearly T-shaped arm 20 is fixed at the center of lower part of the steering shaft 13, and a pair of steering sensors 21a, 21b are attached to the arm 20 to detect magnetic line of force from an induction line 4. A beam sensor 22 is attached to the upper end of the steering shaft 13 and turns horizontally in a body with the steering shaft 13. Thereby, the unmanned car 11 is steered to make the difference of sensors 21a and 21b equal, and the beam sensor 22 is directed always to the direction of steering, and real obstacle 5 on the running route can be detected. |
