| 摘要 |
PURPOSE:To detect easily and accurately the attitude of a self-traveling truck by using a guide plate made of a magnetic material as a guide means and therefore eliminating the defects of both electromagnetic and optical detection systems. CONSTITUTION:A guide plate 1 contains a belt-shaped metal 2 which has a magnetic material and has holes 3 of the same shape drilled periodically in its lengthwise direction. Such plate 1 is set on the surface of a driving route of a self-traveling truck. While an attitude detecting sensor 6 is set at the lower part of the truck, and detecting coils lR and lL are wound around the right and left core parts 7R and 7L respectively. No voltage is induced to both coils when the truck is at pause, and signal voltages eR and eL are induced at both coils respectively while the truck is driven. A phase detecting circuit 8 detects the phase difference phi between both voltages and delivers a steering command signal + or -est in response to the gain or delay between both voltages. This command signal is supplied to a steering drive circuit 10 to revolve a motor 11 forward or reverse. |
