| 摘要 |
PURPOSE:To improve a follow-up property to a regular course by decelerating a driving wheel on the inside of rotation down to a fixed value to rotate the wheel when an unmanned carrier car is shifted from the regular course, and when returned to the regular course, accelerating the decelerated driving wheel and decelerating the other driving wheel. CONSTITUTION:The unmanned carrier car has the driving wheels 2, 3 on the right and left of the center of the car body 1 and casters 4 on the front and back and detects its regular travelling course 7 by a pair of sensors 5, 6 generating ON/OFF outputs to travel the regular course. If the sensors 5, 6 detect that the carrier car is shifted to the left e.g. from the travelling course 7, the driving speed VR of a right driving wheel 3 on the inside of the rotation for correction is decelerated down to a speed V1 at the attenuation factor -alpha1 and driven at the speed V1 to be returned to the right. When the left driving wheel 2 is driven at a steady speed V0 and restoration to the travelling course 7 is detected at time t3, the driving wheel 3 is accelerated at the acceleration alpha2 and the driving wheel 2 is decelerated at the deceleration -alpha3. When the speed of both the driving wheels coincides with each other at time t4, both the driving wheels are accelerated at acceleration alpha4, and at time t5, both the driving wheels are restored to the steady speed V0. |
