| 摘要 |
PURPOSE:To realize an unattended carrying system where the change of a running course is facilitated, by correcting the position and the direction of a wagon. CONSTITUTION:A central processing unit CPU11 measures a covered distance on a basis of inputs from rotary encoders 16l and 16r; and when the measured result becomes a prescribed value, the CPU11 reads outputs of sensors 2a-2d to operate and calculate center coordinates x0 and y0 of the wagon and a direction theta based on the Y axis. The position and the direction detected in this manner are used for the guiding control. The steering control for X0=0 and theta=0 deg. is performed with respect to an object to be examined in the position through which the wagon passes merely, and a covered distance meter, namely, a rotary encoder pulse counting counter in the CPU11 is corrected. |
