| 摘要 |
PURPOSE:To guide a traveling object with high accuracy from a start point through a finish point of the movement in a simple constitution by detecting the signal of each guide band corresponding to driving wheels in the form of a pulse and then driving left and right wheels independently of each other on the basis of the result of integration/comparison of said pulse. CONSTITUTION:A railless and self-traveling object 1 is guided by detecting signals 31 and 32 stored in a guiding object 3 by a detector 4 and controlling the drive of the driving wheels 2. The object 3 consists of left and right guiding paths 3A and 3B which are formed in parallel to the substantially perpendicular lines of both wheels 2. At the same time, the left and right driving wheels 2A and 2B of object 1 are driven independently of each other by driving motors 2C and 2D respectively. The paths 3A and 3B have signal pulses which are set at desired density by a reflecting part 31 and an absorbing part 32 for instance. These pulses are detected 4 and integrated with comparison and decision by a position controller 6. Based on this result, the revolutions of the wheels 2A and 2B undergo ON/OFF control to give control to the position of the objcet 1. |
