| 摘要 |
PURPOSE:To increase the position detecting accuracy and to facilitate an easy change of route, by storing previously the information on a distance between the truck body and an object at the side of a traveling route and comparing this information with an actually measured distance to perform the steering control. CONSTITUTION:A controller 1 using a microcomputer, etc. is set on an unmanned truck which travels automatically between working points within a plant. A storage part 1a of the controller 1 stores the information on a distance between a reference line l0 and the left/right wall surfaces for each unit distance (L1-R1, L2-R2-) of the traveling direction of the truck. In addition, the truck contains distance measuring meters 2l and 2r to measure the distances to the left and right wall surfaces. These measured values are read into a comparator 1b in a proper cycle. Then these measured values of the comparator 1b are compared with said stored distance information. The steering compensating signals are supplied to driving circuits 5l and 5r in order to eliminate the deviation produced from the comparison. These compensating signals are superposed on the speed signal and supplied to driving servo motors 4l and 4r for left and right wheels. Thus an unmanned truck is controlled for its traveling. |
