| 摘要 |
<p>PURPOSE:To prevent a dolly from colliding with an object on a wall or on a path and to improve the safety, by detecting the present position of the dolly on the way of rails, detecting the difference between the position and the absolute position stored in advance, and correcting the position of the dolly. CONSTITUTION:When the destination of the dolly 3 is decided, motors 4, 5 are driven and the dolly starts running. The number of revolutions of wheels 6, 7 during the running of the dolly is detected at pulse generators 10, 11, and the present position of the dolly 3 is computed with a running path operating device 12. An error detector 14 compares the stored running paths (distance from the start point and that between the dolly 3 and the side surface), detects the error and controls the number of revolutions of the motors 4, 5 so as to zero the error of both. When it is detected that the dolly arrives at a point A after further progress, a signal is obtained from an output A of a correcting point retrieval device 15, the signal is compared with the absolute position stored in a storage device 18 and the motors 4, 5 are controlled.</p> |
