| 摘要 |
PURPOSE:To synchronize the distance of treveling of a wheel and the extent of running of a tape with each other, by generating an output voltage corresponding to the rotation speed of the wheel and rotating and driving a DC motor for driving a tape recorder by this output voltage. CONSTITUTION:In case of teaching, a low potential is recorded in the left and the right on a tape recorder 12 when switches 13 and 14 are turned on, and a high potential generated in a resistance 16 is recorded there when these switches are turned off. In case of automatic traveling, the recorded potential signal is taken out from the recorder 12 and is inputted to differential amplifiers 17 and 18. Since a bias potential of the resistance 16 is inputted to the other inputs of amplifiers 17 and 18, output voltages are generated in amplifiers 17 and 18 when the low-potential signal is inputted. Solenoids 9 and 10 are operated by these output voltages. A voltage obtained by converting the rotation speed of a bevel pinion part for traveling to a voltage is inputted to a DC motor 21, which drives the recorder 12, from a rotation number detector 26 as the power source for the motor 21. Thus, automatic treveling is performed in accordance with teaching. |
