| 摘要 |
PURPOSE:To make it possible that an unattended running car follows surely a complicated running route, by discriminating whether the signal from a photodetector indicates the reflected light from an inductive band or the reflected light from a grating floor to run the unattended running car along an inductive material. CONSTITUTION:Plural light emitters and photodetectors 14a-14g are arranged in a photoelectric detector 14 on a truck 11 of an unattended running car. Output signals corresponding to an reflection area are transmitted from photoelectric detectors 14a-14g to deciding circuits 30a-30g and are converted to a turn-on signal for the reflected light of an inductive band 15 and is converted to a turn- off signal for the reflected light of a grating floor 1 by circuits 30a-30g and are transmitted to an operation controlling circuit 41. A command is sent to a motor controlling circuit 42 from the circuit 41, and the circuit 42 turns a steering motor 43 clockwise or counterclockwaise to change directions of steering wheels 12a and 12b. The angle of steering wheels is detected by a potentiometer 44 and is fed back to the circuit 41 to perform such control that the steering angle is small for signals of photoelectric detectors in the center part and is large for signals of photoelectric detectors in the external part. |
