| 摘要 |
PURPOSE:To make the direction conversion and running toward opposite direction of a car at a narrow space, by detecting a route formed with parallel two wires with two left and right sensors provided to the car and commanding on/off and forward/reverse of a speed signal of the car. CONSTITUTION:Driving wheels 1 and 2 driven with motors 3 and 4 are provided to the left and right of the car center and idling wheels 9 and 10 are provided to the front and rear parts. Route sensors 6 and 7 detect a route formed with parallel two wires. A CPU 8 (running controller) commands a steering signal, on/off of a speed controlling signal and forward/reverse of the motors 3 and 4 with the input from the sensors 6 and 7. At normal running, a car runs along a track by controlling the driving wheels through added and subtracted steering signals. When the car reaches a branch or an end of track, the wheels are stopped at turning part to inhibit the input of the steering signals, and one of the driving wheels 1 and 2 is driven forward and the other is driven reverse in accordance with the direction of turning to turn the car by taking the center of the wheel shaft as an axis. Thus, the car can be directed to a desired direction at a narrow space. |
