PURPOSE: To exactly trace a track parallel with the axial direction of a circular waterway by steering four wheels based on a steering angle calculated by an arithmetic means and turning four wheels based on traveling rotating speed.
CONSTITUTION: A traveling object inclination discriminating means 31 of an automatic traveling processing part 30 discriminates an inclining state by inputting signals from inclinometers R1, R2 and P. Based on the discriminated result of that discriminating means 31, an arithmetic means 32 calculates the circumferential position of the traveling object on the inner surface of the circular waterway and the state of deviation from the axial direction of the circular waterway. This arithmetic result is supplied to a steering means 33 and based on the steering angle, four wheels are steered. Besides, the arithmetic result is supplied to a wheel traveling means 34 and based on the traveling rotating speed, four wheels are turned. Thus, the track parallel with the axial direction of the circular waterway can be exactly traced.
SHIMOYAMA HIROSHI
SHIGEMITSU HIROAKI
ISOBE KAZUTAKA
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