Title:
INDUCTION AND STEERING METHOD OF ON-GROUND MOBILE BODY
Document Type and Number:
Japanese Patent JPS5957306
Kind Code:
A
Abstract:
PURPOSE:To set an on-ground path with much degree of freedom by changing selectively the form of steering for the straight line running by means of an inductive signal and that for a curved path running by means of an automonous signal respectively. CONSTITUTION:A prescribed phase angle signal is outputted from left and right controllers 141, 142, and when an equal current flows to both left and right motors 12, 13 with thyristors 163, 164, an equal number of revolutions is given to both left and right wheels, and a mobile body goes straight. Further, a laser beam irradiates the boundary line between left and right photodetectors 101, 102, the steering is made stable and the mobile body keeps straight running. When the mobile body reaches a point of inflection, a beam ray from a position generator is converted photoelectrically at a position detector 151 comprising a photodetector. The converted output is discriminated and amplified 152, drives a comparison calculator 132, path information stored in an ROM101 is read out and the steering is changed over into the automonous form via a switching circuit 153.
Inventors:
HIRAI ATSUO
TERUDA JIYUNICHI
TERUDA JIYUNICHI
Application Number:
JP16906682A
Publication Date:
April 02, 1984
Filing Date:
September 27, 1982
Export Citation:
Assignee:
HITACHI KIDEN KOGYO KK
International Classes:
G05D1/02; (IPC1-7): G05D1/02
Attorney, Agent or Firm:
Koji Onishi