JP2752084B

• Main Authors: KAMYAMA KENJI, TAKAOKA DAIZO, TOJO NAOTO
• Format: Patent
• Language: English
• Published: 18.05.1998
• Edition: 6
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

PURPOSE:To easily correct a dislocation from a target channel at the time of a rectilinear propagation travel by obtaining azimuth information from a magnetic azimuth sensor in the condition in which the influence of the magnetic flux generated by an electromagnetic clutch is not received. CONSTITUTION:At the time of a rectilinear propagation travel, energization is executed to respective electromagnetic clutches 4 and respective driving wheels 3 are simultaneously driven. A magnetic azimuth sensor 5 detects an earth magnetism and outputs the azimuth information to a control means 6. The control means 6 reads the azimuth information when the magnetic flux of the electromagnetic clutches 4 after a prescribed time from the starting of the energization to the electromagnetic clutches 4 is stable at the time of the rectilinear propagation travel, from the magnetic azimuth sensor 5, calculates the displacement quantity from a target channel set beforehand and the energization of respective electromagnetic clutches 4 is controlled based on the displacement quantity. Since the rotation of the driving wheels 3 corresponding to the electromagnetic clutches 4 not energized is stopped, the driving wheels 3 are made into shafts, a vehicle 1 is rotated and the displacement quantity is corrected. Thus, the correction of the progress direction when the vehicle 4 is rectilinearly propagated is facilitated.