CN103869815B - Automatic running car and automatic running system - Google Patents
Automatic running car and automatic running system Download PDFInfo
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- CN103869815B CN103869815B CN201310519890.2A CN201310519890A CN103869815B CN 103869815 B CN103869815 B CN 103869815B CN 201310519890 A CN201310519890 A CN 201310519890A CN 103869815 B CN103869815 B CN 103869815B
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Abstract
The present invention provides the control method of a kind of automatic running car, automatic running system and automatic running car.Swivel wheel（3a、3b）And the automatic running car travelled on road has：Line of induction sensor（5）, detect the line of induction being arranged on road（10A, 10B）；Colouring information detection sensor（5）, detect the colouring information for being arranged on progress path for changing the automatic running car on road（28,29）；And controller（6）, control the rotation of wheel.Controller and the automatic running car are along the line of induction（10A）What the information from colouring information detection sensor during traveling accordingly controlled wheel rotates so that the automatic running car from the line of induction（10A）Leave, detected with line of induction sensor and the line of induction（10A）Different other lines of induction（10B）Accordingly control wheel rotates so that the automatic running car along other lines of induction（10B）Traveling, thus changes the progress path of the automatic running car.
Description
Technical field
The present invention relates to a kind of automatic running cars such as carrier of automatic running and used the automatic running car from
Dynamic driving system.
Background technology
Such as Japanese Unexamined Patent Publication（Japanese Patent Laid-Open No.）That disclosed in 2008-139963 publications
Sample, has following system in automatic running system as described above：In the part of the front side of direct of travel in automatic running car
It is used for the sensor for detecting the line of induction being arranged on road at least provided with pair of right and left.Within the system, the biography of pair of right and left
One in sensor is closed for detection（off）, close the sensor change of maintenance stipulated time and whole to detect in the detection
During closing, the driving wheel of side opposite with said one sensor is set to invert and car body is turned.
The content of the invention
However, automatic running system disclosed in Japanese Unexamined Patent Publication 2008-139963 publications is along line of induction travel direction
Conversion.Accordingly, it is difficult to reduce the area needed for travel direction conversion.
The present invention provide one kind can leave the line of induction to change progress path, can also be with than along line of induction progress side
To the automatic running car and the automatic running system using the automatic running car of area travel direction conversion smaller during conversion.
The automatic running car of the present invention is travelled by rotating multiple wheels on road.The feature of the automatic running car exists
In having：Line of induction sensor, detection is arranged on the line of induction on road；Colouring information detection sensor, detection is arranged on
On road, progress path for changing the automatic running car colouring information；And controller, control the rotation of wheel.And
And, controller and the automatic running car along the line of induction travel when the information from colouring information detection sensor accordingly control
The automatic running car that rotates so that of wheel processed leaves from the line of induction, is detected and the line of induction with line of induction sensor
What different other lines of induction accordingly controlled wheel rotates so that the automatic running car along other line of induction row
Sail, thus change the progress path of the automatic running car.
In addition, including above-mentioned automatic running car, the line of induction being arranged on the road that the automatic running car can be travelled with
And the automatic running system of colouring information and the control method of automatic running car also constitute the present invention.
Brief description of the drawings
Fig. 1 is the side view of the carrier as embodiments of the invention.
Fig. 2 is the ground plan of the carrier of embodiment.
Fig. 3 is the figure for the setting example for representing to have used the line of induction in the handling system of the carrier of embodiment.
Fig. 4 is the block diagram of the structure of the control unit for the carrier for representing embodiment.
Fig. 5 is the flow chart for the identifying processing that the line of induction and color in the carrier for represent embodiment are oriented to
Fig. 6 is the flow chart of the Servo Control processing in the carrier for represent embodiment.
Embodiment
Below, embodiments of the invention are explained with reference to.
The carrier 100 of the automatic running car of embodiments of the invention is shown as in Fig. 1 and Fig. 2.Fig. 1 show from
The situation of carrier 100 is seen in side, and Fig. 2 shows the situation of the carrier 100 in terms of underface.In this embodiment it is assumed that carrying
Car 100 is used for such as automatic handing system（Automatic running system）, the automatic handing system is used in factory, warehouse from moving into
Handled thing of the position to the various part of specified save location automatic transporting, goods etc..But, it is used as its of the present invention
Its embodiment, further comprises as the automatic running car or hybrid carrier and part, goods for carrying the people as handled thing
Deng automatic running car, the automatic running car passes through the automatic handing system identical automatic running system with illustrating in the present embodiment
Unite to control automatic running.
Carrier 100 has：Chassis portion 1, comprising wheel 3a, 3b and is used as the driving wheel 3a, 3b actuator
Motor 4a, 4b；And loading platform 2, the loading platform 2 supports by the chassis portion 1（Traction）, handled thing can be loaded.In addition, removing
The not limited to this of car 100 is transported, for example can also be without loading platform and carrier.In addition, " wheel " be not only it is common circular
Wheel but also include crawler belt and other various mobile devices.Chassis portion 1（That is carrier 100）It can exercise in factory, warehouse
The various road surfaces that can be travelled such as the paved road outside floor, building Deng the inside of building（Hereinafter referred to as road）
On.I.e. carrier 100 is exercised by rotating multiple wheel 3a, 3b on road.
The overall structure of automatic handing system is represented in figure 3.In chassis portion 1, it can detect and be arranged on road
The line of induction（Three lines of induction 10A, 10B, 10C have been recorded in figure）Three line of induction sensors 5a, 5b, 5c be arranged in car
Cross direction.In the following description, the line of induction 10A, 10B, 10C are referred to as the line of induction 10.In order to which carrier 100 is along sensing
Line 10 is exercised, as long as direct of travel right-hand member and minimum two positions of left end of the detection line of induction 10 of line of induction sensor 5.
But, in the present embodiment, more or less suppress the carrier 100 or so when being exercised along the line of induction 10 and wriggle,
Therefore three lines of induction sensor 5a, 5b, 5c are arranged in overall width direction, enable to detect the center of the line of induction, right-hand member with
And left end.In order to detect above-mentioned minimum two needed for position and cost degradation, the line of induction sensing in overall width direction is arranged in
The quantity of device can also be two, and with more preferable driving performance（Suppression, the raising of parking spot precision for traveling of wriggling）
For the purpose of can also be three, more than four（For example, maximum 24）.In the following description, by three in the present embodiment
The line of induction sensor 5a, 5b, 5c are referred to as line of induction sensor 5.I.e. line of induction sensor 5 detects the sensing being arranged on road
Line 10.
As the line of induction 10, the monochrome in a variety of colors with red, yellow, blueness and green etc. is used（Or
Polychrome）Colour band.Therefore, line of induction sensor 5 is still able to read the color sensor of color.On line of induction sensor 5,
Can use can be according to the color of the light reflected by the line of induction 10（Intensity, wavelength）Reflected come the light for the color for recognizing the line of induction 10
Type, can be recognized according to the image of shooting the line of induction 10 color image processing type in some.In addition, three senses
It need not be all color sensor to answer line sensor 5, as long as minimum of one is color sensor.In the present embodiment,
Illustrate the situation for having used the color sensor of three light reflection types.
Moreover, being also mounted with the controller being made up of CPU, MPU etc. in chassis portion 1.The control motor of controller 6 4a, 4b's
It is driven such that carrier 100 is travelled along the line of induction 10 detected by line of induction sensor 5.
In addition, being driven such that for the control motor of controller 6 4a, 4b makes carrier 100 be oriented to color（It is aftermentioned to this）
Color accordingly turn（Change in direction）, the color, which is oriented to, to be used as by as color sensor（Colouring information detection sensing
Device）Line of induction sensor 5 read colouring information.Now, on controller 6, details is aftermentioned, but controller 6 is with removing
The color that fortune car 100 is detected when being travelled along line of induction 10A by the line of induction sensor 5 as color sensor is oriented to
（Colouring information）Accordingly control wheel 3a, 3b（Motor 4a, 4b）Rotate so that the carrier 100 from line of induction 10A
Leave.Also, detect the other line of induction 10B, 10Cs different with line of induction 10A accordingly from by line of induction sensor 5
Control wheel 3a, 3b（Motor 4a, 4b）The carrier 100 that rotates so that travelled along the other line of induction 10B, 10C,
Thus the progress path of the carrier 100 is changed.
In addition, in the present embodiment, illustrating line of induction sensor and color sensor as described above（Colouring information is examined
Survey sensor）Situation about being made up of same sensor, but they can also be made up of different sensors.In the present embodiment
In, make the line of induction sensor 5b in multiple line of induction sensors 5 also as colouring information detection sensor function.Color
Information detection sensor 5b detections are arranged on the colouring information for being used on road changing the progress path of carrier 100.
In addition, being used as the head of route information reading part, additionally it is possible to use the sensor different from line of induction sensor 5（Control
The special sensor of reading of information processed）.In the present embodiment, carrier 100 have detection on road with 10 points of the line of induction
Color, the navigation information that the color not set is oriented to read special color sensor 7.Color sensor 7 and colouring information
Detection sensor can also be made up of same sensor.
The structure of controller 6 is represented in Fig. 4.Line of induction sensor 5 is come to the input of controller 6（5a、5b、5c）Sense
Line is answered to detect that signal and color read signal.Controller 6 has to be detected signal to recognize the sensing of the line of induction 10 using the line of induction
Line identification part 21, the color guiding identification part 25 and receiving of reading signal using color to recognize color guiding come from these
The recognition result of identification part 21,25 and the motor control operational part 24 for carrying out the computing of driving for controlling motor 4a, 4b.
Receive control signal corresponding with the operation result in motor control operational part 24 moreover, controller 6 has and drive
Dynamic motor 4a, 4b motor driver 22 and detection motor 4a, 4b (i.e. wheel 3a, 3b) rotary speed are simultaneously input to horse
Up to the motor speed test section 23 of control operational part 24.That is the control wheel of controller 6 3a, 3b rotation.
In addition, outside instruction unit 26 is connected with to controller 6, when the instruction (example that have input the outside from carrier 100
Such as, the instruction stopped, turning stops is forced) when, indicate to carry out the processing stopped etc. according to the outside.
Illustrated using Fig. 3 for providing carrier 100 instruction (change that indicates progress path) relevant with turning
Color be oriented to 28,29.Here, 28 are oriented on color, so that carrier 100 is moved to from move-in position a (11) is set to mesh
Target save location a (12), i.e. line of induction 10A basic color be yellow in case of illustrate.
In this case, the move-in position a (11) in the direct of travel of the carrier 100 on line of induction 10A is passed through
Front, by the blue part 1 15 with defined length (for example, 10mm or so) and with identical specific length
Combination of the part 2 16 on direct of travel in the order of green is configured, and thus indicates turn to the right to carrier 100
It is curved.Moreover, the blue third portion 17 with specific length of the configuration in the front of part 2 16 indicates locking (to motor 4b
Impose short braking) as turn direction wheel right wheel 3b and by axle of the right wheel 3b using the overall width of carrier 100 as
The turning of radius (also known as axle locking is turned below).
Then, 29 are oriented on color, carrier 100 is moved to the preservation for being set to target from move-in position b (13)
Position b (14) situation, ground line of induction 10B i.e. identical with above-mentioned example basic color are to illustrate in case of yellow.
In this case, the front of the move-in position b (13) on the travel direction of the carrier 100 on line of induction 10B, will have upper
The blue part 1 18 of length as defined in stating and the red part 2 19 with length as defined in identical are in traveling side
Combination in the order is configured upwards, thus indicates carrier 100 turning to the left.
And then, the red third portion 20 with specific length in the front of part 2 19 is configured, is indicated by making
As the left wheel 3a of the wheel of turn direction with speed (such as 20% speed slow relative to right wheel 3b rotary speed
Degree) inverted, so as to carry out the turning under the radius smaller than the overall width of carrier 100 (also known as reversion is turned below).
So, each color is directed through the combination of the color of the 1st and part 2 to indicate turn direction, and passes through
The color of third portion indicates radius of turn.But, the structure that color described herein is oriented to only example can also
Using indicated by part 1 turn direction or by the 2nd and the color of third portion combination come indicate radius of turn,
Or generally indicate that other colors such as turn direction and radius of turn are oriented to the combination of the color of 1~third portion
Structure.In addition, constitute color be oriented to color quantity (have specific length part quantity) both can be two or
It can be more than four.
(the control of carrier 100 of the instruction of turn direction and radius of turn is received by the reading of color guiding 28
Device 6) start according to these instructions motor 4a, 4b driving (or stop) control.Also, so far all along
The line of induction (hereinafter referred to as the 1st line of induction) 10A on turning start after, controller 6 and the sensing to the 1st line of induction 10A
The other lines of induction of the detection state of line sensor 5 as " non-detection ", the save location that target is set to being connected to are (following
Referred to as the 2nd line of induction) the 10B detection state of line of induction sensor 5 turns into " non-detection " (that is, line of induction from " detection " temporarily
Sensor 5 passes through the 2nd line of induction 10B), " inspection is turned into again to the detection state of the 2nd line of induction 10B line of induction sensor 5
Survey " accordingly, identification carrier 100 to can along the 2nd line of induction 10B state turning (be based on from line of induction 10A to
The turning of line of induction 10B replacing) complete.
In other words, the detection shape of (the 1st and the 2nd) line of induction 10 based on line of induction sensor 5 after turning starts
State turns into after non-detection, detection and non-detection, and the turning is accordingly stopped with turning into detection again, narrow thus, it is possible to carry out
The Servo Control of minor radius in small road.The reading by color guiding 29 is carried out in the same manner as also when reading in color and being oriented to 28
And the control of the controller 6 when receiving the instruction of turn direction and radius of turn (is based on from line of induction 10B to line of induction 10C
Replacing turning).
According to the present embodiment, during travel direction conversion (turning), by being left from the line of induction 10 and travel direction conversion, with
When being changed along the line of induction 10 (along the line of induction 10) travel direction compared to can be come with smaller area travel direction conversion.That is,
According to the present embodiment, compared with situation about being turned like that along the line of induction in the past, the turning of minor radius can be carried out.Example
Such as, in the case where being changed along the travel direction of the line of induction 10, radius of turn needs about 120cm（Turning width about 240cm）, with
This is relative, according to the present embodiment, by being left from the line of induction 10 and travel direction conversion, radius of turn about 15cm（Turning width
About 30cm）.
According to the present embodiment, by being set to that the line of induction and colouring information can be detected, progress path can be changed so as to obtain
Along other line of induction 10B travelings, i.e. the replacing line of induction after carrier 100 leaves from line of induction 10A.Also, pass through profit
With the line of induction is changed, in the case where making carrier 100 change direct of travel（For example, situation about turning）, and along identical
The line of induction change the situation of direct of travel compared to direct of travel can be changed with smaller area.In addition, here, carrying
Car 100 refers to that the detection state of line of induction sensor 5 turns into the state of " non-detection " from the line of induction 10A states left.
In a flow chart in figure 5, the stream for the identifying processing that the line of induction 10 and color based on controller 6 are oriented to is shown
Journey.Controller 6 is according to the place performed as the automatic ride control program of computer program shown in Fig. 5 and Fig. 6 described later
Reason（Control method）.
In step S101, controller 6 starts line of induction sensor 5.Also, in step s 102, controller 6 confirms logical
Cross the color for the line of induction 10 that line of induction sensor 5 is detected.Here, entered in the case of being yellow in the color of the line of induction
Step S111, step S121 is entered in the case where the color of the line of induction 10 is blueness, is red in the color of the line of induction 10
In the case of enter step S131, the line of induction 10 color for green in the case of enter step S141.
In step S111, S121, S131, S141, controller 6 is read in（Confirm）The pattern of the line of induction 10, according to being read
The pattern entered is come the control being kept straight on, turned left or turned right.Afterwards, in step S112, S122, S132, S142, controller
6 judge the color of the line of induction 10 along which whether change, whether detect color guiding（Part 1）.In no face
In the case of color change, controller 6 returns to step S111, S121, S131, S141.On the other hand, there are the feelings of color change
Under condition, controller 6 enters step S103, jumps to the Servo Control processing shown in Fig. 6 flow chart.
The controller 6 for having started Servo Control processing in step S201 in figure 6 is read in step S202（Confirm）
The color for 1~third portion that color is oriented to.Here, the color for illustrating the line of induction 10 is the situation of yellow（From Fig. 5 the step of
S112 enters step S103 situation）.
In the case where the color of 1~third portion is blue, green, blue, controller 6 enters step S211, into right-hand rotation
Curved and right motor locking（Axle lock is turned）Control, left motor 4a is rotated as former state and to right motor in step S212
4b imposes short braking.Then, step S203 is entered.In addition, in the case where the color of 1~third portion is blue, green, red,
Controller 6 enters step S221, into right-hand bend and the reversion of right motor（Reversion is turned）Control, make in step S222
Left motor 4a is rotated and right motor 4b is inverted with left motor 4a 20% speed as former state.Also, enter step
S203。
In addition, in the case where the color of 1~third portion is blue, red, blue, controller 6 enters step S231, enters
Enter to left-hand bend and the locking of left motor（Axle lock is turned）Control, make in step S232 right motor 4b rotate as former state and
Short braking is imposed to left motor 4a.Then, step S203 is entered.Moreover, the color in 1~third portion is blue, red, green
In the case of, controller 6 enters step S241, into left-hand bend and the reversion of left motor（Reversion is turned）Control, in step
Right motor 4b is rotated as former state in rapid S242 and left motor 4a is inverted with right motor 4b 20% speed.Also,
Enter step S203.
In step S203, controller 6 judge turn start after whether detected by line of induction sensor 5 it is described
2nd line of induction 10 by, whether " non-detection " → " detection " → " non-inspection is turned into the detection state of the 2nd line of induction 10
Survey ".Do not detect the 2nd line of induction symbol in the case of repeat this step, detecting to enter in the case of
Enter to step S204.By this control, carrier 1 is left from the line of induction 10 and travel direction is changed.Thus, with along sensing
Line 10（Along the line of induction 10）The situation of travel direction conversion is changed compared to that can carry out travel direction with smaller area.
In step S204, controller 6 judges whether line of induction sensor 5 is returned onto the 2nd sensing wire tag, i.e. to the
Whether the detection state of 2 lines of induction 10 turns into " detection ".This step is repeated in the case where not returning onto the 2nd line of induction 10
Suddenly, step S205 is entered in the case where having returned, Servo Control is completed.Afterwards, Fig. 5 step S102 is returned to.
As it was previously stated, controller 6 and carrier 1 along the line of induction 10 travel when from colouring information detection sensor 5b
Information accordingly control wheel 3a, 3b carrier 1 that rotates so as to be left from the line of induction 10.In addition, controller 6 and sensing
Line sensor 5 detect the other line of induction 10Bs different from line of induction 10A accordingly control wheel 3a, 3b rotation so that
Carrier 1 is obtained to travel along other line of induction 10B.Thus, controller 6 changes the progress path of carrier 1.
In addition, controller 6 is in the case where making carrier 1 carry out the direction conversion as the change of progress path, in side
The detection state of line of induction sensor 5 after starting to conversion turns into after non-detection, detection and non-detection, with turning into inspection again
Survey the direction conversion for accordingly stopping carrier 1.
In addition, controller 6 is in the case where making carrier 1 carry out the direction conversion as the change of progress path, control
Wheel 3a, 3b direction for rotating so that obtain direction conversion corresponding with the information from colouring information detection sensor 5b
And radius.
Then, carrier is illustrated（Automatic running car）1 control method.According to the control method of the present embodiment, with carrying
Car 1 along the line of induction 10 travel when the information from colouring information detection sensor 5b accordingly control left wheel 3a and right car
The wheel 3b carrier 1 that rotates so that leaves from the line of induction 10.Also, detected with line of induction sensor 5 with line of induction 10A not
Same other line of induction 10B accordingly control left wheel 3a's and right wheel 3b to rotate so that carrier 1 along others
Line of induction 10B is travelled.Thus, the progress path of carrier 1 is changed.According to the control method, result in and foregoing effect
Identical effect.
Then, the automatic ride control journey of the computer program as the control for making computer perform automatic running car is illustrated
Sequence, the automatic running car is the carrier 1 by rotating multiple wheels and being travelled on road, is had：Line of induction sensor 5,
Detection is arranged on the line of induction 10 on road；And colouring information detection sensor 5b, detection be arranged on it is on road, for becoming
The more colouring information of the progress path of carrier 1.
The program has following steps：With carrier 1 along the line of induction 10 travel when from colouring information detect sense
Device 5b information accordingly, makes computer control the left wheel 3a's and right wheel 3b of car to rotate so that carrier 1 from sensing
Line 10 leaves.In addition, the program has following steps：The others different with line of induction 10A are detected from line of induction sensor 5
Line of induction 10B accordingly, makes computer control the left wheel 3a and right wheel 3b carrier 1 that rotates so as to feel along others
Line 10B is answered to travel.According to program, result in and foregoing effect identical effect.
In addition, in the case where using many carriers, both the color of the line of induction can be set for each carrier
To be special, many carriers can also be set as to share same color.
In addition, the line of induction illustrated in the present embodiment can also bring making by commercially available colored plastic strip.Cause
This, compared with using based on IC chip, the conventional mode of the guiding of bar code, can simply construct automatic handing system.
However, on the line of induction, conventional mode can also be used and used based on IC chip, the guiding of bar code.
Each embodiment from the description above, the multiple colors that can be oriented to the color read are accordingly controlled automatically
The turning of Travel vehicle.Thus, can be with minor radius compared with situation about being turned along the line of induction（Small area）Turned.
In addition, automatic running car is without using the handoff functionality with retrogressing, the reading with the communication function and bar code of IC chip of advancing
Function can also be turned with minor radius.
In addition, according to the present embodiment, be illustrated in case of being turned, but the invention is not restricted to this.
For example, making carrier 100 turn right, the progress path for the change carrier 100 such as turn left（It is direct of travel in this case）
Situation be also contained in embodiments of the invention.Moreover, the travel direction of carrier 100 is set to identical and changes anterior approach
Footpath（Track）Situation be also contained in embodiments of the invention.
Each embodiment described above is only representational example, and each embodiment can be carried out when implementing the present invention
Various deformation, change.
Claims (4)
1. a kind of automatic running car, is travelled, the feature of the automatic running car by rotating multiple wheels (3a, 3b) on road
It is have：
Line of induction sensor (5), detection is arranged on the line of induction (10A, 10B) on the road；
Colouring information detection sensor (5), detection is arranged on advance on the road, for changing the automatic running car
The colouring information (28,29) in path；And
Controller (6), controls the rotation of the wheel,
The controller makes the automatic running car with the semidiameter turn below overall width, thus carry out from the line of induction (10A) to
The progress path change of the other lines of induction (10B) different from the line of induction (10A),
In progress path change, the controller and the automatic running car along the line of induction (10A) travel when
Make the automatic running car from the colouring information detection sensor with the radius below the overall width of the automatic running car
Accordingly, proceed by makes the automatic running car be left from the line of induction (10A) and with the automatic row to the information of turning
Sail the Servo Control that radius below the overall width of car changes progress path, and according to the automatic running car from the line of induction
(10A) leaves and the line of induction sensor is turned into the non-detection status for not detecting the line of induction (10A), then, according to
The line of induction sensor reaches other lines of induction (10B) and turns into the line of induction sensor and detect described other
The line of induction (10B) detection state, then, other lines of induction (10B) have been passed through according to the line of induction sensor
And the line of induction sensor is turned into the non-detection status again, the line of induction sensor is turned into described again
Detection state, so as to terminate the Servo Control carried out with the radius below the overall width of the automatic running car, and controls institute
The automatic running car that rotates so that for stating wheel is travelled along other lines of induction (10B).
2. automatic running car according to claim 1, it is characterised in that
In the case where making the automatic running car carry out the direction conversion as the change of progress path, the controller control
To lock the wheel of turn direction side, or make the wheel of turn direction side with the direction opposite relative to the turn direction side
The speed that the rotary speed of the wheel of side is slow is inverted.
3. a kind of automatic running system, it is characterised in that include：
The automatic running car that claim 1 or 2 is recorded；And
It is arranged on the line of induction and the colouring information on the road that the automatic running car can be travelled.
4. a kind of control method of automatic running car, the automatic running car is by rotating multiple wheels (3a, 3b) on road
Traveling, the automatic running car possesses：Line of induction sensor (5), detection is arranged on the line of induction (10A, 10B) on the road；
And colouring information detection sensor (5), detect and be arranged on advance on the road, for changing the automatic running car
The colouring information (28,29) in path, the control method is characterised by,
The automatic running car with the semidiameter turn below overall width so that carry out from the line of induction (10A) to the line of induction
The progress path change of (10A) different other lines of induction (10B),
The progress path change in, with the automatic running car along the line of induction (10A) travel when from described in
Colouring information detection sensor makes the automatic running car with the information of the semidiameter turn below the overall width of the automatic running car
Accordingly, proceeding by makes the automatic running car be left from the line of induction (10A) and with the overall width of the automatic running car
Following radius changes the Servo Control of progress path, and is left according to the automatic running car from the line of induction (10A)
And the line of induction sensor is turned into the non-detection status for not detecting the line of induction (10A), then, according to the sense
Answer line sensor to reach different other lines of induction (10B) and turn into the line of induction sensor and detect described other
The line of induction (10B) detection state, then, other lines of induction (10B) have been passed through according to the line of induction sensor
And the line of induction sensor is turned into the non-detection status again, the line of induction sensor is turned into described again
Detection state, so as to terminate the Servo Control carried out with the radius below the overall width of the automatic running car, and controls institute
The automatic running car that rotates so that for stating wheel is travelled along other lines of induction (10B).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012276281A JP6224319B2 (en) | 2012-12-18 | 2012-12-18 | Automated traveling vehicle and automated traveling system, automated traveling vehicle control method, automated traveling control program |
| JP2012-276281 | 2012-12-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103869815A CN103869815A (en) | 2014-06-18 |
| CN103869815B true CN103869815B (en) | 2017-08-25 |
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ID=50908458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310519890.2A Expired - Fee Related CN103869815B (en) | 2012-12-18 | 2013-10-29 | Automatic running car and automatic running system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6224319B2 (en) |
| CN (1) | CN103869815B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536402B (en) * | 2017-03-02 | 2021-08-27 | 北京嘀嘀无限科技发展有限公司 | Vehicle information display method and device and electronic equipment |
| CN110147097A (en) * | 2019-04-28 | 2019-08-20 | 深兰科技（上海）有限公司 | A kind of location determining method of dispensing device, device, equipment and medium |
| JP2020194279A (en) * | 2019-05-27 | 2020-12-03 | トヨタ自動車株式会社 | Information processing device, information processing method, and program |
| JP7380350B2 (en) * | 2020-03-10 | 2023-11-15 | 株式会社リコー | Autonomous running device, autonomous running control method, and autonomous running control program |
| CN114167850B (en) * | 2020-08-21 | 2024-02-20 | 富联精密电子(天津)有限公司 | Self-propelled triangular warning frame and travelling control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4926958A (en) * | 1987-06-04 | 1990-05-22 | Toyota Jidosha Kabushiki Kaisha | Guide device for automated guided vehicle |
| JPH01292404A (en) * | 1988-05-19 | 1989-11-24 | Fuji Electric Co Ltd | Steering device for unmanned carrier vehicle |
| JPH04369008A (en) * | 1991-06-17 | 1992-12-21 | Komatsu Forklift Co Ltd | Traveling speed controller for unmanned traveling vehicle |
| JPH08225117A (en) * | 1994-12-22 | 1996-09-03 | Honda Motor Co Ltd | Carrying-in control method and carrying-in control device in automated warehouse |
| JP2003015737A (en) * | 2001-06-29 | 2003-01-17 | Sanyo Electric Co Ltd | Unmanned carrier |
| JP3841206B2 (en) * | 2002-02-14 | 2006-11-01 | 日本輸送機株式会社 | Automated guided vehicle |
| JP5051346B2 (en) * | 2006-11-30 | 2012-10-17 | いすゞ自動車株式会社 | Control method for automatic guided vehicle |
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2012
- 2012-12-18 JP JP2012276281A patent/JP6224319B2/en not_active Expired - Fee Related
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2013
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| CN103869815A (en) | 2014-06-18 |
| JP6224319B2 (en) | 2017-11-01 |
| JP2014120081A (en) | 2014-06-30 |
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