GB1491923A - Driverless industrial trucks - Google Patents

Driverless industrial trucks

Info

Publication number
GB1491923A
GB1491923A GB30642/75A GB3064275A GB1491923A GB 1491923 A GB1491923 A GB 1491923A GB 30642/75 A GB30642/75 A GB 30642/75A GB 3064275 A GB3064275 A GB 3064275A GB 1491923 A GB1491923 A GB 1491923A
Authority
GB
United Kingdom
Prior art keywords
steering angle
coils
deviation
guide wire
amplifier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
GB30642/75A
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WAGNER KG E
Original Assignee
WAGNER KG E
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by WAGNER KG E filed Critical WAGNER KG E
Publication of GB1491923A publication Critical patent/GB1491923A/en
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers

Abstract

1491923 Steering vehicles ERNST WAGNER KG 22 July 1975 [24 July 1974] 30642/75 Heading B7H [Also in Division G3] In a driverless fork-lift truck having one or more front wheels 1 steered by a motor 2 and a sensing device 9 immovably mounted on the rear of the truck to be used when the truck is travelling in reverse for sensing deviation of the truck from a predetermined path defined by a guide wire 14, there are provided means which compare the steering angle of the wheel 1 with the sensed deviation from the guide wire and control operation of the motor 2 so that the steering angle has a predetermined correspondence in magnitude and direction to the deviation. The sensing device 9 comprises two scanning coils 10, 11 arranged so that there is a voltage difference between their outputs when the guide wire 14 is not equi-distantly located between the coils. The coils 10, 11 are connected through amplifiers 12 to a differential amplifier 8 which also has an input from the slider of a potentiometer 15 which is linked to the steerable wheel 1 to provide a voltage signal representing the steering angle of the wheel. As shown in Fig. 3 voltages U1, U2 of opposite polarity obtained from the coils 10, 11 through the amplifiers 12 are applied to resistances R1, R2 to give a voltage which represents the deviation from the guide wire 14 and is fed to the inverting input of an amplifier 16 having a high impedance input and a low impedance output. The amplifier 16 has a feedback resistor 16 and a non-inverting input connected to the slider of the potentiometer 15. The output of the amplifier 16 is connected to a pulse width converter 17 to control operation of the steering motor 2. In another embodiment, Fig. 1 (not shown), the output from the scanning coils is connected to a differential amplifier through ganged potentiometers which are linked to the steerable wheel so that the voltage difference between the outputs is cancelled out when the steering angle and the deviation from the guide wire are in the predetermined correspondence. The steering angle feedback may be applied directly to the scanning coils each of which is provided with a second winding connected to a steering angle potentiometer and arranged to oppose the voltage induced in the scanning coil.
GB30642/75A 1974-07-24 1975-07-22 Driverless industrial trucks Expired GB1491923A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2435494A DE2435494C2 (en) 1974-07-24 1974-07-24 Steering device for driverless industrial trucks

Publications (1)

Publication Number Publication Date
GB1491923A true GB1491923A (en) 1977-11-16

Family

ID=5921332

Family Applications (1)

Application Number Title Priority Date Filing Date
GB30642/75A Expired GB1491923A (en) 1974-07-24 1975-07-22 Driverless industrial trucks

Country Status (5)

Country Link
CH (1) CH588117A5 (en)
DE (1) DE2435494C2 (en)
FR (1) FR2279601A1 (en)
GB (1) GB1491923A (en)
IT (1) IT1039983B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019019142A1 (en) * 2017-07-28 2019-01-31 深圳市大疆创新科技有限公司 Motor drive and flight control method, electronic speed control, power system, and unmanned aerial vehicle system
US11904934B2 (en) 2017-01-28 2024-02-20 Agilox Systems Gmbh Running gear

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4800978A (en) * 1984-11-09 1989-01-31 Nec Corporation Magnetic object detecting system for automated guided vehicle system
AT509305B1 (en) * 2009-12-15 2012-03-15 Amx Automation Technologies Gmbh DRIVER-FREE TRANSPORT DEVICE

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE757198C (en) * 1937-06-13 1954-02-01 Siemens App Electrical feedback device, especially in automatic control systems for aircraft
DE1208391B (en) * 1961-06-20 1966-01-05 Philips Nv Device for automatic steering of a freely moving vehicle along a conductor through which alternating current flows
DE1801967C3 (en) * 1968-10-09 1975-05-28 Winfried Prof. Dr.-Ing. Dr.Ing. E.H. 6100 Darmstadt Oppelt Device for controlling a freely movable vehicle along a current-carrying conductor
US3612206A (en) * 1969-07-07 1971-10-12 Eaton Yale & Towne Automatic guidance system for warehouse trucks and the like

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11904934B2 (en) 2017-01-28 2024-02-20 Agilox Systems Gmbh Running gear
WO2019019142A1 (en) * 2017-07-28 2019-01-31 深圳市大疆创新科技有限公司 Motor drive and flight control method, electronic speed control, power system, and unmanned aerial vehicle system

Also Published As

Publication number Publication date
CH588117A5 (en) 1977-05-31
DE2435494A1 (en) 1976-02-05
DE2435494C2 (en) 1985-03-21
FR2279601A1 (en) 1976-02-20
IT1039983B (en) 1979-12-10
FR2279601B1 (en) 1978-09-22

Similar Documents

Publication Publication Date Title
US4310789A (en) Vehicle which is steerable along a guide wire lying in the ground
EP0125512B1 (en) An anti-log power amplifier
US5404087A (en) Automated guided vehicle wire guidance apparatus
GB1426316A (en) Steering control system for a motor vehicle
US4043418A (en) Reverse direction guidance system for lift truck
GB2042217A (en) Self-piloting vehicle
ES450497A1 (en) Power steering system
GB1440672A (en) Transport vehicles and transport systems utilising such vehicles
US2987135A (en) Vehicle steering system with automatic correcting means
US4524314A (en) Rear travel guidance system
GB1491923A (en) Driverless industrial trucks
US2957535A (en) Vehicle steering control system with lateral acceleration computer
US4160488A (en) Extended width sensor
US3598196A (en) Steering mechanism
USRE30492E (en) Reverse direction guidance system for lift truck
US4936401A (en) Steering system for a vehicle
GB1009561A (en) Steering apparatus for mobile units
CA1073544A (en) Reverse direction guidance system for lift truck
KR100198023B1 (en) Steering angle control apparatus of a manless car
GB1471745A (en) Method of automatically steering a vehicle
US3760253A (en) Two-way drive for optical systems and the like
GB1200973A (en) Improvements in or relating to steering arrangements
JP2534165Y2 (en) Steering system of electromagnetic induction type unmanned vehicle
JPH0222721Y2 (en)
JPS59180611A (en) Automatic maneuvering control device of unmanned car

Legal Events

Date Code Title Description
PS Patent sealed [section 19, patents act 1949]
PCNP Patent ceased through non-payment of renewal fee

Effective date: 19920722