JPH01120213U - - Google Patents
Info
- Publication number
- JPH01120213U JPH01120213U JP1443188U JP1443188U JPH01120213U JP H01120213 U JPH01120213 U JP H01120213U JP 1443188 U JP1443188 U JP 1443188U JP 1443188 U JP1443188 U JP 1443188U JP H01120213 U JPH01120213 U JP H01120213U
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- unmanned vehicle
- wheels
- detecting
- set value
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は本考案の一実施例としての無人走行車
を示す透視図、第２図イは本考案の要部を示す平
面図、同図ロはその正面図、第３図は無人走行車
の制御装置を示す図、第４図、第５図は制御装置
の動作を説明するフローチヤート、第６図は直線
部とカーブを走行しているときのリミツトスイツ
チのオン・オフ動作及び走行速度の変化を説明す
るタイムチヤートである。
１…車体、２…ステアリング部、３…駆動輪、
６…駆動モータ、８…誘導線、１０…ステアリン
グモータ、２１…ドツグ（被検出部材）、２２，
２３…リミツトスイツチ（検出手段）。
Figure 1 is a perspective view showing an unmanned vehicle as an embodiment of the present invention, Figure 2 A is a plan view showing the main parts of the present invention, Figure B is its front view, and Figure 3 is the unmanned vehicle. 4 and 5 are flowcharts explaining the operation of the control device, and FIG. 6 shows the on/off operation of the limit switch and the traveling speed when traveling on straight sections and curves. This is a time chart that explains the changes. 1...Vehicle body, 2...Steering part, 3...Drive wheel,
6... Drive motor, 8... Guide wire, 10... Steering motor, 21... Dog (detected member), 22,
23...Limit switch (detection means).
Claims (1)
走行する無人走行車において、 車輪の操舵角の変化に連動して変位する被検出
部材と、 被検出部材の変位から車輪の操舵角が設定値を
越えるのを検出する検出手段と、 前記操舵角が所定時間連続して設定値を越えて
いるとき、無人走行車を減速走行するよう制御す
る制御手段、 とを備えていることを特徴とする無人走行車。[Scope of Claim for Utility Model Registration] In an unmanned vehicle that travels by changing the steering angle of its wheels while detecting a guide line, a detected member that is displaced in conjunction with changes in the steering angle of the wheels; a detection means for detecting from the displacement that the steering angle of the wheels exceeds a set value; and a control means for controlling the unmanned vehicle to travel at a reduced speed when the steering angle exceeds the set value continuously for a predetermined period of time; An unmanned vehicle characterized by being equipped with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1443188U JPH01120213U (en) | 1988-02-04 | 1988-02-04 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1443188U JPH01120213U (en) | 1988-02-04 | 1988-02-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01120213U true JPH01120213U (en) | 1989-08-15 |
Family
ID=31225622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1443188U Pending JPH01120213U (en) | 1988-02-04 | 1988-02-04 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01120213U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH058608U (en) * | 1991-07-11 | 1993-02-05 | ヤンマー農機株式会社 | Automatic steering control device for traveling vehicle |
-
1988
- 1988-02-04 JP JP1443188U patent/JPH01120213U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH058608U (en) * | 1991-07-11 | 1993-02-05 | ヤンマー農機株式会社 | Automatic steering control device for traveling vehicle |