JPH01133604U - - Google Patents

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Publication number
JPH01133604U
JPH01133604U JP2730488U JP2730488U JPH01133604U JP H01133604 U JPH01133604 U JP H01133604U JP 2730488 U JP2730488 U JP 2730488U JP 2730488 U JP2730488 U JP 2730488U JP H01133604 U JPH01133604 U JP H01133604U
Authority
JP
Japan
Prior art keywords
obstacle
detour
detection means
track
obstacle detection
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.)
Granted
Application number
JP2730488U
Other languages
Japanese (ja)
Other versions
JPH0738967Y2 (en
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 filed Critical
Priority to JP1988027304U priority Critical patent/JPH0738967Y2/en
Publication of JPH01133604U publication Critical patent/JPH01133604U/ja
Application granted granted Critical
Publication of JPH0738967Y2 publication Critical patent/JPH0738967Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はこの考案の一実施例の電気的構成を示
すブロツク図、第２図は同実施例を適用した無人
誘導車の走行の様子を示す図、第３図は従来の無
人誘導車を示す平面図、第４図は障害物を検出す
る動作を説明するための図である。 ８…障害物検出器（障害物検出手段）、９…走
行駆動制御装置、１０…スイツチ素子、１１…走
行制御部、１１ａ…ＣＰＵ、１１ｂ…ＲＯＭ（１
１ａ，１１ｂは迂回軌道算出手段、迂回走行制御
手段および復帰制御手段）、１１ｃ…ＲＡＭ（地
図データ記憶手段、１１ａ〜１１ｃは走行制御部
１１を構成する）、１２…走行駆動部、１３…操
舵駆動部（１０，１１，１２および１３は走行駆
動制御装置９を構成する）、ＯＢ…障害物。 Figure 1 is a block diagram showing the electrical configuration of an embodiment of this invention, Figure 2 is a diagram showing how an unmanned guided vehicle to which the same embodiment is applied, and Figure 3 is a diagram showing a conventional unmanned guided vehicle. The plan view shown in FIG. 4 is a diagram for explaining the operation of detecting an obstacle. 8... Obstacle detector (obstacle detection means), 9... Traveling drive control device, 10... Switch element, 11... Traveling control section, 11a... CPU, 11b... ROM (1
1a and 11b are a detour trajectory calculation means, a detour travel control means, and a return control means), 11c...RAM (map data storage means, 11a to 11c constitute the travel control unit 11), 12...travel drive unit, 13...steering Drive unit (10, 11, 12 and 13 constitute the traveling drive control device 9), OB...Obstacle.

Claims (1)

【実用新案登録請求の範囲】 (a) ガイドパスをサーチすることにより所定の
軌道を走行する無人誘導車において、 (b) 軌道の幅を示す軌道幅データが記憶される
地図データ記憶手段と、 (c) 走行方向前方を検出領域とし軌道上の障害
物の有無および位置を検出する障害物検出手段と
、 (d) この障害物検出手段が検出した障害物の位
置と前記地図データ記憶手段から読み出される軌
道幅データとに基づき前記障害物を避けて迂回走
行し得る道幅があるか否かを判定し、迂回可能と
判定したときに前記障害物検出手段が検出した障
害物の位置および前記道幅に応じた迂回軌道を算
出する迂回軌道算出手段と、 (e) この迂回軌道算出手段が迂回軌道を算出し
た際に前記ガイドパスの案内に代えて前記迂回軌
道に沿つて前記無人誘導車を走行させる迂回走行
制御手段と、 (f) 前記障害物検出手段が障害物を検出しなく
なつた際に前記ガイドパスをサーチする走行制御
に復帰させる復帰制御手段と を具備することを特徴とする無人誘導車。[Scope of Claim for Utility Model Registration] (a) An unmanned guided vehicle that travels along a predetermined track by searching for a guide path, (b) Map data storage means for storing track width data indicating the width of the track; (c) Obstacle detection means for detecting the presence and location of obstacles on the track with a detection area in front of the traveling direction; (d) Obstacle detection means detecting the position of the obstacle detected by this obstacle detection means and the map data storage means. Based on the read track width data, it is determined whether there is a road width that allows a detour while avoiding the obstacle, and when it is determined that a detour is possible, the position of the obstacle detected by the obstacle detection means and the road width are determined. (e) when the detour trajectory calculation means calculates a detour trajectory, the unmanned guided vehicle runs along the detour trajectory instead of guiding along the guide path; and (f) return control means for returning to travel control in which the guide path is searched when the obstacle detection means no longer detects an obstacle. Guided car.
JP1988027304U 1988-03-01 1988-03-01 Unmanned guided vehicle Expired - Lifetime JPH0738967Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1988027304U JPH0738967Y2 (en) 1988-03-01 1988-03-01 Unmanned guided vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1988027304U JPH0738967Y2 (en) 1988-03-01 1988-03-01 Unmanned guided vehicle

Publications (2)

Publication Number Publication Date
JPH01133604U true JPH01133604U (en) 1989-09-12
JPH0738967Y2 JPH0738967Y2 (en) 1995-09-06

Family

ID=31249678

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1988027304U Expired - Lifetime JPH0738967Y2 (en) 1988-03-01 1988-03-01 Unmanned guided vehicle

Country Status (1)

Country Link
JP (1) JPH0738967Y2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09269828A (en) * 1996-03-29 1997-10-14 Mazda Motor Corp Method and device for controlling carrier
JP2012053838A (en) * 2010-09-03 2012-03-15 Hitachi Plant Technologies Ltd Unmanned carrier and traveling control method
JP2018025880A (en) * 2016-08-08 2018-02-15 シャープ株式会社 Autonomous travel device and autonomous travel control method and control program

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61165107A (en) * 1984-06-27 1986-07-25 コミサリヤ・ア・レネルジ・アトミク Control for motion of sensing moving body
JPS62187307U (en) * 1986-05-15 1987-11-28

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61165107A (en) * 1984-06-27 1986-07-25 コミサリヤ・ア・レネルジ・アトミク Control for motion of sensing moving body
JPS62187307U (en) * 1986-05-15 1987-11-28

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09269828A (en) * 1996-03-29 1997-10-14 Mazda Motor Corp Method and device for controlling carrier
JP2012053838A (en) * 2010-09-03 2012-03-15 Hitachi Plant Technologies Ltd Unmanned carrier and traveling control method
JP2018025880A (en) * 2016-08-08 2018-02-15 シャープ株式会社 Autonomous travel device and autonomous travel control method and control program

Also Published As

Publication number Publication date
JPH0738967Y2 (en) 1995-09-06

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