JPH01135505U - - Google Patents
Info
- Publication number
- JPH01135505U JPH01135505U JP3075788U JP3075788U JPH01135505U JP H01135505 U JPH01135505 U JP H01135505U JP 3075788 U JP3075788 U JP 3075788U JP 3075788 U JP3075788 U JP 3075788U JP H01135505 U JPH01135505 U JP H01135505U
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- guide
- ultrasonic
- vehicle guide
- detection device
- 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 4
- 238000010586 diagram Methods 0.000 description 4
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
図面はこの考案の実施例を示し、第１図は無人
搬送者の概略構成を示す構成図、第２図は車両案
内者検出装置の電気的構成を示す電気ブロツク図
、第３図は操舵制御装置の電気的構成を示す電気
ブロツク図である。
１……無人搬送車、３，３ｒ……駆動モータ
、４，４ｒ……後輪、１２……赤外線センサ、
１５……比較回路、２１……超音波送波器、２２
，２２ｒ……超音波受波器、２５……差動増幅
回路、２８，２８ｒ……加算増幅回路、２９
，２９ｒ……駆動回路。
The drawings show an embodiment of this invention; Fig. 1 is a block diagram showing the schematic structure of an automated conveyancer, Fig. 2 is an electrical block diagram showing the electrical structure of the vehicle guide detection device, and Fig. 3 is a steering control diagram. FIG. 2 is an electrical block diagram showing the electrical configuration of the device. 1... Automatic guided vehicle, 3, 3r... Drive motor, 4, 4r... Rear wheel, 12... Infrared sensor,
15...Comparison circuit, 21...Ultrasonic transmitter, 22
, 22r... Ultrasonic receiver, 25... Differential amplifier circuit, 28, 28r... Addition amplifier circuit, 29
, 29r...drive circuit.
Claims (1)
外線を検出するための赤外線検出装置、 赤外線検出装置の検出信号に基づいて車体前方
に車両案内人が存在するか否かを判定する判定手
段、 判定手段によつて車体前方に車両案内人が存在
していると判定されているときに作動されかつ車
体中心線上に前向きに配された超音波送波器、 車体中心線を挾む配置で前向きに配されかつ車
両案内者によつて反射された超音波を受波するた
めの左右一対の超音波受波器、および 両超音波受波器の受波信号電圧の差が零になる
ように操舵用駆動装置を制御する制御手段、 を備えている人間を自動追尾する自動追尾式自
走車。[Scope of claim for utility model registration] An infrared detection device for detecting infrared rays emitted from the human body of a vehicle guide in front of the vehicle, and whether or not there is a vehicle guide in front of the vehicle based on the detection signal of the infrared detection device. an ultrasonic transmitter that is activated when the determining means determines that a vehicle guide is present in front of the vehicle body and is arranged forward on the vehicle center line; A pair of left and right ultrasonic receivers are arranged facing forward across the line and receive the ultrasonic waves reflected by the vehicle guide, and the voltage of the received signal of both ultrasonic receivers is An automatic tracking self-propelled vehicle that automatically tracks a human, comprising: a control means for controlling a steering drive device so that the difference becomes zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3075788U JPH01135505U (en) | 1988-03-08 | 1988-03-08 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3075788U JPH01135505U (en) | 1988-03-08 | 1988-03-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01135505U true JPH01135505U (en) | 1989-09-18 |
Family
ID=31256103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3075788U Pending JPH01135505U (en) | 1988-03-08 | 1988-03-08 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01135505U (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61184611A (en) * | 1985-02-12 | 1986-08-18 | Three T:Kk | Method for controlling traveling of unmanned carriage |
| JPS6320208B2 (en) * | 1979-08-28 | 1988-04-26 | Suzuki Nippondo Kk |
-
1988
- 1988-03-08 JP JP3075788U patent/JPH01135505U/ja active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6320208B2 (en) * | 1979-08-28 | 1988-04-26 | Suzuki Nippondo Kk | |
| JPS61184611A (en) * | 1985-02-12 | 1986-08-18 | Three T:Kk | Method for controlling traveling of unmanned carriage |
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