JPH022713U - - Google Patents
Info
- Publication number
- JPH022713U JPH022713U JP7766588U JP7766588U JPH022713U JP H022713 U JPH022713 U JP H022713U JP 7766588 U JP7766588 U JP 7766588U JP 7766588 U JP7766588 U JP 7766588U JP H022713 U JPH022713 U JP H022713U
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- sensor
- current position
- route data
- sensors
- 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
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図〜第４図は、本考案の一実施例を説明す
るための図面であつて、第１図は、本考案に係る
自走式ロボツトの平面図、第２図は第１図におけ
る―線断面図、第３図は自走式ロボツトの座
標を求めるための図面、第４図は自走式ロボツト
の制御ブロツク図である。
１……走行台車、２……走行車輪、３，１３…
…角度センサ、１４……距離センサ、１５……固
定台、１６……演算制御装置、１７……中央演算
装置、１８……走行経路設定器、１９……比較器
、２０……修正経路設定器、２１……走行速度／
方向制御器、２２……駆動装置。
1 to 4 are drawings for explaining one embodiment of the present invention, in which FIG. 1 is a plan view of a self-propelled robot according to the present invention, and FIG. 3 is a diagram for determining the coordinates of the self-propelled robot, and FIG. 4 is a control block diagram of the self-propelled robot. 1... Running trolley, 2... Running wheels, 3, 13...
...Angle sensor, 14...Distance sensor, 15...Fixed stand, 16...Arithmetic control unit, 17...Central processing unit, 18...Traveling route setter, 19...Comparator, 20...Correction route setting Equipment, 21... Traveling speed/
Direction controller, 22... drive device.
Claims (1)
の走行台車と、複数個のセンサと、演算制御装置
とからなる自走式ロボツトにおいて、前記複数個
のセンサは走行台車の走行方向を検知する角度セ
ンサと、走行台車の走行する平面上の固定点との
距離を検知する距離センサと、固定点の方向を検
知する角度センサとからなり、前記演算制御装置
は、前記駆動装置に制御信号を出力する走行速度
／方向制御器と、予め走行台車の走行経路データ
を設定する走行経路設定器と、前記センサからの
信号に基づき走行台車の現在位置及び走行方向を
算出する中央演算装置と、この算出された現在位
置及び走行方向データと前記予め設定された走行
経路データとの差異を比較・判定する比較器とを
具備してなり、必要に応じ修正経路データを前記
走行速度／方向制御器に出力するようにしたこと
を特徴とする自走式ロボツト。 In a self-propelled robot that includes a traveling trolley for moving a working device on a secondary plane, a plurality of sensors, and an arithmetic control unit, the plurality of sensors include angle sensors that detect the traveling direction of the traveling trolley. , a distance sensor that detects the distance to a fixed point on the plane on which the traveling trolley travels, and an angle sensor that detects the direction of the fixed point, and the arithmetic and control device outputs a control signal to the drive device. a traveling speed/direction controller, a traveling route setting device that sets traveling route data of the traveling bogie in advance, a central processing unit that calculates the current position and traveling direction of the traveling bogie based on the signals from the sensor, and a central processing unit that calculates the current position and traveling direction of the traveling bogie based on the signals from the sensor. a comparator that compares and determines the difference between the current position and running direction data and the preset running route data, and outputs corrected route data to the running speed/direction controller as necessary. A self-propelled robot characterized by the following features:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7766588U JPH022713U (en) | 1988-06-10 | 1988-06-10 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7766588U JPH022713U (en) | 1988-06-10 | 1988-06-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH022713U true JPH022713U (en) | 1990-01-10 |
Family
ID=31302635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7766588U Pending JPH022713U (en) | 1988-06-10 | 1988-06-10 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH022713U (en) |
-
1988
- 1988-06-10 JP JP7766588U patent/JPH022713U/ja active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5155684A (en) | Guiding an unmanned vehicle by reference to overhead features | |
| JP2652573B2 (en) | Golf cart running guidance method | |
| CN205294284U (en) | Mobile automation traveling system of container terminals | |
| JPH022713U (en) | ||
| CN111055647A (en) | Control system of trolley capable of walking on reducing cambered surface of rotary cement kiln | |
| JP2934770B2 (en) | Method and apparatus for measuring wheel diameter of mobile robot | |
| JPH0243614U (en) | ||
| JP2515733B2 (en) | How to guide an unmanned vehicle | |
| JPS58107909A (en) | Inducing system for unattended car | |
| JPH0472100U (en) | ||
| JPH03242711A (en) | Running vehicle | |
| JPH0328186U (en) | ||
| JPS63123599U (en) | ||
| JPS62187307U (en) | ||
| JPH0172585U (en) | ||
| JPH0252890U (en) | ||
| JPS6418972U (en) | ||
| JPS63124490U (en) | ||
| JPH01123998U (en) | ||
| JPS62267808A (en) | Drive controller for automatically guided vehicle | |
| JPH01164511U (en) | ||
| JPH0255114U (en) | ||
| JPH01106115A (en) | Automatic traveling device using visual sensor | |
| JPH01207804A (en) | Self-traveling working vehicle | |
| JPS633313A (en) | Measuring device for traveled distance of unmanned carrier |