JPH0561542A - Guide vehicle - Google Patents

Abstract

PURPOSE:To avoid fixing a transfer route by controlling the driving device and the manipulation actuator of a vehicle with use of a controller which is controlled by the output signals received from a homing device and a distance meter. CONSTITUTION:A homing device 1 detects an error between the right and left directions of a preceding traveling object, and a distance meter 2 detects an error between the front and back directions of the preceding object respectively. The front-back reference distance is set according to the size and the application purpose of each vehicle. A controller 3 calculates the correction value of both direction and distance based on the signals outputted from the device 1 and the meter 2. Then the controller 3 starts a manipulation actuator 7 to the direction and steers the rear wheels and also controls an electric motor 5 and an electromagnetic clutch/brake 6 of a driving device 4 to keep a proper distance. In such a constitution, the transfer route is not fixed for the vehicle. Thus the man power can be reduced and the flexible performance can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guided vehicle applied to a transportation vehicle in a factory.

[0002]

2. Description of the Related Art Conventionally, a transportation vehicle in a factory that cannot be installed on a production line is provided with various techniques for its automation, labor saving and flexibility.

[0003]

However, existing unmanned vehicles require a guide line, for example, and the transportation route is fixed. The present invention has been developed to address such problems, and an object thereof is to provide a guided vehicle in which a transportation route is not fixed.

[0004]

The structure of the present invention for achieving the above object will be described with reference to FIGS. 1 to 3 corresponding to the embodiments. A homing device that detects an error, a rangefinder that detects an error in the front-rear direction of a moving object in front, and a control device that controls a traveling device and a steering actuator by signals output from the homing device and the rangefinder are installed. Is characterized by.

[0005]

According to the invention, the traveling device and the steering actuator of the vehicle are controlled by the control device which is controlled by the output signals from the homing device and the range finder by the above-mentioned means, and the vehicle travels following the designated object. To be done.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 and 2, FIG. 1 showing its main structure, and FIG. The guided vehicle 9 has a homing device 1, a distance meter 2 and a control device 3 mounted on the front of the loading platform.
It forms a vehicle guide. Further, as a traveling device 4, an electric motor 5 and an electromagnetic clutch / brake 6 for adjusting driving force are provided under a front loading platform, a steering actuator 7 for steering a vehicle is provided at a rear wheel portion, and a storage battery is used as a power source for the entire vehicle. Have eight.

FIG. 3 shows the function of the entire vehicle. The homing device 1 (for example, a radio wave homing device) detects an error in the left-right direction of a forward moving object. In addition, the range finder 2 (for example, a radio range finder) detects an error in the front-rear direction of the traveling object in front. Of course, the reference distance in the front-rear direction is set according to the size of the vehicle and the purpose of use. The control device 3 calculates the correction amount of the direction and the distance based on the signals output from the homing device 1 and the distance meter 2. Subsequently, the control device 3 actuates the steering actuator 7 in the direction to steer the rear wheels. Further, the electric motor 5 and the electromagnetic clutch / brake 6 of the traveling device 4 are controlled with respect to the distance to keep the distance. The above is the outline of the operation of the present invention. It should be noted that this vehicle can follow back running. In addition, the vehicle has a structure and functions capable of being manually driven.

4 and 5 show examples of operating modes. As can be seen from the figure, the vehicle does not require a transportation guide line or a use-specific program.

[0009]

As described above, according to the present invention,
A homing device that detects an error in the left-right direction of a forward moving object, a distance meter that detects an error in the front-back direction of a forward moving object, and a traveling device and a steering actuator are controlled by signals output from the homing device and the distance meter. Since the vehicle is equipped with the control device, the transportation route of the vehicle is not fixed, and the labor and flexibility can be reduced.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a perspective view showing a loaded state.

FIG. 3 is a functional block diagram.

FIG. 4 is a diagram showing an example of an operation form.

FIG. 5 is a diagram showing another example of the operation mode.

[Explanation of symbols]

 1 Homing device 2 Distance meter 3 Control device 4 Traveling device 7 Steering actuator 9 Vehicle

Claims (1)

[Claims] 1. A homing device for detecting an error in a left-right direction of a moving object ahead of a vehicle, a range finder for detecting an error in a front-back direction of a moving object ahead, and a signal output from the homing device and the range finder. An induction vehicle equipped with a control device for controlling a traveling device and a steering actuator.