JPS57204915A - Control method for attitude of unattended running car - Google Patents

Control method for attitude of unattended running car

Info

Publication number
JPS57204915A
JPS57204915A JP56091396A JP9139681A JPS57204915A JP S57204915 A JPS57204915 A JP S57204915A JP 56091396 A JP56091396 A JP 56091396A JP 9139681 A JP9139681 A JP 9139681A JP S57204915 A JPS57204915 A JP S57204915A
Authority
JP
Japan
Prior art keywords
running car
attitude
controlling part
running
command
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
JP56091396A
Other languages
Japanese (ja)
Other versions
JPH057725B2 (en
Inventor
Fumihide Sato
Hisashi Kato
Hirokazu Taki
Kunio Fujiwara
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
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 by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP56091396A priority Critical patent/JPS57204915A/en
Priority to PCT/JP1982/000073 priority patent/WO1982003283A1/en
Priority to US06/438,850 priority patent/US4554498A/en
Priority to DE823237439T priority patent/DE3237439T1/en
Publication of JPS57204915A publication Critical patent/JPS57204915A/en
Publication of JPH057725B2 publication Critical patent/JPH057725B2/ja
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE:To make inductive materials of a running path unnecessary and to cope flexibly with the change of a running route or the set position of a target object, by controlling the attitude of an unattended running car for the reflector of the target object. CONSTITUTION:Outpus of encoders 4L and 4R provided for driving wheels 3L and 3R and the distance to an initial inductive position Poa are operated to position a running car 1. If the direction of the running car 1 is deviatd, a gyrocompass detects it, and a correction angle is supplied from an operation controlling part 6 to motors 2L and 2R. The running car is turned to a position Po by the operation based on a set angle and the output of the compass. If the turn stop attitude is deviated, a fix point turn scanning command S is outputted from the controlling part 6. The command S is applied to motors 2L and 2R through motor driving parts 7L and 7R. Fix point turning is continued until a peak detection signal P is received from a detecting part 11 by the controlling part 6. In case of overturning, it is corrected by a correction command Sf of the controlling part 6.
JP56091396A 1981-03-16 1981-06-11 Control method for attitude of unattended running car Granted JPS57204915A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP56091396A JPS57204915A (en) 1981-06-11 1981-06-11 Control method for attitude of unattended running car
PCT/JP1982/000073 WO1982003283A1 (en) 1981-03-16 1982-03-16 Movement controller for moving body
US06/438,850 US4554498A (en) 1981-03-16 1982-03-16 Control apparatus for running moving object
DE823237439T DE3237439T1 (en) 1981-03-16 1982-03-16 RUNNING CONTROL DEVICE FOR A RUNNING MOVABLE OBJECT

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56091396A JPS57204915A (en) 1981-06-11 1981-06-11 Control method for attitude of unattended running car

Publications (2)

Publication Number Publication Date
JPS57204915A true JPS57204915A (en) 1982-12-15
JPH057725B2 JPH057725B2 (en) 1993-01-29

Family

ID=14025214

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56091396A Granted JPS57204915A (en) 1981-03-16 1981-06-11 Control method for attitude of unattended running car

Country Status (1)

Country Link
JP (1) JPS57204915A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4862047A (en) * 1986-05-21 1989-08-29 Kabushiki Kaisha Komatsu Seisakusho Apparatus for guiding movement of an unmanned moving body
JP2019220035A (en) * 2018-06-22 2019-12-26 株式会社明電舎 Unmanned guided vehicle, global map creation system for unmanned guided vehicle, and global map creation method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51119172A (en) * 1975-01-10 1976-10-19 Dixon & Co Ltd R D Improved apparatus for repairing floor

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51119172A (en) * 1975-01-10 1976-10-19 Dixon & Co Ltd R D Improved apparatus for repairing floor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4862047A (en) * 1986-05-21 1989-08-29 Kabushiki Kaisha Komatsu Seisakusho Apparatus for guiding movement of an unmanned moving body
EP0405623A2 (en) 1986-05-21 1991-01-02 Kabushiki Kaisha Komatsu Seisakusho System for inspecting a dust proofing property
JP2019220035A (en) * 2018-06-22 2019-12-26 株式会社明電舎 Unmanned guided vehicle, global map creation system for unmanned guided vehicle, and global map creation method

Also Published As

Publication number Publication date
JPH057725B2 (en) 1993-01-29

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