JPS58183511U

JPS58183511U - Unmanned vehicle guidance system

Info

Publication number: JPS58183511U
Application number: JP7872282U
Authority: JP
Inventors: 土井　祥「あ」
Original assignee: 三菱重工業株式会社
Priority date: 1982-05-28
Filing date: 1982-05-28
Publication date: 1983-12-07

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of drawings]

第１図は本考案の一実施例の系統図、第２図は本実施例
における位置検出部のブロック−線図である。１・・・車輛、２・・・駆動車輪、３・・・ステアリン
グ車　　′輪、４・・・モータ、５・・・センサ、６・
・・モータ、７・・・−回転角センサ、８・・・レート
ジャイロ、９・・・位置検出部、−１０・・・制御部、
１１・・・ドライバ、１２・・・バッテリ、２０・・・
アンプ、２１・・・Ａ／Ｄ変換器、２２・・・ラッチ、
２３・・・減算器、２４・・・ラッチ、−２５・・・累
積加算器、２６・・・ラッチ、２７・・・クロック発生
部、２８・・・カウンタ、２９・・・リドリガー、３０
゜５３・・・アンドゲート、３１・・・オアゲート１．
５０−１．５０−２・・・÷−り検出装置、５１・・・
マーク、５２・・・位置検出演算装置、５４・・・遅延
タイマー、　。５５．５６・・・インバート回路。FIG. 1 is a system diagram of an embodiment of the present invention, and FIG. 2 is a block diagram of a position detection section in this embodiment. DESCRIPTION OF SYMBOLS 1... Vehicle, 2... Drive wheel, 3... Steering wheel, 4... Motor, 5... Sensor, 6...
...Motor, 7...-Rotation angle sensor, 8...Rate gyro, 9...Position detection section, -10...Control section,
11...driver, 12...battery, 20...
Amplifier, 21... A/D converter, 22... Latch,
23... Subtractor, 24... Latch, -25... Cumulative adder, 26... Latch, 27... Clock generator, 28... Counter, 29... Ridrigger, 30
゜53...And gate, 31...Or gate 1.
50-1.50-2...÷-reduction detection device, 51...
Mark, 52...Position detection calculation device, 54...Delay timer. 55.56...Invert circuit.

Claims

[Scope of utility model registration request]

The position of the vehicle is detected based on the travel distance obtained by counting the output pulses of the sensor attached to the vehicle and the attitude angle obtained by integrating the output angular velocity of the rate gyro attached to the vehicle. A circuit that detects this every time the vehicle stops or every appropriate correction position and samples the zero point error voltage of the rate gyro each time, converts the output angular velocity of the rate gyro to digital, and then converts the output angular velocity of the rate gyro into a digital one. A subtraction circuit that subtracts the zero point error voltage of the rate gyro from the output of the latch circuit, and an addition circuit that cumulatively adds the output of the subtraction circuit. a position detection calculation device that compares and calculates the size and phase of the mapping of the detection device with the size and phase of the mapping determined from the designated travel course of the vehicle. An unmanned vehicle guidance device characterized by: