JPS60192004U

JPS60192004U - Unmanned vehicle steering control device

Info

Publication number: JPS60192004U
Application number: JP7691784U
Authority: JP
Inventors: 洋小川; 宮崎　恭之
Original assignee: 株式会社明電舎
Priority date: 1984-05-25
Filing date: 1984-05-25
Publication date: 1985-12-20

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) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

第１図は本考案の実施例を示す構成図、第２図は位置ず
れ量と導通率との関係の一例を示すグラフ、第３図はス
テアリング制御の一例を示すフローチャート図、第４図
Ａ、　Ｂは各々走行基準ラインに対する無人車の位置を
示す略解平面図、第５図は無人車の略解平面図である。ｌａ、ｌｂ・・・位置検出器、２・・・ステアリングモ
ータ、３・・・ステアリングモータ制御部、３１・・・
チョッパ回路、Ｌ・・・走行基準ライン、５・・・中央
処理部、６・・・チョッパ回路制御部、６１・・・設定
部、６２・・・命令部、６・・・駆動モータ、４１・・
・駆動モータ制御部、１０・・・速度検出器。FIG. 1 is a configuration diagram showing an embodiment of the present invention, FIG. 2 is a graph showing an example of the relationship between positional deviation amount and conduction rate, FIG. 3 is a flowchart showing an example of steering control, and FIG. 4A , B are schematic plan views showing the position of the unmanned vehicle with respect to the driving reference line, and FIG. 5 is a schematic plan view of the unmanned vehicle. la, lb...Position detector, 2...Steering motor, 3...Steering motor control unit, 31...
Chopper circuit, L... Running reference line, 5... Central processing unit, 6... Chopper circuit control unit, 61... Setting unit, 62... Command unit, 6... Drive motor, 41・・・
- Drive motor control section, 10...speed detector.

Claims

[Scope of utility model registration request]

4. In a device that performs steering control of an unmanned vehicle so that the unmanned vehicle travels along a driving reference line, a chopper circuit that controls the steering motor of the unmanned vehicle and a position that detects the amount of positional deviation of the unmanned vehicle with respect to the driving reference line. A detector, a speed detector that detects the running speed of the unmanned vehicle, and a conductivity of the chopper circuit based on the respective outputs of the position detector and the speed detector, and based on the set base conductivity. 1. A steering control device for an unmanned vehicle, comprising: a chopper circuit control section for operating a chopper circuit.