JPS62117606U - - Google Patents
Info
- Publication number
- JPS62117606U JPS62117606U JP444886U JP444886U JPS62117606U JP S62117606 U JPS62117606 U JP S62117606U JP 444886 U JP444886 U JP 444886U JP 444886 U JP444886 U JP 444886U JP S62117606 U JPS62117606 U JP S62117606U
- Authority
- JP
- Japan
- Prior art keywords
- taxiway
- unmanned vehicle
- control means
- found
- control
- 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
Links
- 238000001514 detection method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は本考案の一実施例を示すフローチヤー
ト、第２図Ａ、第２図Ｂ及び第２図Ｃは夫々第１
図の動作説明をするための無人車ピツクアツプと
誘導線の対応図、第３図は無人搬送システムの構
成図、第４図は操舵輪とピツクアツプの関係を示
す図である。
Ｍ……無人車、Ｌ……誘導線、ＦＰＬ１，ＦＰ
Ｌ２……ピツクアツプ。
FIG. 1 is a flowchart showing one embodiment of the present invention, and FIG. 2A, FIG. 2B, and FIG.
FIG. 3 is a diagram showing the configuration of the unmanned transportation system, and FIG. 4 is a diagram showing the relationship between the steering wheel and the pickup. M...Unmanned vehicle, L...Guidance line, FPL 1 , FP
L 2 ...Pick up.
Claims (1)
から該誘導路に対する操舵角制御を行つて設定さ
れた進路及び走行ルートに自動操舵する無人車の
制御装置において、無人車が誘導路からコース外
れを起したときに無人車の操舵輪をその左右最大
角まで切る制御手段と、この制御手段による制御
途中に前記ピツクアツプの両出力変化から誘導路
を探し出したか否かを判定する判定手段と、この
手段によつて誘導路を探し出した判定があるとき
に定常運転に戻す制御手段とを備えたことを特徴
とする無人車の制御装置。 In a control device for an unmanned vehicle that automatically steers to a set course and travel route by controlling the steering angle for the taxiway based on the detection output of a pair of pickups for the taxiway, when the unmanned vehicle deviates from the taxiway. a control means for turning the steering wheel of the unmanned vehicle to its maximum left and right angle; a determination means for determining whether or not a taxiway has been found from changes in both outputs of the pick-up during control by the control means; A control device for an unmanned vehicle, comprising a control means for returning to steady operation when it is determined that a taxiway has been found.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP444886U JPH0512802Y2 (en) | 1986-01-16 | 1986-01-16 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP444886U JPH0512802Y2 (en) | 1986-01-16 | 1986-01-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62117606U true JPS62117606U (en) | 1987-07-25 |
| JPH0512802Y2 JPH0512802Y2 (en) | 1993-04-05 |
Family
ID=30785119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP444886U Expired - Lifetime JPH0512802Y2 (en) | 1986-01-16 | 1986-01-16 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0512802Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09128053A (en) * | 1995-11-01 | 1997-05-16 | Shinko Electric Co Ltd | Method for controlling traveling of motor-driven carrier |
| JP2008033715A (en) * | 2006-07-31 | 2008-02-14 | Nippon Yusoki Co Ltd | Auto-guidance vehicle and steering control method for auto-guidance vehicle |
-
1986
- 1986-01-16 JP JP444886U patent/JPH0512802Y2/ja not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09128053A (en) * | 1995-11-01 | 1997-05-16 | Shinko Electric Co Ltd | Method for controlling traveling of motor-driven carrier |
| JP2008033715A (en) * | 2006-07-31 | 2008-02-14 | Nippon Yusoki Co Ltd | Auto-guidance vehicle and steering control method for auto-guidance vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0512802Y2 (en) | 1993-04-05 |