JPS63114303U - - Google Patents
Info
- Publication number
- JPS63114303U JPS63114303U JP443487U JP443487U JPS63114303U JP S63114303 U JPS63114303 U JP S63114303U JP 443487 U JP443487 U JP 443487U JP 443487 U JP443487 U JP 443487U JP S63114303 U JPS63114303 U JP S63114303U
- Authority
- JP
- Japan
- Prior art keywords
- steering
- steering angle
- taxiway
- control device
- unmanned vehicle
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims 2
- 230000005856 abnormality Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 1
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装置構成図、
第２図は無人搬送システムの模式図、第３図は誘
導線の交差点磁界分布を示す図である。
１……誘導線、１３……交差点標識、２……無
人車、３１……ピツクアツプ、３３……光センサ
、４……偏差増幅器、５……Ａ／Ｄ変換器、６…
…マイクロコンピユータ、７，１０……駆動回路
、１１……操舵用モータ、１４……デイジタルス
イツチ。
FIG. 1 is an apparatus configuration diagram showing an embodiment of the present invention;
FIG. 2 is a schematic diagram of the unmanned transportation system, and FIG. 3 is a diagram showing the magnetic field distribution at the intersection of guide lines. 1... Guide line, 1 3 ... Intersection sign, 2... Unmanned vehicle, 3 1 ... Pickup, 3 3 ... Optical sensor, 4... Deviation amplifier, 5... A/D converter, 6...
...Microcomputer, 7,10...Drive circuit, 11...Steering motor, 14...Digital switch.
Claims (1)
ンサで誘導路に対する位置検出とこれに従つた操
舵角制御により、無人車を誘導路に沿つて走行さ
せる操舵制御装置において、前記操舵角が所定値
を越えたか否かを検出する操舵角検出手段と、進
路変更を除く通常走行状態で前記検出手段が操舵
角が所定値を越えたことを検出したときに操舵異
常と判定する手段とを設けたことを特徴とする無
人車の操舵制御装置。 In a steering control device that installs a taxiway on the ground floor, detects the position of the unmanned vehicle with respect to the taxiway using a plurality of sensors, and controls the steering angle accordingly, the steering control device drives the unmanned vehicle along the taxiway. a steering angle detection means for detecting whether or not the steering angle exceeds a predetermined value; and means for determining a steering abnormality when the detection means detects that the steering angle exceeds a predetermined value in a normal driving state excluding a course change. A steering control device for an unmanned vehicle, characterized by being provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP443487U JPS63114303U (en) | 1987-01-16 | 1987-01-16 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP443487U JPS63114303U (en) | 1987-01-16 | 1987-01-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63114303U true JPS63114303U (en) | 1988-07-23 |
Family
ID=30785096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP443487U Pending JPS63114303U (en) | 1987-01-16 | 1987-01-16 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63114303U (en) |
-
1987
- 1987-01-16 JP JP443487U patent/JPS63114303U/ja active Pending
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