JPS63151008U - - Google Patents
Info
- Publication number
- JPS63151008U JPS63151008U JP4348287U JP4348287U JPS63151008U JP S63151008 U JPS63151008 U JP S63151008U JP 4348287 U JP4348287 U JP 4348287U JP 4348287 U JP4348287 U JP 4348287U JP S63151008 U JPS63151008 U JP S63151008U
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- automatic guided
- offset amount
- self
- sensor
- 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
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
Landscapes
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は、本考案に係る無人搬送車の制御装置
のブロツク図、第２図は、本考案に係る無人搬送
車の制御装置の概略構成図、第３図は、第２図に
示した制御装置の動作フローチヤート、第４図は
、一般的な無人搬送車の概略図、第５図は、従来
の無人搬送車の制御装置の概略構成図である。
１…無人搬送車、２…マーク、３…マーク検出
センサ（自己位置認識手段）、４…誘導線、５…
誘導センサ、６ａ，６ｂ…駆動輪、７ａ，７ｂ…
駆動モータ、８ａ，８ｂ…アイドル輪、９…サー
ボドライバ（走行制御手段）、１０…制御基板、
１１…バツテリ、１３…走行制御部（走行制御手
段）、１４…自己位置認識部（自己位置認識手段
）、１５…設定データ格納部（自己位置認識手段
）、１６…動作パターン格納手段（オフセツト量
格納手段）、１７…Ａ／Ｄ変換部（走行制御手段
）、１８…サーボ制御部（走行制御手段）、１９
…走行情報取出部（走行制御手段）、２０…オフ
セツト量演算部（オフセツト量演算手段）。
Fig. 1 is a block diagram of a control device for an automatic guided vehicle according to the present invention, Fig. 2 is a schematic configuration diagram of a control device for an automated guided vehicle according to the present invention, and Fig. 3 is a block diagram of the control device for an automatic guided vehicle according to the present invention. FIG. 4 is a schematic diagram of a general automatic guided vehicle, and FIG. 5 is a schematic diagram of a conventional automatic guided vehicle control device. DESCRIPTION OF SYMBOLS 1...Automated guided vehicle, 2...Mark, 3...Mark detection sensor (self-position recognition means), 4...Guide line, 5...
Induction sensor, 6a, 6b... Drive wheel, 7a, 7b...
Drive motor, 8a, 8b...idle wheel, 9...servo driver (travel control means), 10...control board,
DESCRIPTION OF SYMBOLS 11...Battery, 13...Traveling control section (traveling control means), 14...Self-position recognition section (self-position recognition means), 15...Setting data storage section (self-position recognition means), 16...Operation pattern storage means (offset amount storage means), 17... A/D conversion section (travel control means), 18... servo control section (travel control means), 19
. . . Travel information retrieval unit (travel control means), 20 . . . Offset amount calculation unit (offset amount calculation means).
Claims (1)
の走行経路に設けられた誘導部材を沿うように前
記無人搬送車の走行位置を制御する無人搬送車の
制御装置において、 前記無人搬送車の現在位置を認識する自己位置
認識手段と、 前記無人搬送車の走行区間毎における当該セン
サの当該誘導部材に対するオフセツト量データを
格納するオフセツト量格納手段と、 当該自己位置認識手段によつて認識された無人
搬送車の現在位置に基づいて、現在とるべきオフ
セツト量データを当該オフセツト量格納手段から
取出し、前記無人搬送車の走行位置を制御する際
のオフセツト量を演算するオフセツト量演算手段
と、前記センサが前記誘導部材に対して当該オフ
セツト量演算手段によつて演算したオフセツト量
だけズレた位置を沿うように前記無人搬送車の走
行位置を制御する走行制御手段とを有することを
特徴とする無人搬送車の制御装置。[Scope of Claim for Utility Model Registration] A control device for an automatic guided vehicle that controls the traveling position of the automatic guided vehicle so that a sensor provided in the automatic guided vehicle follows a guiding member provided on the traveling route of the automatic guided vehicle. A self-position recognition means for recognizing the current position of the automatic guided vehicle; an offset amount storage means for storing offset amount data of the sensor with respect to the guiding member for each traveling section of the automatic guided vehicle; and the self-position recognition means. Based on the current position of the automatic guided vehicle recognized by the automatic guided vehicle, data on the amount of offset to be taken at present is retrieved from the offset amount storage means, and an offset amount for controlling the running position of the automatic guided vehicle is calculated. and travel control means for controlling the travel position of the automatic guided vehicle so that the sensor follows a position shifted by the offset amount calculated by the offset amount calculation means with respect to the guide member. A control device for an automatic guided vehicle characterized by the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4348287U JPS63151008U (en) | 1987-03-26 | 1987-03-26 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4348287U JPS63151008U (en) | 1987-03-26 | 1987-03-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63151008U true JPS63151008U (en) | 1988-10-04 |
Family
ID=30860380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4348287U Pending JPS63151008U (en) | 1987-03-26 | 1987-03-26 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63151008U (en) |
-
1987
- 1987-03-26 JP JP4348287U patent/JPS63151008U/ja active Pending
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