JPS63151011U - - Google Patents
Info
- Publication number
- JPS63151011U JPS63151011U JP4348387U JP4348387U JPS63151011U JP S63151011 U JPS63151011 U JP S63151011U JP 4348387 U JP4348387 U JP 4348387U JP 4348387 U JP4348387 U JP 4348387U JP S63151011 U JPS63151011 U JP S63151011U
- Authority
- JP
- Japan
- Prior art keywords
- travel
- guided vehicle
- automatic guided
- detection
- travel distance
- 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 description 10
- 238000013500 data storage Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 1
Landscapes
- 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図及び第４図は
、第２図に示した制御装置の動作フローチヤート
、第５図は、一般的な無人搬送車の概略図、第６
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…停止板、３…停止板検出
センサ（マーク検出手段）、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、１０…制御基板、１１…バツテリ、１
３…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（走行データ格納手段）、１６…動作パ
ターン格納手段（走行データ格納手段）、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（
自己位置認識手段）、２０…ロータリーエンコー
ダ（移動量検出手段）、２１…走行距離計算部（
走行距離計算手段）、２２…マークコード判定処
理部（自己位置認識手段）。
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 automatic guided vehicle according to the present invention, and FIGS. The operation flowchart of the control device shown in FIG. 5 is a schematic diagram of a general automatic guided vehicle, and FIG.
The figure is a schematic configuration diagram of a conventional automatic guided vehicle control device. DESCRIPTION OF SYMBOLS 1... Automatic guided vehicle, 2... Stop plate, 3... Stop plate detection sensor (mark detection means), 4... Guidance wire, 5... Guidance sensor, 6a, 6b... Drive wheel, 7a, 7b... Drive motor, 8a, 8b ...Idle wheel, 9...Servo driver, 10...Control board, 11...Battery, 1
3... Travel control section (travel control means), 14... Self-position recognition section (self-position recognition means), 15... Setting data storage section (travel data storage means), 16... Operation pattern storage means (travel data storage means), 17...
A/D converter (traveling control means), 18... servo control section (traveling control means), 19... traveling information extraction section (
self-position recognition means), 20... rotary encoder (movement amount detection means), 21... travel distance calculation unit (
mileage calculation means), 22...mark code determination processing section (self-position recognition means).
Claims (1)
検出することによつて無人搬送車の運転状態を制
御するようにした無人搬送車の制御装置において
、当該マークを検出した際に検出パルスを出力す
るマーク検出手段と、 当該無人搬送車における停止、分岐、走行速度
、走行方向、地図データ等の走行データを格納す
る走行データ格納手段と、 前記無人搬送車の移動量を検出する移動量検出
手段と、 当該移動量検出手段からの信号に基づいて前記
無人搬送車の走行距離を計算する走行距離計算手
段と、 当該マーク検出手段から検出パルスが出力され
た場合に、当該走行データ格納手段から走行デー
タを、当該走行距離計算手段から走行距離をそれ
ぞれ入力してその前記マーク検出手段による検出
が誤検出であるか否かを判断すると共に、この判
断に従つ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、 当該自己位置認識手段からの信号に基づいて前
記無人搬送車の運転状態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 automated guided vehicle that controls the operating state of an automated guided vehicle by detecting marks provided at arbitrary intervals along a certain route, mark detection means that outputs a detection pulse when detected; a travel data storage means that stores travel data such as stop, branch, travel speed, travel direction, map data, etc. of the automatic guided vehicle; and movement of the automatic guided vehicle. a travel distance detection means for detecting the amount of travel; a travel distance calculation means for calculating the travel distance of the automatic guided vehicle based on a signal from the travel amount detection means; , input the travel data from the travel data storage means and the travel distance from the travel distance calculation means to determine whether or not the detection by the mark detection means is an erroneous detection, and according to this determination, the An automatic guided vehicle comprising: self-position recognition means for recognizing the current position of the automatic guided vehicle; and travel control means for controlling the operating state of the automatic guided vehicle based on a signal from the self-position recognition means. control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4348387U JPS63151011U (en) | 1987-03-26 | 1987-03-26 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4348387U JPS63151011U (en) | 1987-03-26 | 1987-03-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63151011U true JPS63151011U (en) | 1988-10-04 |
Family
ID=30860382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4348387U Pending JPS63151011U (en) | 1987-03-26 | 1987-03-26 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63151011U (en) |
-
1987
- 1987-03-26 JP JP4348387U patent/JPS63151011U/ja active Pending
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