JPS6413516U - - Google Patents
Info
- Publication number
- JPS6413516U JPS6413516U JP10912287U JP10912287U JPS6413516U JP S6413516 U JPS6413516 U JP S6413516U JP 10912287 U JP10912287 U JP 10912287U JP 10912287 U JP10912287 U JP 10912287U JP S6413516 U JPS6413516 U JP S6413516U
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- correction value
- automated guided
- sensor
- offset
- 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
- 230000006698 induction Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
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Ａ
，Ｂ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、４……誘導
線（誘導部材）、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）、１
８……サーボ制御部（走行制御手段）、２０……
ロードセル（荷重センサ）、２２……補正演算部
（補正値演算手段）。
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. Operation flowchart of control device, Figure 4A
, B 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. 1...Automated guided vehicle, 2...Mark, 4...Guidance wire (guidance member), 5...Guidance sensor, 6a, 6b
... Drive wheel, 7a, 7b ... Drive motor, 8a,
8b... Idle wheel, 9... Servo driver (travel control means), 10... Control board, 11... Battery, 13... Travel control section (travel control means), 1
8... Servo control section (traveling control means), 20...
Load cell (load sensor), 22... Correction calculation section (correction value calculation means).
Claims (1)
導する誘導部材を設け、当該誘導部材に沿つて前
記無人搬送車の走行位置を制御するようにした無
人搬送車の制御装置において、 当該誘導部材を検出することにより、あらかじ
め定めた前記無人搬送車の走行位置と現時点にお
ける走行位置とのオフセツト量を検出する誘導セ
ンサと、 当該無人搬送車を支持する各車輪にかかる荷重
を検出する荷重センサと、 当該荷重センサによつて検出した各車輪にかか
る荷重及び当該誘導センサによつて検出した前記
オフセツト量に基づいて、前記オフセツト量を０
にすべき補正値を演算する補正値演算手段と、 当該補正値演算手段によつて演算した補正値に
よつて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] An automated guided vehicle that is provided with a guiding member that guides the automated guided vehicle on the traveling route of the automated guided vehicle, and that controls the running position of the automated guided vehicle along the guided member. The control device includes a guidance sensor that detects the amount of offset between a predetermined traveling position of the automatic guided vehicle and the current traveling position by detecting the guiding member, and a guidance sensor that detects the amount of offset between a predetermined traveling position of the automatic guided vehicle and the current traveling position; A load sensor detects such a load, and the offset amount is set to 0 based on the load applied to each wheel detected by the load sensor and the offset amount detected by the induction sensor.
The present invention is characterized by comprising: a correction value calculation means for calculating a correction value to be calculated; and a travel control means for controlling the travel position of the automatic guided vehicle based on the correction value calculated by the correction value calculation means. Control device for automated guided vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10912287U JPS6413516U (en) | 1987-07-17 | 1987-07-17 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10912287U JPS6413516U (en) | 1987-07-17 | 1987-07-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6413516U true JPS6413516U (en) | 1989-01-24 |
Family
ID=31345081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10912287U Pending JPS6413516U (en) | 1987-07-17 | 1987-07-17 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6413516U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0534794U (en) * | 1991-10-08 | 1993-05-07 | 株式会社オーデイオテクニカ | Line microphone acoustic tube |
-
1987
- 1987-07-17 JP JP10912287U patent/JPS6413516U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0534794U (en) * | 1991-10-08 | 1993-05-07 | 株式会社オーデイオテクニカ | Line microphone acoustic tube |
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