KR960040797A - How to change the direction of unmanned trucks - Google Patents
How to change the direction of unmanned trucks Download PDFInfo
- Publication number
- KR960040797A KR960040797A KR1019950012319A KR19950012319A KR960040797A KR 960040797 A KR960040797 A KR 960040797A KR 1019950012319 A KR1019950012319 A KR 1019950012319A KR 19950012319 A KR19950012319 A KR 19950012319A KR 960040797 A KR960040797 A KR 960040797A
- Authority
- KR
- South Korea
- Prior art keywords
- driving
- predetermined
- guide
- unmanned vehicle
- echo
- Prior art date
Links
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000003213 activating effect Effects 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 2
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
Abstract
소정의 주행로에 따라 소정의 프로그램, 센서 및 가이드 수단 등에 의해 운행되는 무인 운반차의 반향전환 방법이 개시되어 있다.Disclosed is a method for echo switching of an unmanned vehicle driven by a predetermined program, a sensor, a guide means or the like according to a predetermined driving path.
무인 운반차의 주행에서 필수 불가결한 요소한 정확한 반향전환이 주행모우터의 회전수를 엔코우더로 읽음으로써 수행되고 있지만, 반향전환 중의 모우터의 슬립 등에 의한 오차로 부정확한 회전이 발생하였다.Accurate echo conversion, which is an essential element in the driving of an unmanned vehicle, is performed by reading the number of revolutions of the driving motor with an encoder, but an incorrect rotation has occurred due to an error of the motor slip during the echo switching.
따라서, 주행용 센서를 사용하여 회전 후 주행할 주행로를 감지함으로써 정확한 각도로 회전할 수 있게 하였다. 그와 같은 무인 운반차의 반향전환 방법에는 주행하는 무인 운반차가 명령 변환 장치를 인식하고 반향전환 위치에 정지하는 단계, 반향전환 결정에 따라 무인 운반차의 두개의 주행모우터를 서로 역방향으로 회전시키는 단계, 주행모우터 작동 후 일정 시간이 경과한 후에 가이드 센서에 의해 감지되는 가이드 데이터를 중앙 처리장치가 읽어들이는 단계 및, 목표 방향의 가이드 데이터 값이 소정의 범위에 들어오면 반향전환을 수행하는 주행모우터를 정지시키는 단계가 포함된다.Therefore, by using the driving sensor to detect the driving path to run after the rotation it was possible to rotate at the correct angle. In such a method of echo switching of an unmanned vehicle, the driving unmanned vehicle recognizes the command converting device and stops at the echo switching position, and rotates two driving motors of the unmanned vehicle in the opposite direction according to the echo conversion decision. Step, the central processing unit reads the guide data detected by the guide sensor after a certain time has passed after the operation of the driving motor, and if the guide data value in the target direction is within a predetermined range to perform the echo switching Stopping the traveling motor is included.
이러한 방법은 각종의 무인 운반차에 적용될 수 있다.This method can be applied to various unmanned vehicles.
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.
제2도는 본 발명에 따라 가이드 데이터를 이용하여 스핀턴을 수행하는 방법을 보여주는 개략도, 그리고, 제3도는 무인 운반차의 가이드 센서와 주행로 데이터 판별 회로도이다.2 is a schematic diagram showing a method of performing a spin turn using guide data according to the present invention, and FIG. 3 is a circuit diagram of a guide sensor and a driving path data of an unmanned vehicle.
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019950012319A KR0160696B1 (en) | 1995-05-17 | 1995-05-17 | Direction changing method for unmanned transfer vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019950012319A KR0160696B1 (en) | 1995-05-17 | 1995-05-17 | Direction changing method for unmanned transfer vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
KR960040797A true KR960040797A (en) | 1996-12-17 |
KR0160696B1 KR0160696B1 (en) | 1998-12-15 |
Family
ID=19414749
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019950012319A KR0160696B1 (en) | 1995-05-17 | 1995-05-17 | Direction changing method for unmanned transfer vehicle |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR0160696B1 (en) |
-
1995
- 1995-05-17 KR KR1019950012319A patent/KR0160696B1/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
KR0160696B1 (en) | 1998-12-15 |
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