JPH08147036A - Steering method for unmanned carriage - Google Patents
Steering method for unmanned carriageInfo
- Publication number
- JPH08147036A JPH08147036A JP6305452A JP30545294A JPH08147036A JP H08147036 A JPH08147036 A JP H08147036A JP 6305452 A JP6305452 A JP 6305452A JP 30545294 A JP30545294 A JP 30545294A JP H08147036 A JPH08147036 A JP H08147036A
- Authority
- JP
- Japan
- Prior art keywords
- wheels
- vehicle
- steering
- steered
- turning
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007704 transition Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は誘導路に沿って自動走行
する無人搬送車において、搬送車に設けた四輪全輪を操
舵可能とすると共に搬送車の旋回を狭い場所で行え、か
つ軌道の変更を円滑に行えるようにした無人搬送車の操
舵方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle that automatically travels along a taxiway, and enables all four wheels of the guided vehicle to be steered, and the guided vehicle can be swung in a narrow place and the track The present invention relates to a steering method for an automatic guided vehicle, which enables smooth changes in the above.
【０００２】[0002]
【従来の技術】半導体製造工場などのクリーンルーム内
で物品の搬送を行うには、発塵の抑制に優れた無人搬送
車が使用される。この搬送車はクリーンルーム内で予め
搬送行程に沿って配設された誘導ガイドに導かれて走行
する。この搬送台車の従来技術の一つに特公平６−４６
３６４号公報記載の無人車がある。これは図４にて示す
ように無人車の台車下面中央部の左右両側部にそれぞれ
独立に回転しうる２つの駆動輪を備え、図示しない誘導
センサにより誘導路の位置を検知しながら、この駆動輪
設けた駆動モータの駆動により走行するようにし、また
この無人車には全体のバランスを保つために自在に回転
しうるキャスタを台車の前部（又は後部）中央位置に備
えている。2. Description of the Related Art In order to carry articles in a clean room such as a semiconductor manufacturing factory, an automated guided vehicle excellent in suppressing dust generation is used. This transport vehicle travels in a clean room by being guided by guide guides that are previously arranged along the transport path. Japanese Patent Publication No. 6-46
There is an unmanned vehicle described in Japanese Patent No. 364. As shown in FIG. 4, the unmanned vehicle is equipped with two drive wheels that can rotate independently on the left and right sides of the center of the lower surface of the bogie. The unmanned vehicle is provided with a caster which can be freely rotated in order to keep the overall balance at the front (or rear) central position of the bogie so that the unmanned vehicle can be driven by a drive motor provided with wheels.
【０００３】[0003]
【発明が解決しようとする課題】従って前輪の一輪で操
舵を、後輪の二輪で駆動を行う三輪式の搬送車では、旋
回時の旋回半径と軌跡の占有面積が大きく、狭い場所で
の軌道の変更が困難であった。また前進時と後進時の走
行の軌跡が異なる欠点があった。Therefore, in a three-wheel carrier vehicle in which one wheel of the front wheels is steered and two wheels of the rear wheels are driven, the turning radius at the time of turning and the area occupied by the locus are large, and the track in a narrow space is required. Was difficult to change. In addition, there is a drawback that the loci of traveling are different when moving forward and when moving backward.
【０００４】本発明は四輪式としこの四輪をそれぞれ独
立して操舵し、前後の各一輪づつを独立して駆動するこ
とにより、狭い場所での搬送車の旋回、軌道の変更を確
実に行うことを目的とする。According to the present invention, a four-wheel system is used, and the four wheels are independently steered and the front and rear wheels are independently driven, thereby reliably turning the carrier and changing the track in a narrow space. The purpose is to do.
【０００５】[0005]
【課題を解決するための手段】本発明は上記目的を達成
するためになしたもので、搬送車の下面に設けた四輪を
独立的に操舵制御可能とし、かつ前後の各一輪づつを駆
動輪とし、この駆動輪の速度を独立して制御し走行する
無人搬送車の操舵方法において、前輪の二輪を搬送車の
走行方向に向かうように操舵し、搬送車の旋回開始時に
搬送車の後部の軌跡を直進の軌跡からはみ出さずに旋回
へスムースに移行するよう後輪の二輪を前輪により導か
れる進行方向に向かうように操舵すると共に、次に前輪
の二輪と後輪の二輪を逆位相で操舵して、搬送車を所定
半径で旋回させ、次に後輪の二輪を、前輪の二輪の進行
方向に向かうように操舵し、旋回終了時に搬送車の前部
の軌跡を直進の軌跡からはみ出さずに直進走行に移行す
るように操舵することを要旨とする。SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned object, and makes it possible to independently control the four wheels provided on the lower surface of a carrier and to drive each of the front and rear wheels. In an unmanned guided vehicle steering method in which the wheels are used and the speeds of these drive wheels are controlled independently, the two front wheels are steered toward the traveling direction of the guided vehicle, and the rear portion of the guided vehicle is steered when the guided vehicle starts turning. Steering the two rear wheels toward the direction of travel guided by the front wheels so as to smoothly transition to a turn without sticking out the trajectory of the straight ahead, and then the two front wheels and the rear two wheels are in opposite phase. Steer the vehicle to turn with a predetermined radius, then steer the two rear wheels toward the direction of travel of the two front wheels, and at the end of the turn, move the front of the vehicle from the straight path. Steer to move straight ahead without protruding The gist of the door.
【０００６】[0006]
【作 用】一定半径で旋回する場合は、前輪と後輪を逆
位相で操舵し旋回する。旋回中心の左右の操舵の角度
は、外輪の旋回の半径と内輪の旋回の半径が異なり内輪
の旋回半径の方が小さくなるため、外輪の操舵角度に対
し、内輪の操舵角度を大きく操舵するよう操舵角を補正
する。さらに駆動輪の回転数は、内輪の回転数は外輪の
回転数に対し、内輪の回転数が小さくなるよう回転の速
度指令を補正する。直進走行から一定半径の旋回に移行
するときは、前輪側を旋回半径に応じた操舵角に操舵す
る。後輪側は、車体の旋回の角度が前輪の操舵角度以下
では後輪の操舵角を車体の旋回角度に一致させ、後輪側
は常に進行方向を向くように操舵する。そして車体の旋
回角度が前輪の操舵角度に一致したとき、後輪の操舵角
を前輪の操舵角に位相を反転し絶対値を一致させ、これ
以降の旋回中は前輪、後輪とも一定角度の操舵を行う。
さらに旋回から直線走行に移行する場合は、前記の逆の
操作で旋回角度がゼロになるまで前輪の操舵角を車体の
旋回角度に符号を反転し一致させ、車体の前方が常に進
行方向に向くように操舵し、後輪は一定角度で操舵す
る。そして車体の旋回角度がゼロになったとき、前輪、
後輪の操舵角をゼロに移行し直線走行に移行する。[Operation] When turning with a constant radius, the front and rear wheels are steered in opposite phases to turn. Regarding the steering angle to the left and right of the turning center, the turning radius of the outer wheel and the turning radius of the inner wheel are different, and the turning radius of the inner wheel is smaller.Therefore, the steering angle of the inner wheel should be steered larger than the steering angle of the outer wheel. Correct the steering angle. Further, the rotational speed of the drive wheel is corrected so that the rotational speed of the inner wheel is smaller than the rotational speed of the outer wheel so that the rotational speed of the inner wheel is smaller. When shifting from straight running to turning with a constant radius, the front wheels are steered to a steering angle corresponding to the turning radius. On the rear wheel side, when the turning angle of the vehicle body is equal to or smaller than the steering angle of the front wheel, the steering angle of the rear wheel is matched with the turning angle of the vehicle body, and the rear wheel side always steers so as to face the traveling direction. When the turning angle of the vehicle body matches the steering angle of the front wheels, the steering angle of the rear wheels is inverted in phase with the steering angle of the front wheels to match the absolute value. Steer.
When shifting from turning to straight running, the steering angle of the front wheels is made to match the turning angle of the vehicle body by reversing the above operation until the turning angle becomes zero, and the front of the vehicle always faces the traveling direction. The rear wheels are steered at a constant angle. And when the turning angle of the car body becomes zero, the front wheels,
The steering angle of the rear wheels is shifted to zero, and straight running is performed.
【０００７】[0007]
【実施例】以下本発明の無人搬送車の操舵方法を図面に
示す実施例にもとづいて説明する。図において１は無人
搬送車の台車で、この台車の下面に４つの走行車輪を台
車１が安定して走行するようにして配置し、そのうち２
つの車輪を駆動輪とし、この駆動輪２，５には駆動モー
タを備えて駆動車輪とし、他の２つの車輪は駆動モータ
を備えない従動輪３，４とすると共に、この２つの駆動
輪２，５を台車１に対し対角位置に配置する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A steering method for an automatic guided vehicle according to the present invention will be described below with reference to the embodiments shown in the drawings. In the figure, 1 is a bogie of an automated guided vehicle, and four traveling wheels are arranged on the lower surface of the bogie so that the bogie 1 can travel stably.
One of the wheels is a driving wheel, the driving wheels 2 and 5 are driving wheels with a driving motor, and the other two wheels are driven wheels 3 and 4 without a driving motor. , 5 are arranged diagonally with respect to the carriage 1.
【０００８】またこの駆動輪２，５及び従動輪３，４に
はそれぞれ操舵機構（図示省略）が備えられ、各車輪２
〜５は独立して操舵可能となっている。A steering mechanism (not shown) is provided in each of the drive wheels 2 and 5 and the driven wheels 3 and 4, and each wheel 2
5 can be independently steered.
【０００９】さらに台車１の走行方向の前端及び後端の
両端位置にそれぞれ配置される駆動輪２と従動輪３とは
一対とし、かつ前後の駆動輪２，５は搬送車１の対角線
位置に配置し、従動輪３，４も搬送車の対角線位置に配
設される。また、搬送車１には図示省略したが前後各一
輪の従動輪と直線路の部分で線路に沿って搬送車を誘導
する誘導装置と、操舵及び駆動を制御する制御装置とを
備え、床面には誘導路１０が敷設される。Further, a pair of a driving wheel 2 and a driven wheel 3 arranged at both front and rear ends of the carriage 1 in the traveling direction are provided, and the front and rear driving wheels 2 and 5 are located at diagonal positions of the carrier vehicle 1. The driven wheels 3 and 4 are also arranged at diagonal positions of the carrier vehicle. Further, although not shown in the drawings, the transport vehicle 1 is provided with a guide device for guiding the transport vehicle along the track at the driven wheels of each of the front and rear wheels and a straight road portion, and a control device for controlling steering and driving. A taxiway 10 is laid in this area.
【００１０】従って上述の如く構成した本発明の無人搬
送車を誘導路に従って走行する方法について説明する。
今、搬送車１を地上に設けられた誘導装置を使用せずに
一方の直線路１１から曲線路１２を経て他の直線路１３
に軌道を変更する場合、直線部分では誘導装置により軌
道に対し常に軌跡が誘導路と一致するよう誘導制御を行
い、曲線部分では誘導がないため、予め旋回の軌跡を定
め、その軌跡に沿うように操舵を行うもので、これを図
１にもとづいて説明する。Therefore, a method of traveling the automatic guided vehicle of the present invention constructed as described above along the taxiway will be described.
Now, without using the guide device provided on the ground for the transport vehicle 1, from one straight road 11 to a curved road 12 to another straight road 13
When changing the trajectory, the guidance control is performed by the guidance device so that the trajectory always matches the guidance path in the straight part, and there is no guidance in the curved part. The steering will be performed on the vehicle, which will be described with reference to FIG.
【００１１】図１において（Ａ）は誘導路に沿って直線
走行をする誘導制御の部分、（Ｂ）は前輪は旋回の軌跡
に沿うように操舵を行い、後輪は直進方向に向くように
誘導制御により操舵を行う部分、（Ｃ）は前輪、後輪と
も旋回の軌跡に沿うように操舵を行う部分、（Ｄ）は前
輪は進路変更後の直線軌跡に沿うように誘導制御により
操舵を行い、後輪は旋回軌跡に沿うように操舵を行う部
分、（Ｅ）は旋回を終了し、前輪、後輪とも軌道変更後
の直線に沿うように誘導制御を行う部分を夫々示す。In FIG. 1, (A) is a part of the guidance control for traveling straight along the taxiway, and (B) is the steering for the front wheels so as to follow the path of turning, and the rear wheels so as to be directed straight. The part where steering is performed by the guidance control, (C) is the part where steering is performed along both the front wheels and the rear wheels, and (D) is the steering where the front wheels are guided along the straight line trajectory after the course change. The rear wheels are steered along the turning locus, and (E) is the portion where the turning is ended and the front wheels and the rear wheels are both guided to follow the straight line after the trajectory change.
【００１２】の区間では前後輪、従って一方の直線路１
１を搬送車１が走行する際、Ａ直線路１１から曲線路１
２に進入し、後輪が未だ直線路１１にあるＢの区間では
後輪、の区間では前輪、他方の直線路１３のＥの区間で
は前後輪はそれぞれ左右の操舵角は等しくなるよう各車
輪を連動して操舵を行い、区間Ｂにおける前輪、区間Ｃ
における前後輪、区間Ｄにおける後輪は各車輪が旋回の
中心の接線方向を向くように左右の車輪を独立して操舵
制御する。この前輪と後輪の操舵制御と制御区間の関係
を表１に示す。The front and rear wheels in the section of 1 and therefore the straight road 1
When the transport vehicle 1 travels on the road 1,
In the section B where the rear wheel is still on the straight road 11, the front wheel is in the section B and the front wheel is in the section E of the other straight road 13 so that the front and rear wheels have equal left and right steering angles. The front wheels in section B and section C
The front and rear wheels and the rear wheels in the section D independently control the left and right wheels so that each wheel faces the tangential direction of the center of turning. Table 1 shows the relationship between the steering control of the front wheels and the rear wheels and the control section.
【００１３】[0013]
【表１】 [Table 1]
【００１４】そして搬送車１が誘導路の曲路部分を走行
する場合の各車輪の関係を図２に示す。図２において旋
回の軌跡の中心をＯ、内輪側の旋回半径をｒ１、外輪の
旋回半径をｒ２、車体の中心と旋回中心、左右の車輪の
なす角をφ１、φ２、内輪・外輪の操舵角をθ１，θ
２、前輪と後輪の間隔（ホイールベース）をＷＢ、左右
の車輪の間隔（トレッド）をＴＲとすると、次の様にな
る。FIG. 2 shows the relationship between the wheels when the transport vehicle 1 travels on the curved portion of the taxiway. In FIG. 2, the center of the turning trajectory is O, the turning radius on the inner wheel side is r1, the turning radius of the outer wheel is r2, the center of the vehicle body and the turning center, the angles formed by the left and right wheels are φ1, φ2, and the steering angles of the inner and outer wheels. Θ1, θ
2. Let WB be the distance between the front and rear wheels (wheel base) and TR be the distance between the left and right wheels (tread).
【００１５】[0015]
【式１】 (Equation 1)
【００１６】内輪の旋回半径と外輪の旋回半径について
式１の（１）及び（２）の関係になり旋回中心に対する
角φ１，φ２は式１の（３）の関係から、式１の
（４）、（５）で決まる。内輪と外輪の走行速度と旋回
半径・旋回中心の角度の関係は、式１の（６）、（７）
となる。ここでωは旋回の角速度を示し、旋回中心は一
定値に保持する。内輪の速度は外輪の速度に対し式８と
なる。With respect to the turning radius of the inner ring and the turning radius of the outer wheel, the relations (1) and (2) of the formula 1 are established, and the angles φ1 and φ2 with respect to the center of rotation are expressed by the formula (4) of the formula 1 from the relation of the formula (3). ), (5). The relationship between the traveling speeds of the inner and outer wheels and the turning radius and the angle of the turning center is expressed by equations (6) and (7).
Becomes Here, ω indicates the angular velocity of the turning, and the turning center is held at a constant value. The speed of the inner ring is expressed by Equation 8 with respect to the speed of the outer ring.
【００１７】旋回中心の角度と操舵角は式１の（９）、
（１０）の関係になる。これらの関係により旋回半径を
与え軌跡を決定し、その操舵角と車輪の回転速度を決定
し、誘導路の存在しない軌跡上を軌跡に沿った運転を行
うことができる。The angle of the turning center and the steering angle are expressed by the equation (9),
It becomes the relationship of (10). Based on these relationships, the turning radius is given to determine the locus, the steering angle and the rotation speed of the wheels are determined, and the operation along the locus can be performed on the locus where the taxiway does not exist.
【００１８】図３には、本発明の応用として狭い場所で
旋回中心Ｏを車体中心とした場合の実施例を示す。この
場合の操舵角は、式２で示すようになる。FIG. 3 shows an embodiment in which the turning center O is the center of the vehicle body in a narrow place as an application of the present invention. The steering angle in this case is as shown in Expression 2.
【００１９】[0019]
【式２】 (Equation 2)
【００２０】尚、本発明は自動運転時の制御だけでな
く、手動運転にも適用できる。手動運転時は任意の角度
で外輪の操舵角を指令器により設定し、内輪側の操舵角
と内輪側の車輪の回転速度を外輪の操舵角と速度指令元
に演算し制御量を決定する。The present invention can be applied not only to control during automatic operation but also to manual operation. During manual operation, the steering angle of the outer wheel is set at an arbitrary angle by a command device, and the steering angle of the inner wheel and the rotation speed of the inner wheel are calculated based on the steering angle of the outer wheel and the speed command source to determine the control amount.
【００２１】また四輪で走行する無軌道の搬送車だけで
なく、有軌道の搬送車の操舵についても本発明は応用す
ることができる。The present invention can be applied not only to a trackless guided vehicle that travels with four wheels but also to steering a guided vehicle that has a track.
【００２２】また図５に示すように工場内に配置された
設備あるいは障害物の外周に沿って、その角部を内側に
はみ出さずに曲がるとき、内側の車輪を止めておき、外
側の車輪で障害物の角部を曲がるようにする場合は、旋
回の中心が内輪の前後輪を結ぶ線上にあり、内輪の操舵
角θ１は次式のようにして求められる。Further, as shown in FIG. 5, when the vehicle is bent along the outer periphery of an equipment or obstacle arranged in a factory without protruding its corners inward, the inner wheels are stopped and the outer wheels are stopped. When the corner portion of the obstacle is to be bent, the turning center is on the line connecting the front and rear wheels of the inner wheel, and the steering angle θ1 of the inner wheel is obtained by the following equation.
【００２３】[0023]
【式３】 (Equation 3)
【００２４】このような障害物角部に沿って曲がる場合
は、図４に示すように搬送車の後部の軌跡は前部の軌跡
より外側へはみ出すようになる。このコーナワークの
時、図４に示すように車輪の向きを内側輪では横向き
に、外側輪では角度θ２となるように操舵して小さく旋
回することができる。When the vehicle bends along the corners of such an obstacle, the locus of the rear part of the carrier vehicle extends outward from the locus of the front part as shown in FIG. At the time of this corner work, as shown in FIG. 4, the wheels can be steered so that the inner wheels are laterally oriented and the outer wheels are steered so as to have an angle .theta.2 to make small turns.
【００２５】[0025]
【発明の効果】本発明の無人搬送車の操舵方法は、旋回
中の内輪と外輪の操舵角を旋回円の接線方向に合わせる
ことにより、旋回中の走行抵抗を低減した一定軌跡の旋
回を行う。旋回中は前輪と後輪は同一軌跡を通り三輪搬
送車に比較して同一操舵角に対し旋回半径は小さくな
り、内輪の操舵角を直角操舵した場合、内輪側を軸とし
た車体幅の旋回を行う。また本発明おいては旋回中心を
車体の中心とした、いわゆるスピンターンも容易に実現
できる等の利点を有する。According to the steering method of the automatic guided vehicle of the present invention, the steering angle of the inner wheel and the outer wheel during turning is matched with the tangential direction of the turning circle to perform the turning of a fixed trajectory while reducing the running resistance during turning. . While turning, the front wheels and the rear wheels pass the same locus and the turning radius becomes smaller compared to a three-wheel guided vehicle with respect to the same steering angle.When the steering angle of the inner wheel is steered at right angles, the turning of the width of the body centered on the inner wheel side I do. Further, the present invention has an advantage that a so-called spin turn can be easily realized with the turning center as the center of the vehicle body.
【図１】本発明の無人搬送車の操舵方法を示し、搬送車
の軌跡と制御の切替区間を示す説明図である。FIG. 1 is an explanatory view showing a steering method for an automatic guided vehicle according to the present invention, showing a locus of the guided vehicle and a control switching section.
【図２】同搬送車の旋回の軌跡と操舵角、旋回半径の関
係を示す説明図である。FIG. 2 is an explanatory diagram showing a relationship between a turning trajectory of the transport vehicle, a steering angle, and a turning radius.
【図３】スピンターン時の操舵角と旋回半径の関係を示
す説明図である。FIG. 3 is an explanatory diagram showing a relationship between a steering angle and a turning radius during a spin turn.
【図４】コーナ部を曲がる場合の車輪操舵の説明図であ
る。FIG. 4 is an explanatory diagram of wheel steering when turning a corner portion.
【図５】同説明図である。FIG. 5 is an explanatory diagram of the same.
１ 搬送車 ２ 駆動輪 ３ 従動輪 ４ 従動輪 ５ 駆動輪 １０ 誘導路 １１ 一方の直線路 １２ 曲線路 １３ 他方の直線路 1 Transport Vehicle 2 Drive Wheel 3 Driven Wheel 4 Driven Wheel 5 Drive Wheel 10 Taxiway 11 One Straight Road 12 Curved Road 13 The Other Straight Road
Claims (2)
舵制御可能とし、かつ前後の各一輪づつを駆動輪とし、
この駆動輪の速度を独立して制御し走行する無人搬送車
の操舵方法において、前輪の二輪を搬送車の走行方向に
向かうように操舵し、搬送車の旋回開始時に搬送車の後
部の軌跡を直進の軌跡からはみ出さずに旋回へスムース
に移行するよう後輪の二輪を前輪により導かれる進行方
向に向かうように操舵すると共に、次に前輪の二輪と後
輪の二輪を逆位相で操舵して、搬送車を所定半径で旋回
させ、次に後輪の二輪を、前輪の二輪の進行方向に向か
うように操舵し、旋回終了時に搬送車の前部の軌跡を直
進の軌跡からはみ出さずに直進走行に移行するように操
舵することを特徴とする無人搬送車の操舵方法。1. The four wheels provided on the lower surface of the transport vehicle can be independently steered, and each of the front and rear wheels is a drive wheel.
In this steering method for an unmanned guided vehicle that independently controls the speed of the driving wheels, the two front wheels are steered toward the traveling direction of the guided vehicle, and the trajectory of the rear part of the guided vehicle is steered at the start of turning of the guided vehicle. Steering the two rear wheels toward the direction of travel guided by the front wheels so that the vehicle smoothly transitions to a turn without sticking out of the straight path, and then steers the two front wheels and the two rear wheels in opposite phases. Turn the guided vehicle in a predetermined radius, then steer the two rear wheels toward the direction of travel of the two front wheels, and at the end of the turn, do not extend the front trajectory of the guided vehicle beyond the straight trajectory. A method for steering an automated guided vehicle, characterized in that the vehicle is steered to shift straight ahead.
舵制御可能とし、かつ前後の各一輪づつを駆動輪とし、
この駆動輪の速度を独立して制御し走行する無人搬送車
の操舵方法において、前輪の二輪を搬送車の走行方向に
向かうように操舵し、搬送車の旋回開始時に搬送車の後
部の軌跡を直進の軌跡から旋回へスムースに移行するよ
う後輪の二輪を前輪により導かれる進行方向に向かうよ
うに操舵すると共に、次に前輪の二輪と後輪の二輪を逆
位相で操舵して、搬送車を所定半径で旋回させ、次に後
輪の二輪を、前輪の二輪の進行方向に向かうように操舵
し、旋回終了時に搬送車の前部の軌跡を直進の軌跡から
直進走行に移行するように操舵することを特徴とする無
人搬送車の操舵方法。2. The four wheels provided on the lower surface of the transport vehicle can be independently steered, and the front and rear wheels are drive wheels.
In this steering method for an unmanned guided vehicle that independently controls the speed of the driving wheels, the two front wheels are steered toward the traveling direction of the guided vehicle, and the trajectory of the rear part of the guided vehicle is steered at the start of turning of the guided vehicle. Steering the two rear wheels toward the direction of travel guided by the front wheels so as to smoothly transition from a straight path to a turn, and then steer the two front wheels and the two rear wheels in opposite phases to transport the vehicle. Turn at a predetermined radius, then steer the two rear wheels toward the direction of travel of the two front wheels, and at the end of the turn, change the trajectory of the front part of the transport vehicle from the straight trajectory to the straight traveling. A method for steering an automated guided vehicle, which comprises steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30545294A JP3329963B2 (en) | 1994-11-15 | 1994-11-15 | Automated guided vehicle steering method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30545294A JP3329963B2 (en) | 1994-11-15 | 1994-11-15 | Automated guided vehicle steering method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08147036A true JPH08147036A (en) | 1996-06-07 |
| JP3329963B2 JP3329963B2 (en) | 2002-09-30 |
Family
ID=17945322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP30545294A Expired - Fee Related JP3329963B2 (en) | 1994-11-15 | 1994-11-15 | Automated guided vehicle steering method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3329963B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353768A (en) * | 2015-12-08 | 2016-02-24 | 清华大学 | Unmanned plane locus planning method based on random sampling in narrow space |
| CN108791568A (en) * | 2018-07-12 | 2018-11-13 | 广东嘉腾机器人自动化有限公司 | A kind of AGV minor-circle turns control method and three train AGV |
| CN111190422A (en) * | 2020-01-17 | 2020-05-22 | 杭州电子科技大学 | Container transfer robot track control method |
| CN117799451A (en) * | 2024-02-28 | 2024-04-02 | 新乡市永安机械设备有限公司 | Motion control method for bidirectional remote control four steering wheels |
-
1994
- 1994-11-15 JP JP30545294A patent/JP3329963B2/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353768A (en) * | 2015-12-08 | 2016-02-24 | 清华大学 | Unmanned plane locus planning method based on random sampling in narrow space |
| CN105353768B (en) * | 2015-12-08 | 2017-12-26 | 清华大学 | Unmanned plane method for planning track based on stochastical sampling in narrow space |
| CN108791568A (en) * | 2018-07-12 | 2018-11-13 | 广东嘉腾机器人自动化有限公司 | A kind of AGV minor-circle turns control method and three train AGV |
| CN111190422A (en) * | 2020-01-17 | 2020-05-22 | 杭州电子科技大学 | Container transfer robot track control method |
| CN117799451A (en) * | 2024-02-28 | 2024-04-02 | 新乡市永安机械设备有限公司 | Motion control method for bidirectional remote control four steering wheels |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3329963B2 (en) | 2002-09-30 |
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