JPS6039211A - Travelling control method in self-travelling dolly - Google Patents
Travelling control method in self-travelling dollyInfo
- Publication number
- JPS6039211A JPS6039211A JP58147132A JP14713283A JPS6039211A JP S6039211 A JPS6039211 A JP S6039211A JP 58147132 A JP58147132 A JP 58147132A JP 14713283 A JP14713283 A JP 14713283A JP S6039211 A JPS6039211 A JP S6039211A
- Authority
- JP
- Japan
- Prior art keywords
- dolly
- stopped
- signal
- truck
- travelling
- 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
- 238000000034 method Methods 0.000 title claims description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 16
- 229910052742 iron Inorganic materials 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 239000003973 paint Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】 この発明は自走式台車における走行制御方法に関する。[Detailed description of the invention] The present invention relates to a travel control method for a self-propelled bogie.
床面に埋設した誘導線又は床面上に設けたテフＯ
−＼、ペイント等の光学式誘導線を検出して所定の走行
コースを自走する台車において、同一（コースに多数の
台車を走行せしめる場合、それら台車を追突等起こすこ
となく同一コース内で整然と走行せしめしかも各台車に
ついて適確な制御を行うためには、例えば次のようにし
ている。In a bogie that runs on a predetermined running course by detecting guide wires buried in the floor or optical guide wires such as TEF O-\ and paint installed on the floor, it is possible to detect a number of bogies running on the same (course) In order to have these bogies run in an orderly manner on the same course without causing rear-end collisions, and to control each bogie appropriately, for example, the following steps are taken.
す彦わち、例えば床面に埋設した誘導線によって誘導せ
しめる方式では、第１図に略示したように、走行コース
を、少くとも台車の台数＋１よりも多い区画（ａ） （
ｂ） （ｃ）・・・に区切り、夫々の区画（ａＪ■）（
Ｃ）・・・に誘導線＜１）の閉ループを埋設すると共に
、該閉ループ誘導線（１）の各終端に台車（１）を一旦
停止させる停止ステーション（２）を設け、各台車（１
）は該台車が位置している個々の閉ループ誘導線を接続
した地上制御盤（３）によって誘導制御され、ある区画
（Ｃ）内の終端に進行して来た台車（１）は、前方の区
画（ｄ）内に台車（１）が存在しないことを中央制御装
置（４）が確認した上ではじめて前方の区画（ｄ）へと
移行して前進できるように制御される。In other words, for example, in the method of guiding by guide wires buried in the floor, as schematically shown in Fig. 1, the running course is divided into at least sections (a) (
b) (c) Divide into... and each section (aJ ■) (
A closed loop of guide wire <1) is buried in..., and a stopping station (2) for temporarily stopping the bogie (1) is provided at each end of the closed loop guide wire (1).
) is guided and controlled by the ground control panel (3) that connects the individual closed loop guidance lines where the bogie is located, and the bogie (1) that has proceeded to the end of a certain section (C) is Only after the central control device (4) confirms that the trolley (1) is not present in the compartment (d), the vehicle is controlled so that it can move forward to the compartment (d) in front.
上記方式では１制御区画内に必ず１台の台車しか存在し
ないので上位の制御盤による各台車の弁別が正確に行わ
れ、各台車に対する夫々異った作動命令が誤りなく適確
に対象の台車に伝えられ誤作動が少ないが、反面走行コ
ースを上記のような多数の区画に分割して夫々に閉ルー
プ誘導線（７りとその引込線を埋設する工事費、各区画
内の停止ステーション（２）および各区画に対応する地
上制御盤（３）の設備費が嵩むとか、各閉ループ誘導線
（１）間の相互間での制御も必要となるので制御が複雑
になるという欠点がある。In the above method, since there is always only one bogie in one control section, each bogie can be accurately distinguished by the upper control panel, and the different operation commands for each bogie can be accurately and accurately directed to the target bogie. However, on the other hand, it is necessary to divide the driving course into a large number of sections as mentioned above and install closed loop guide lines (7 lines) in each section, and the construction cost of burying the lead-in lines, and the stop station (2) in each section. Moreover, there are disadvantages in that the equipment cost for the ground control panel (3) corresponding to each section increases, and control becomes complicated because mutual control between the closed loop guide lines (1) is also required.
そして、上記のように同一コース内を多数の台車を走行
せしめる場合、コース内には通常台車を１台毎発進する
ステーションが設けられ、当該発進ステー７ョンでは台
車を複数台連ねて一旦停止しておけるようになしバッフ
ァ効果を持たせるが、この発進ステー７ョンにおいて上
記方式を用いる場合に、特に上記の欠点つまり誘導線お
よびその付帯設備が増加してコストが割高となり制御が
複雑になるという欠点が顕著となる。When a large number of bogies are run on the same course as described above, there is usually a station within the course where the bogies are started one by one, and at the starting station, multiple bogies are lined up and temporarily stopped. However, when the above method is used in this launch station, the disadvantages mentioned above, that is, the number of guide lines and their auxiliary equipment increases, the cost becomes relatively high, and the control becomes complicated. The disadvantage of becoming
そこで、この発明は、特に上記のような複数の台車を連
ねて一旦停止しておき、先頭の台車から次々に発進して
同一コース上を走行せしめる台車の発進ステーションに
好適し、設備コストが嵩み制御が複雑になる等の上記欠
点のない新規な走行制御方法を提供するものである。Therefore, the present invention is particularly suitable for a bogie starting station where a plurality of bogies as described above are lined up, temporarily stopped, and then started one after another from the first bogie to run on the same course, and the equipment cost is high. The object of the present invention is to provide a novel travel control method that does not have the above-mentioned drawbacks such as complicated control.
以下、図面に基づいて実施例を説明する。Examples will be described below based on the drawings.
すなわち、まず、第３図においてこの例の自走式台車と
しての物品搬送台車（１）について説明すると、該台車
（１）は車体（１ａ）下面の中央に左右で１対の駆動車
輪（５）を有し、車体下面の前後部にキャスター状の従
動車輪を有した台車であって、上記１対の駆動車輪（５
）は夫々に駆動モータ６）を直結して各独立して回転駆
動され、該駆動モータ（６）の回転数および回転方向が
走行制御装置（７）によって制御されて前後進および低
中高速にわたる速度調整がなされるようになっている。That is, first, referring to FIG. 3, we will explain about the goods transport trolley (1) as a self-propelled trolley in this example.The trolley (1) has a pair of left and right drive wheels (5 ), and caster-shaped driven wheels at the front and rear of the lower surface of the vehicle body, the pair of drive wheels (5
) are each directly connected to a drive motor 6) and driven to rotate independently, and the rotation speed and rotation direction of the drive motor (6) are controlled by a travel control device (7) to cover forward and backward travel and low, medium and high speeds. The speed is adjusted.
駆動モータ（６）の回転数はタコメータジェネレータ（
８）によってフィードバック制御される。The rotation speed of the drive motor (6) is determined by the tachometer generator (
8) is feedback controlled.
そして、車体（１ａ）内にはさらに上記の走行制御装置
（７）に速度変更指令、または停止指令等を発信するＣ
Ｐ Ｕ （９）が塔載されているが、該ＣＰＵ（９）
には車体（１ａ）下面のアンテナ（１１）、近接スイッ
チ（１２）および車体（１ａ）前面に設けた超音波セン
サー（１３）が夫々接続されている。Further, inside the vehicle body (1a) is a C which sends a speed change command, a stop command, etc. to the above-mentioned traveling control device (7).
P U (9) is installed on the tower, but the CPU (9)
An antenna (11) on the lower surface of the vehicle body (1a), a proximity switch (12), and an ultrasonic sensor (13) provided on the front surface of the vehicle body (1a) are connected to the vehicle body (1a).
すなわち、アンテナ（１１）は左右１対の受信用のビッ
クアンプコイル（ｌｌａ） （ｌｌｂ）と送信用の中央
のピ、クア、プコイル（１１Ｃ）とからなシ、受信用の
ビックアンプコイル（ｌｌａ） （ｌｌｂ）によっては
、床面下に埋設した走行コース誘導線（ＦＬ）および動
作指令用信号線（ＦＥ）に流れる交流電流によって誘起
される磁界を検知して信号をＣＰ Ｕ （９）へ送り、
左右のピノクア、プコイル（ｌｌａ） （ｌｌｂ）に誘
起される電流値の相異から当該台車（１）の走行コース
からの外れを検出して左右の走行制御装置（７）にコー
スからのズレを修正する方向へのモータ回転指令信号を
発信せしめたり、後述の鉄片（１４）による停止指令に
よって一旦停止している当該台車（１）を、信号線（Ｆ
Ｅ）から受信した停止解除信号により、該停止指令を解
除して再発進せしめる等の動作を行わせる。In other words, the antenna (11) consists of a pair of left and right big amplifier coils (lla) (llb) for reception, a center pi, qua, and pu coil (11C) for transmission, and a big amplifier coil (lla) for reception. ) (llb) detects the magnetic field induced by the alternating current flowing through the travel course guidance line (FL) and operation command signal line (FE) buried under the floor and sends the signal to the CPU (9). sending,
A deviation from the running course of the bogie (1) is detected from the difference in the current values induced in the left and right Pinocquas and Pcoils (lla) (llb), and the deviation from the course is detected by the left and right running control devices (7). A signal line (F
The stop cancellation signal received from E) causes the stop command to be canceled and operations such as restarting the vehicle to be performed.
誘導線（ＦＬ）と信号線（ＦＥ）とでは通電する交流電
流の周波数を異らせである。また送信用の中央のピック
ア、７プコイル（ｌｉｅ）によってはＣＰＵ（９）から
の指令により当該台車（１）の状態を示す信号、例えば
停止存在信号、バッテリーの容量不足信号等が床面下に
埋設した受信用線（ＡＷ）に向けて発信され、特にこの
発明においては、当該台車（１）を他の台車と区別する
号車番号等の該台車個有の識別信号（ＳＩ ）が発信さ
れるようになっている。The frequency of the alternating current applied to the induction line (FL) and the signal line (FE) is different. In addition, depending on the central pickup for transmission and the 7-pu coil (lie), signals indicating the status of the trolley (1), such as a stop presence signal, a battery capacity shortage signal, etc., are sent under the floor by commands from the CPU (9). A signal is transmitted to a buried reception line (AW), and in particular in this invention, an identification signal (SI) unique to the bogie (SI) such as a car number that distinguishes the bogie (1) from other bogies is transmitted. It looks like this.
近接スイッチ（１２）は床面上の台車停止位置に設けた
台車速度減速指示用鉄片（１４ａ）および停止指示用鉄
片（１４ｂ）を検出して、該検出信号をＣＰ ’Ｕ （
９）へ送シ、ＣＰ Ｕ （９）を介して前記走行制御装
置（７）ヘモータ（６）の減速指令、および停止指令を
発信せしめるものである。The proximity switch (12) detects the iron piece (14a) for instructing the car speed deceleration and the iron piece (14b) for instructing the car to stop, which are provided at the cart stop position on the floor surface, and sends the detection signal to CP 'U (
9), and sends a deceleration command and a stop command to the travel control device (7) and the motor (6) via the CPU (9).
超音波センサー（１３）は該台車（１）の前方に接近す
る台車（物体）を検出して、該検出信号をＣＰＵ（９）
へ送り、ＣＰ Ｕ （９）を介して接近距離により前記
走行制御装置（７）ヘモータ（６）の減速指令および停
止指令を発信せしめるもので、この例では約２ｍに接近
した位置で台車（１）が自動停止されるようになってい
る。The ultrasonic sensor (13) detects a truck (object) approaching in front of the truck (1) and sends the detection signal to the CPU (9).
The CPU (9) transmits a deceleration command and a stop command to the travel control device (7) and the motor (6) depending on the approach distance. ) will be automatically stopped.
この例の自走式台車（１）は以上のようになって、走行
コース誘導線（ＦＬ）をアンテナ（１１）でもって検出
しつつ該誘導線（ＦＬ）上を走行し、近接スイッチ（１
２）が鉄片（１４）を検出した地点で減速停止され、該
停止位置に埋設した動作指令用信号線（ＦＥ）からの信
号をアンテナ（１１）で受信して再発信を行うが、上記
鉄片（１４）、動作指令用信号線（ＦＥ）および受信用
線（ＡＷ）は、第２．５図に示したように発信ステーシ
ョン■の端部に１カ所だけ設けられ、該発信ステーショ
ンのでは次のようにして台車（１）が停止および発信さ
れる。As described above, the self-propelled trolley (1) of this example runs on the traveling course guide line (FL) while detecting the guide line (FL) with the antenna (11), and runs on the guide line (FL) with the proximity switch (1).
2) is decelerated and stopped at the point where the iron piece (14) is detected, and the antenna (11) receives a signal from the operation command signal line (FE) buried at the stop position and re-transmits the signal. (14) The operation command signal line (FE) and the receiving line (AW) are provided at only one location at the end of the transmitting station ■, as shown in Figure 2.5. The truck (1) is stopped and transmitted as follows.
すなわち、先頭の台車（１）が誘導線（ＦＬ）に泊って
進行して来、前記減速用および停止用の鉄片（１４ａ）
（１４ｂ）を近接スイｙ ｆ （１２） 力検出した
ならば、該台車（１）は第４図に示したように速度凹を
減速（Ｖｄ）Ｌ停止（Ｖｓ）するが、この台車（１）の
第２図Ｓ位置への停止によってアンテナ（１１）の前記
送信用ピックア、プコイル（１１（りがＯＮ状態とされ
、該ＯＮ状態が前記受信用線（ＡＷ）を介して検知され
ると、地上側の中央制御装置（４）から地上制御盤（３
）を経て前記動作指令用信号線（ＦＥ）に識別信号（号
車番号信号）の要求信号（ＳＤ）が発信され、この要求
信号（ＳＤ）により台車（１）側から前記送信用ピック
アップコイル（ＩＩＣ）を通じて識別信号（ＳＩ） （
例えば当該台車が第１号車であれば「１」を表わす信号
）が発信される（第４図）。この識別信号（ＳＩ）が受
信用線（ＡＷ）を介して中央制御装置（４）に受信され
、中央制御装置（４）は当該識別信号（台車（１）に関
する識別情報）に基づいて、該台車（１）を後述の発進
ステーションのからの発進の後適正な指令を当該台車（
１）に発信して、適正な動作を行わせる。つまり第２図
に示したように、誘導線（ＦＬ）を自動倉庫（１５）の
異った物品移載ステーション（１６） （１７）・・・
位置まで延設しである場合、当該１号車はステー７ョン
（１６）へ誘導し、後続の２号車以下は他のステー７ョ
ン（１７）へ誘導するといった動作を行わせるのである
。That is, the leading truck (1) is moving along the guide line (FL), and the deceleration and stopping iron piece (14a)
(14b) when the force is detected, the truck (1) decelerates the speed concavity (Vd) and stops (Vs) as shown in FIG. ) is stopped at position S in FIG. 2, the transmitting pick-up coil (11) of the antenna (11) is turned on, and when the on-state is detected via the receiving line (AW). , from the ground side central control unit (4) to the ground control panel (3)
), a request signal (SD) for an identification signal (car number signal) is transmitted to the operation command signal line (FE), and this request signal (SD) causes the bogie (1) to send the transmission pickup coil (IIC) to the operation command signal line (FE). ) through the identification signal (SI) (
For example, if the truck is the first truck, a signal representing "1" is transmitted (FIG. 4). This identification signal (SI) is received by the central control unit (4) via the reception line (AW), and the central control unit (4) identifies the relevant vehicle based on the identification signal (identification information regarding the truck (1)). After starting the trolley (1) from the starting station described below, send appropriate commands to the trolley (1).
1) and make it take appropriate action. In other words, as shown in Fig. 2, the guide line (FL) is connected to different article transfer stations (16), (17), etc. of the automated warehouse (15).
If the station is extended to the station, the first car is guided to the station 7 (16), and the following cars from the second to the next are guided to another station (17).
一方、上記のようにしてＳ位置に停止されている台車（
１）に接近して来た後続の第２号車以下の台車（１）は
、前記のように車体（１ａ）前方に超音波センサー（１
３）が設けてあり互いに２ｍ程度に接近したならば自動
停止するようになっているので、該後続の台車は床面に
停止のだめの設備つまり鉄片、指令用信号線等を設けな
くとも、先頭台車（１）の後に一定間隔を保って次々と
停止する。On the other hand, the trolley (
As mentioned above, the following bogies (1) from car No. 2 onwards that have approached Car 1) have an ultrasonic sensor (1) in front of the car body (1a).
3) so that they will automatically stop if they approach within 2 meters of each other, so the following bogies will be able to stop at the top without having to install any stopping equipment on the floor, such as iron pieces, command signal lines, etc. They stop one after another at regular intervals after the trolley (1).
そして、先頭の台車（１）が、前記のように動作指令用
信号線（ＦＥ）に停止指令の解除信号を通電されること
によって再発進したならば、停止していた第２号車（１
）は超音波センサー（１３）による停止が解かれるので
前進し、鉄片（１４ｂ）による停止位置Ｓまで前進して
再び停止される。以降、上記動作を繰返してこの発進ス
テーションのから台車（１）が１台ずつ間欠的に発進さ
れていくが、上記のように停止位置Ｓに停止した台車か
らは当該台車の識別信号（号車番号信号）が中央制御装
置（４）に発信されるので、中央制御装置（４）からは
この識別信号に基づいた各台車（１）毎に定まっている
動作指令信号を発し、各台車（１）は正確に当該台車（
１）に割り合てられた動作、つ壕り例えば前記物品移載
ステーション（１６）（１７）・・・への移動をなすの
である。If the leading bogie (1) restarts by applying a stop command release signal to the operation command signal line (FE) as described above, then the second bogie (1), which has stopped, starts running again.
) moves forward as it is no longer stopped by the ultrasonic sensor (13), moves forward to the stopping position S by the iron piece (14b), and is stopped again. Thereafter, the above operation is repeated and the bogies (1) are intermittently started one by one from this starting station, but the bogies that have stopped at the stop position S as described above receive the identification signal (car number signal) is sent to the central control device (4), the central control device (4) issues a predetermined operation command signal for each trolley (1) based on this identification signal, and each trolley (1) is exactly the trolley in question (
The operations assigned to step 1), such as moving to the article transfer stations (16), (17), etc., are performed.
なお、上記例は床面に埋設した誘導線（ＦＬ）を台車上
のアンテナで検出しつつ走行する方式であったが、床面
上に設けたテープまたはペイント等の光学式の誘導線を
検出しつつ走行する方式を用いてもよく、台車相互間の
接近を検出するセンサーとして発光ダイオードとフォト
トランジスタを組合わせた光学式の近接センサーを用い
てもよい７、
以上の説明で明らかなように、この発明の走行制御方法
では、停止している台車に後続する台車は、近接センサ
ーでもって前方に停止している台車への接近を検知し自
動的に停止せしめるようにしたので、同一の走行コース
上に設ける停止のための設備が１カ所でよく、設備コス
トが大幅に削減され、また当該１カ所の停止位置で台車
の発停制御をするだけでよいので制御も大幅に簡略化さ
れる。しかも当該停止位置で台車から個有の識別信号を
発信せしめるので、自動的に停止して停止位置Ｓ後方に
ランダムに止められた台車であっても、再発進した後適
確に制御して正確に動作せしめ得る。In addition, in the above example, the guide wire (FL) buried in the floor was detected by the antenna on the trolley while traveling, but it is possible to detect an optical guide wire such as tape or paint placed on the floor. Alternatively, an optical proximity sensor that combines a light emitting diode and a phototransistor may be used as a sensor for detecting the proximity of carts to each other.7 As is clear from the above explanation, In the traveling control method of the present invention, a truck following a stopped truck uses a proximity sensor to detect its approach to a stopped truck in front of it and automatically stops it. Only one stopping facility is required on the course, which greatly reduces equipment costs, and control is also greatly simplified as it is only necessary to start and stop the bogie at that one stopping position. . Furthermore, since a unique identification signal is emitted from the cart at the stop position, even if the cart stops automatically and is randomly stopped behind the stop position S, it can be accurately controlled and accurately controlled after restarting. can be operated.
第１図は従来方法による自走式台車の走行制御方法を示
した説明図、第２図はこの発明の方法による制御方法の
実施例を示した説明図、第３図は同実施例に用いる自走
式台車の構造説明図、第４図は台車の速度、動作指令信
号線による指令信号および受信線による識別信号の送受
信タイミングを表わしたタイムチャート、第５図は停止
位置における床面上の設備の配置例を示しだ平面図であ
る。
（１）・・・台車、（１３）・・・超音波センサー、（
１４）・・・鉄片、（ＦＬ）・・・走行コース誘導線、
（ＳＩ）・・・識別信号、（Ｓ）・・・停止位置。
第３図
第４に
六ＴFig. 1 is an explanatory diagram showing a conventional method for controlling the running of a self-propelled trolley, Fig. 2 is an explanatory diagram showing an embodiment of the control method according to the method of the present invention, and Fig. 3 is used for the same embodiment. An explanatory diagram of the structure of a self-propelled trolley. Figure 4 is a time chart showing the speed of the trolley, the transmission and reception timing of command signals via the operation command signal line and identification signals via the reception line, and Figure 5 is a diagram showing the timing of transmission and reception of the command signal via the operation command signal line and the identification signal via the reception line. FIG. 3 is a plan view showing an example of the arrangement of equipment. (1)...Dolly, (13)...Ultrasonic sensor, (
14)... Iron piece, (FL)... Driving course guide line,
(SI)...Identification signal, (S)...Stop position. Figure 3, 4th, 6th T
Claims (1)
際の走行制御方法であって、地上側からの指令により所
定の停止位置に停止せしめた台車からは当該台車個有の
識別信号を発信せしめ、当該停止している台車に後続す
る台車は、近接センサーでもって前方に停止している台
車への接近を検知し自動停止せしめることを特徴とする
自走式台車における走行制御方法。A traveling control method when multiple self-propelled bogies are run on the same running course, in which a bogie that is stopped at a predetermined stop position based on a command from the ground side sends an identification signal unique to that bogie. A traveling control method for a self-propelled truck, characterized in that a truck following the stopped truck uses a proximity sensor to detect the approach of the truck stopped in front and automatically stops the truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58147132A JPS6039211A (en) | 1983-08-10 | 1983-08-10 | Travelling control method in self-travelling dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58147132A JPS6039211A (en) | 1983-08-10 | 1983-08-10 | Travelling control method in self-travelling dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6039211A true JPS6039211A (en) | 1985-03-01 |
Family
ID=15423283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58147132A Pending JPS6039211A (en) | 1983-08-10 | 1983-08-10 | Travelling control method in self-travelling dolly |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6039211A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61201106U (en) * | 1985-05-31 | 1986-12-17 | ||
| JPH01300310A (en) * | 1988-05-30 | 1989-12-04 | Komatsu Forklift Co Ltd | Guiding method for unmanned carried |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5734206A (en) * | 1980-08-04 | 1982-02-24 | Kensetsusho Doboku Kenkyu Shocho | Carriage follow-up control system |
-
1983
- 1983-08-10 JP JP58147132A patent/JPS6039211A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5734206A (en) * | 1980-08-04 | 1982-02-24 | Kensetsusho Doboku Kenkyu Shocho | Carriage follow-up control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61201106U (en) * | 1985-05-31 | 1986-12-17 | ||
| JPH01300310A (en) * | 1988-05-30 | 1989-12-04 | Komatsu Forklift Co Ltd | Guiding method for unmanned carried |
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