JPS61221804A - Drive controller for unmanned carrier - Google Patents
Drive controller for unmanned carrierInfo
- Publication number
- JPS61221804A JPS61221804A JP60062437A JP6243785A JPS61221804A JP S61221804 A JPS61221804 A JP S61221804A JP 60062437 A JP60062437 A JP 60062437A JP 6243785 A JP6243785 A JP 6243785A JP S61221804 A JPS61221804 A JP S61221804A
- Authority
- JP
- Japan
- Prior art keywords
- detector
- output
- circuit
- steering angle
- steering
- 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
- 238000006073 displacement reaction Methods 0.000 claims abstract description 60
- 230000003321 amplification Effects 0.000 description 10
- 238000003199 nucleic acid amplification method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分骨）
本発明は走行経路からの車体の左右への変位を検出し、
操舵輪の車体に対する操舵角を制御して走行する無人搬
送車、移動ロボット等の走行制御装置に関する。[Detailed Description of the Invention] (Industrial Application) The present invention detects the left and right displacement of the vehicle body from the driving route,
The present invention relates to a travel control device for an automatic guided vehicle, a mobile robot, etc. that travels by controlling the steering angle of a steering wheel relative to a vehicle body.
（従来技術とその問題点）
車体に備えた操舵輪の操舵角を制御して操舵を行なう無
人搬送車では、その走行制御装置としては、簡単なもの
では車体の進行方向前部に走行経路からの左右への変位
を検出する検出器を備え、この検出器の出力により操舵
角を制御するものがある。また走行経路への追従性を向
上させるために進行方向前部および後部にそれぞれ検出
器を備えることにより、左右への位置変位のみならず、
前後の位置変位の差と前後の検出器間の距離とから方向
変位角をも計算し操舵を行なうもΩがある。(Prior art and its problems) In an automated guided vehicle that performs steering by controlling the steering angle of steering wheels provided on the vehicle body, a simple travel control device is equipped with a device located at the front of the vehicle body in the direction of travel from the travel path. Some vehicles are equipped with a detector that detects the left and right displacement of the steering wheel, and the steering angle is controlled by the output of this detector. In addition, in order to improve the ability to follow the driving route, by installing detectors at the front and rear in the direction of travel, it is possible to detect not only positional displacement to the left and right, but also to
There is also a method that calculates the directional displacement angle from the difference in positional displacement between the front and rear and the distance between the front and rear detectors and performs steering.
しかしながら方向変位角の計算忙は三角関数の演算が必
要であり、走行制御装置、が複雑になり、方向変位角の
演算に時間がかかるという欠点があった。However, the calculation of the directional displacement angle requires calculation of trigonometric functions, which complicates the travel control device and has the drawback that it takes time to calculate the directional displacement angle.
また方向変位をも検出するために検出器をさらに追加し
て備えた走行制御装置が知られている。Further, there is known a travel control device that is further equipped with a detector to detect directional displacement as well.
例えば特公昭５９−７９６４の搬舵制御装置では車体の
進行方向前部に左右１対の検出器を２組設け、そのうち
１対を走行路面および車体中心線に対し斜めに設置し、
車体の右側、左側各々の検出器について出力電圧の比を
用いて位置変位と方向変位角とが結合された操舵信号を
得ている。しかしこの操舵制御装置では、方向変位角を
検出するために新之に検出器を設ける必要がある、方向
変位角に対する操舵量と位置変位に対する操舵量との割
合社検出器の取付高さおよび走行路面、車体中心線に対
する傾斜角度によって定まってしまうため制約があり、
調整が難しいなどの欠点があった。For example, in the steering control device of Japanese Patent Publication No. 59-7964, two pairs of left and right detectors are installed at the front of the car body in the direction of travel, one pair of which is installed diagonally with respect to the road surface and the center line of the car body.
A steering signal in which a positional displacement and a directional displacement angle are combined is obtained by using the ratio of output voltages for each of the right and left side detectors of the vehicle body. However, in this steering control device, it is necessary to install a detector in order to detect the directional displacement angle. There are restrictions because it is determined by the road surface and the angle of inclination to the vehicle center line.
It had drawbacks such as difficulty in adjustment.
ま、た段階的な変位出力しか得られなψ検出器では上記
の出力電圧の比が正しく求められず、適用出来ないとい
う欠点があった。Furthermore, a ψ detector that can only provide a stepwise displacement output has the disadvantage that the ratio of the output voltages described above cannot be determined correctly and cannot be applied.
（発明の目的）
本発明の目的は上記のような問題点を解決し、簡単な検
出器および制御回路で車体の位置変位および方向変位を
修正することが可能で、段階的な出力しか得られない位
置変位検出器でも適用可能な無人搬送車の走行制御装置
を提供することにある。(Objective of the Invention) The object of the present invention is to solve the above-mentioned problems, to correct the positional displacement and directional displacement of the vehicle body with a simple detector and control circuit, and to obtain only stepwise output. An object of the present invention is to provide a travel control device for an automatic guided vehicle that can be applied even when a position displacement detector is not used.
（発明の構成）
本発明によれば、走行経路からの左右への位置変位を検
出する検出器を備え、前記検出器の出力信号により操舵
輪の操舵角を制御して走行する無人搬送車において、車
体の進行方向前部および後部にそれぞれ走行経路からの
左右への位置変位を検出する第１および第２の検出器を
備えるとともに、進行方向前部の前記第１の検出器の出
力と、進行方向後部の前記第２の検出器の出力との差を
計算する減算回路と、前記減算回路の出力を定められた
係数倍に増幅する増幅回路と、上記第１の検出器の出力
と前記増幅回路の出力との和を計算し、操舵角信号とし
て出力する加算回路とを備え、前記操舵角信号により操
舵輪の操舵角を制御して走行することを特徴とする無人
搬送車の走行制御装置が得られる。(Structure of the Invention) According to the present invention, in an automatic guided vehicle that is provided with a detector that detects a positional displacement to the left and right from a travel route, and that travels by controlling the steering angle of a steered wheel based on an output signal of the detector. , first and second detectors for detecting positional displacement to the left and right from the traveling route are provided at the front and rear parts of the vehicle body in the traveling direction, respectively, and the output of the first detector at the front part in the traveling direction; a subtraction circuit that calculates the difference between the output of the second detector at the rear in the traveling direction; an amplifier circuit that amplifies the output of the subtraction circuit by a predetermined coefficient; A driving control for an automatic guided vehicle, comprising: an adding circuit that calculates the sum of the output of the amplifier circuit and outputs the sum as a steering angle signal, and travels while controlling the steering angle of a steered wheel using the steering angle signal. A device is obtained.
（構成の詳細な説明）
本発明では、通常車体の前進時用および後進時用として
車体の前部および後部にそれぞれ設けられている左右へ
の位置変位検出器を、前進（および後進）時に同時に使
用し、前部の位置変位検出器の出力から走行経路に対す
る車体前部の左右方向への位置変位を検出し、また前後
の位置変位検出器の出力の差から走行経路に対する車体
の方向変位に対応する出力を得ている。そしてこれらの
位置変位出力および方向変位に対応する出力とから、車
体の走行位置が走行経路に沿うように車体を回転させる
ための操舵角信号を得て、操舵輪の操舵を行なう。(Detailed explanation of the configuration) In the present invention, the left and right position displacement detectors, which are normally provided at the front and rear parts of the vehicle body for forward movement and for reverse movement, are simultaneously installed when moving forward (and backward). It uses the output of the front position displacement detector to detect the positional displacement of the front part of the vehicle in the left-right direction with respect to the driving route, and also detects the directional displacement of the vehicle body with respect to the driving route from the difference between the outputs of the front and rear positional displacement detectors. I am getting the corresponding output. From these positional displacement outputs and outputs corresponding to directional displacements, a steering angle signal for rotating the vehicle body so that the traveling position of the vehicle body follows the traveling route is obtained, and the steered wheels are steered.
すなわち、車体の進行方向前部の位置変位検出器の出力
をＳ２、進行方向後部の位置変位検出器の出力を８．と
すると、車体前部の位置変位Ｓ、を車体の位置変位を修
正するための操舵量とする。That is, the output of the position displacement detector at the front of the vehicle body in the direction of travel is S2, and the output of the position displacement detector at the rear of the vehicle body in the direction of travel is 8. Then, let the positional displacement S of the front part of the vehicle body be the steering amount for correcting the positional displacement of the vehicle body.
また車体の方向変位が増加すると前後の検出器出力の差
が増加するため、減算回路によりその差Ｂｙ ａｍを
求め、その値に一定の係数Ａを掛けた値Ａ（ａｔ−ａｍ
）を増幅回路により求めて車体の方向変位に対応する操
舵量とする。車体の走行位置を修正するための操舵角信
号Ｖｃは、これらの操舵量の和、すなわち
Ｖｃ ＝ ＳＦ ＋ Ａ （１９ｒ Ｓｍ ）
（１）として加算回路により求められる。係
数Ａの値は、径などにより最適な値が求められる。Furthermore, as the directional displacement of the vehicle body increases, the difference between the front and rear detector outputs increases, so the difference By am is obtained by a subtraction circuit, and the value A (at-am
) is determined by an amplifier circuit and used as the steering amount corresponding to the directional displacement of the vehicle body. The steering angle signal Vc for correcting the running position of the vehicle body is the sum of these steering amounts, that is, Vc = SF + A (19r Sm)
(1) is obtained by an adder circuit. The optimum value of the coefficient A is determined based on the diameter and the like.
（実施例） 以下、本発明の実施例について図面により説明する。(Example) Embodiments of the present invention will be described below with reference to the drawings.
第１図は本発明の一実施例を示すプロ、り図、第２図は
本発明の走行制御装置を適用した無人搬送車の一例を示
す説明図である。第２図の無人搬送車社車体１に駆動輪
３ａｓ ３ｂＮおよび操舵輪４をもつ三輪車である。駆
動輪３ａ、３ｂを図示しないモータで駆動して走行し、
操舵輪４で操舵を行なう。車体１の進行方向前部に、規
定の走行経路１８からの車体前部の位置変位ｙ１を検出
して位置変位信号Ｓ、を出力する検出器２ａを備え、ま
た車体１／の進行方向後部には走行経路１８からの車体
後部の位置変位ｙｌＩを検出して位置変位信号Ｓ、を出
力する検出器２ｂを備えている。検出器２ ａ ｓ２ｂ
の出力Ｓ２、Ｓｌは、第１図に示すように減算回路２０
に入力されてその差Ｂｙ Ｓｍが求められ、さらに増
幅回路２１により係数Ａか乗ぜられＡ（８ｔ−８，）が
求められる。そして検出器２ａの出力Ｓ。FIG. 1 is a schematic diagram showing an embodiment of the present invention, and FIG. 2 is an explanatory diagram showing an example of an automatic guided vehicle to which the travel control device of the present invention is applied. This is a tricycle having an automatic guided vehicle body 1 shown in FIG. 2, drive wheels 3as, 3bN, and a steering wheel 4. Drive wheels 3a and 3b are driven by motors (not shown) to run,
Steering is performed using steering wheels 4. A detector 2a is provided at the front of the vehicle body 1 in the direction of travel, and a detector 2a is provided at the rear of the vehicle body 1 in the direction of travel. is equipped with a detector 2b that detects a positional displacement ylI of the rear part of the vehicle body from the traveling route 18 and outputs a positional displacement signal S. Detector 2 a s2b
The outputs S2 and Sl of are sent to the subtraction circuit 20 as shown in FIG.
is inputted to obtain the difference By Sm, and is further multiplied by a coefficient A by the amplifier circuit 21 to obtain A(8t-8,). and the output S of the detector 2a.
と、増幅回路２１の出力Ａ（ａｙ−８１）が加算回路２
２によって加えられて（１）式に示した操舵角信号（ｖ
ｃ）７＃得られる。操舵角信号（Ｖａ ） ７は操舵モ
ータ９の駆動回路８に入力され、操舵輪の操舵角が制御
される。駆動回路８以降は従来の走行制御装置と同様で
ある。駆動回路８としては位置サーボ回路等が用いられ
るが、実際の操舵角ヂを駆動回路８にフィードパ、りす
る部分は第１図および以降の第５図では図示を省略して
いる。and the output A (ay-81) of the amplifier circuit 21 is added to the adder circuit 2.
The steering angle signal (v
c) 7# obtained. The steering angle signal (Va) 7 is input to the drive circuit 8 of the steering motor 9, and the steering angle of the steered wheels is controlled. The drive circuit 8 and subsequent parts are the same as those of the conventional travel control device. A position servo circuit or the like is used as the drive circuit 8, but the portion that feeds the actual steering angle to the drive circuit 8 is omitted from illustration in FIG. 1 and subsequent FIGS.
車体ＩＩが走行経路１８に対して第２図忙示すような位
置変位ｙ？、ｙｍ（ｙｒ＞３’ｍ＞０）をもつときに検
出器２ａ、２ｂの出力Ｓ２、Ｓｓが正として得られると
するとｓｒ ） ａｍ ） Ｏとなるため、第１図の検
出器２ａの出力Ｓ、は正となり、増幅回路２１の増幅率
Ａが正のとき増幅回路２１の出力Ａ（ＳＦ ８ｍ ）
も正となる。よって加算細路２２の出力として得られる
（１）式の操舵角信号Ｖｅは正となる。このとき第２図
において、車体１の位置変位ｙ２、ｙ、および方向変位
０を修正するためには図中操舵角ゲで示した方向に操舵
を行なう必要があるため、操舵角信号Ｖｃは図中の操舵
角ｙで示した方向を正と考えれはよいことになる。Is the positional displacement y of the vehicle body II relative to the traveling route 18 as shown in FIG. 2? , ym (yr>3'm>0), and if the outputs S2 and Ss of the detectors 2a and 2b are obtained as positive, then sr ) am ) O, so the output of the detector 2a in FIG. S becomes positive, and when the amplification factor A of the amplifier circuit 21 is positive, the output A of the amplifier circuit 21 (SF 8m )
is also true. Therefore, the steering angle signal Ve of equation (1) obtained as the output of the adding path 22 is positive. At this time, in FIG. 2, in order to correct the positional displacement y2, y and directional displacement 0 of the vehicle body 1, it is necessary to perform steering in the direction indicated by the steering angle in the figure. It is a good idea to consider the direction indicated by the middle steering angle y to be positive.
なお、増幅回路２１として増幅率Ａか負となるものを使
用するときには、減算回路２０の正負入力を入れ換えて
Ｓｓ Ｂｙを求めて増幅回路２１に入力すればよいこ
とは明ら必である。Note that when using an amplification circuit 21 with an amplification factor A or a negative one, it is clear that the positive and negative inputs of the subtraction circuit 20 should be switched to obtain Ss By and input it to the amplification circuit 21.
本発明に使用する位置変位の検出器２ａ％ ２ｂとして
は、第３図に示すように位置変位７ｙ 、Ｖａに比例し
た直線的な位置変位信号ａｙ、８ｍが得られる検出器の
ほか、第４図に示すように位置変位ｙν、’／ｍに対し
段階的な位置変位信号Ｓ２、Ｓ、が得られる検出器を用
いてもよい。第４図のような検出器を用いた場合、車体
ＩＩの位置変位ｙ２、ｙ３、および方向変位θに対応す
る操舵角信号Ｖｃが段階的に変化することになるが、操
舵角信号Ｖｃによりこれらが修正される方向に正しく操
舵される。また、方向変位に対応する操舵量は増幅回路
２１の増幅率Ａの調整により容易に調節可能である。従
って本発明では、検出器２ａ、２ｂとして例えば誘導線
の発生する磁界を検出する方式、床面の反射テープから
の反射光を一列に設置したセンサで検出する方式、磁気
標識体をセンサで検出する方式など多種の方式の検出器
が使用可能である。As the positional displacement detectors 2a% and 2b used in the present invention, as shown in FIG. As shown in the figure, a detector that can obtain stepwise positional displacement signals S2, S with respect to positional displacement yν,'/m may be used. When a detector like the one shown in FIG. 4 is used, the steering angle signal Vc corresponding to the positional displacements y2, y3 and directional displacement θ of the vehicle body II will change in stages, but these changes can be made by the steering angle signal Vc. is correctly steered in the direction in which it is corrected. Furthermore, the amount of steering corresponding to the directional displacement can be easily adjusted by adjusting the amplification factor A of the amplifier circuit 21. Therefore, in the present invention, as the detectors 2a and 2b, for example, a method of detecting a magnetic field generated by a guide wire, a method of detecting reflected light from a reflective tape on the floor with a sensor installed in a row, a method of detecting a magnetic label with a sensor, etc. Various types of detectors can be used, such as a type that uses
なお、第１図の実施例においては検出器２ａの走行経路
１８への収れん性によっては、例えば第５図のように増
幅率Ｂの増幅回路２３により増幅して加算回路２２に入
力してもよい。この場合（１）式の操舵角信号７０社
Ｖｃ ＝ Ｂ−８，＋Ａ （８Ｆ ８１ ）
（１）’となる。また第６図に主要部を示すように
加算回路２２の出力側に増幅率Ｃの増幅回路２４を挿入
して操舵角信号Ｖｃを
Ｖｃ ＝ ０ （ａｔ ＋ Ａ （ＳＦ Ｓｍ ）
） （１）”としてもよい。In the embodiment shown in FIG. 1, depending on the convergence of the detector 2a to the travel path 18, the signal may be amplified by an amplification circuit 23 with an amplification factor of B and input to the addition circuit 22 as shown in FIG. good. In this case, the steering angle signal of formula (1) 70 companies Vc = B-8, +A (8F 81)
(1)'. Further, as shown in FIG. 6, an amplifier circuit 24 with an amplification factor of C is inserted on the output side of the adder circuit 22 to convert the steering angle signal Vc to Vc = 0 (at + A (SF Sm)
) (1)".
また、第２図の実施例では駆動輪が２輪、操舵輪が１輪
の三輪車について示したが、車輪構成幼木実施例に限定
されるものではない。本発明社操舵輪をもつ他の車輪構
成の無人搬送車や移動ロボ、ト、例えば前２輪で操舵を
行なう四輪車、車体の前後方向中央部に駆動輪を２輪も
ち、前後に操舵輪を１輪ずつもつ菱形四輪車などにも適
用可能である。さらに操舵輪が駆動輪も兼ねる形式であ
っても適用可能である。Further, although the embodiment of FIG. 2 shows a tricycle having two driving wheels and one steering wheel, the wheel configuration is not limited to the young tree embodiment. Automated guided vehicles and mobile robots with other wheel configurations that have steering wheels, such as four-wheeled vehicles that are steered by the front two wheels, have two driving wheels in the center of the vehicle body in the longitudinal direction, and are steered forward and backward. It can also be applied to diamond-shaped four-wheeled vehicles that have one wheel each. Furthermore, the present invention is applicable even if the steering wheels also serve as driving wheels.
（発明の効果）
本発明によれば車体の進行方行前部の位置変位Ｕ
により車体の位置変位を、また前部と後
部の位置変位の差により車体の方向変位を、それぞれ修
正するようにしたので、車体の走行速度の影響を受けず
に方向変位を修正することが可能となる。特に走行速度
が低い時、例えぐ発進時などでも、方向変位に対応する
修正操舵が可能となる。また車体の方向変位角度を求め
る必要がないため、方向変位角計算に必要な三角関数の
演算あるいは新たな検出器の追加が不要であり、走行制
御装置が加算回路、減算回路、および増幅回路のみで構
成でき、簡単な回路で実現可能となる。さらに本発明で
は位置変位に対して直線的な出力の得られる検出器、段
階的な出力が得られる検出器いずれでも使用可能であり
、位置変位の検出方法、および検出器に対する制限が緩
和されるとともに方向変位に対応する操舵量の調整が容
易であり、多種の方式の検出器に対して適用可能である
という効果を有する。(Effect of the invention) According to the invention, the positional displacement U of the front part of the vehicle body in the direction of travel
Since the positional displacement of the vehicle body is corrected by the difference in the positional displacement of the front and rear parts, and the directional displacement of the vehicle body is corrected by the difference between the positional displacements of the front and rear parts, it is possible to correct the directional displacement without being affected by the running speed of the vehicle body. becomes. Particularly when the vehicle is traveling at low speed, such as when starting, it is possible to perform corrective steering in response to directional displacement. In addition, since there is no need to calculate the directional displacement angle of the vehicle body, there is no need to calculate trigonometric functions or add a new detector necessary for calculating the directional displacement angle, and the driving control device only consists of an addition circuit, a subtraction circuit, and an amplification circuit. It can be configured with a simple circuit. Furthermore, the present invention can be used with either a detector that provides a linear output with respect to positional displacement or a detector that provides stepwise output, which eases restrictions on the method of detecting positional displacement and the detector. In addition, the steering amount corresponding to the directional displacement can be easily adjusted, and the present invention has the advantage that it can be applied to various types of detectors.
第１図は本発明の一実施例を示すプロ、り図、第２図は
本発明の一実施例を採用した無人搬送車を示す説明図、
第３図および第４図は位置変位量と検出器出力の関係を
示す関係図、第５図および第６図はそれぞれ本発明の他
の実施例を示すプロ、り図である。
図において、２ａｓ ２ｂ・・・検出器、３ａ−，３ｂ
・・・駆動輪、４・・・操舵輪、８・・・駆動回路、９
・・・操舵モータ、１８・・・走行経路、２２・・・加
算回路、２０・・・減算回路、２１．２３．２４・・・
増幅回路。
第１図
第２図
検出器 駆動輪
第３図 第４図
１−５ 図
第６図
減算回路FIG. 1 is a professional diagram showing an embodiment of the present invention, and FIG. 2 is an explanatory diagram showing an automatic guided vehicle adopting an embodiment of the present invention.
3 and 4 are relationship diagrams showing the relationship between the amount of positional displacement and the detector output, and FIGS. 5 and 6 are diagrams showing other embodiments of the present invention, respectively. In the figure, 2as 2b...detector, 3a-, 3b
... Drive wheel, 4... Steering wheel, 8... Drive circuit, 9
... Steering motor, 18... Travel route, 22... Addition circuit, 20... Subtraction circuit, 21.23.24...
Amplification circuit. Figure 1 Figure 2 Detector Drive wheel Figure 3 Figure 4 1-5 Figure 6 Subtraction circuit
Claims (1)
検出器および車体の操舵を行なう操舵輪を備え、前記検
出器の出力信号により前記操舵輪の操舵角を制御して操
舵を行ない走行する無人搬送車において、車体の進行方
向前部および後部にそれぞれ走行経路からの左右への位
置変位を検出する第１および第２の検出器を備えるとと
もに、進行方向前部の前記第１の検出器の出力と、進行
方向後部の前記第２の検出器の出力との差を計算する減
算回路と、前記減算回路の出力を定められた係数倍に増
幅する増幅回路と、上記第１の検出器の出力と前記増幅
回路の出力との和を計算し、操舵輪の操舵角信号として
出力する加算回路とを備え、前記操舵角信号により上記
操舵輪の操舵角を制御して走行することを特徴とする無
人搬送車の走行制御装置。The vehicle is equipped with a detector that detects a positional displacement to the left or right from a prescribed travel route and a steering wheel that steers the vehicle body, and the vehicle travels by controlling the steering angle of the steering wheel based on the output signal of the detector. The automatic guided vehicle includes first and second detectors for detecting positional displacement to the left and right from the travel route at the front and rear parts of the vehicle body in the traveling direction, respectively, and the first detector at the front part in the traveling direction. and an output of the second detector at the rear in the direction of travel; an amplifier circuit that amplifies the output of the subtraction circuit by a predetermined factor; and the first detector. and an addition circuit that calculates the sum of the output of the amplifier circuit and the output of the amplifier circuit and outputs the sum as a steering angle signal of the steered wheels, and the vehicle runs while controlling the steering angle of the steered wheels using the steering angle signal. Travel control device for automated guided vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60062437A JPS61221804A (en) | 1985-03-27 | 1985-03-27 | Drive controller for unmanned carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60062437A JPS61221804A (en) | 1985-03-27 | 1985-03-27 | Drive controller for unmanned carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61221804A true JPS61221804A (en) | 1986-10-02 |
Family
ID=13200167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60062437A Pending JPS61221804A (en) | 1985-03-27 | 1985-03-27 | Drive controller for unmanned carrier |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61221804A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63153605A (en) * | 1986-12-17 | 1988-06-27 | Kubota Ltd | Steering controller for automatic traveling working vehicle |
| JPH0358104A (en) * | 1989-07-27 | 1991-03-13 | Mitsubishi Electric Corp | Automatic control running device for vehicle |
-
1985
- 1985-03-27 JP JP60062437A patent/JPS61221804A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63153605A (en) * | 1986-12-17 | 1988-06-27 | Kubota Ltd | Steering controller for automatic traveling working vehicle |
| JPH0358104A (en) * | 1989-07-27 | 1991-03-13 | Mitsubishi Electric Corp | Automatic control running device for vehicle |
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