JPS63154459A - Unmanned car - Google Patents
Unmanned carInfo
- Publication number
- JPS63154459A JPS63154459A JP61299914A JP29991486A JPS63154459A JP S63154459 A JPS63154459 A JP S63154459A JP 61299914 A JP61299914 A JP 61299914A JP 29991486 A JP29991486 A JP 29991486A JP S63154459 A JPS63154459 A JP S63154459A
- Authority
- JP
- Japan
- Prior art keywords
- unmanned vehicle
- steering
- steering wheel
- lateral displacement
- wheel
- 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
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000005674 electromagnetic induction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Steering Controls (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は誘導経路検出器の配置構造を改良しｆｃ無人車
に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an FC unmanned vehicle with an improved arrangement structure of a guidance route detector.
無人車１は第５図に示す工うに誘導経路２の検出センサ
ーとして進行方向イに対して一対のセンサーＧ、Ｈ１進
行方向口に対して一対のセンサー１．Ｊを有している。The unmanned vehicle 1 has a pair of sensors G for the traveling direction A and a pair of sensors 1 for the traveling direction H1 as detection sensors for the guidance route 2 shown in FIG. It has J.
しかし、操舵指令に必要な無人車１の姿勢角Δθが十分
に検出できないため特に操舵＠３を後にして移動する時
すなわち進行方向口へ移動する時に無人車１は蛇行して
移動する。However, since the attitude angle Δθ of the unmanned vehicle 1 required for the steering command cannot be detected sufficiently, the unmanned vehicle 1 moves in a meandering manner, especially when moving after steering @3, that is, when moving toward the exit in the direction of travel.
本発明は上記の事情に鑑みなされたものでその目的とす
るところは無人車を蛇行嘔せることなく誘導経路に沿っ
て移動させることにある。The present invention has been made in view of the above circumstances, and its purpose is to move an unmanned vehicle along a guide route without meandering.
〔問題点を解決する次めの手段及び作用〕上記の目的に
達成するために、左右の嘔＠輪と従動輪を兼ねる操舵輪
を備えた台車本体に、操舵輪とは反対側に位置させて誘
導経路からの横変位２ケ所を検出する検出器を設け、台
車本体に操舵輪側に位置てぜて誘導経路からの横変位１
ケ所を検出する検出器を設げ７ｔｆｌｌ成にしである。[Next means and action to solve the problem] In order to achieve the above purpose, a trolley body equipped with a steering wheel that also serves as left and right wheels and a driven wheel is placed on the opposite side of the steering wheel. A detector is installed on the bogie body to detect lateral displacement from the guidance route at two locations, and one located on the steering wheel side detects the lateral displacement from the guidance route.
A detector was installed to detect these locations, and the total size was 7tfl.
そして、無人車が操舵＠を後にして移動する時、操舵輪
との反対側に位置する検出器にＬり姿勢角度を検出し制
御手段を介して操舵輪の旋回訓ｎｔ行い無人車を蛇行さ
せることなく誘導経路に沿って移動させる。When the unmanned vehicle leaves behind the steering wheel and moves, the L attitude angle is detected by a detector located on the opposite side of the steering wheel, and the steering wheel is trained to turn via the control means, causing the unmanned vehicle to meander. The robot moves along the guided route without causing any movement.
以下、本発明′ｔ−第１図乃至第４図に基づいて説明す
る。第１図中１０は無人車の台車本体であり、台車本体
１０には、駆動機構！１と操舵機構！２とが設けである
。Hereinafter, the present invention will be explained based on FIGS. 1 to 4. 10 in FIG. 1 is the main body of the unmanned vehicle, and the main body 10 of the unmanned vehicle includes a drive mechanism! 1 and the steering mechanism! 2 is provided.
駆動機構１１は走行モータ１３とトランスファギヤ機構
１４とデファレンシャルギヤ機構１５と左右の駆動輪１
６．＋７とより成る。The drive mechanism 11 includes a travel motor 13, a transfer gear mechanism 14, a differential gear mechanism 15, and left and right drive wheels 1.
6. Consists of +7.
操舵機構１２は操舵用モータ１８とスプロケット・チェ
ーン機構１９と操舵輪２０と工す成る。The steering mechanism 12 includes a steering motor 18, a sprocket chain mechanism 19, and a steering wheel 20.
筐た台車本体１０にはバッテリ２１とノくワーアンプ２
２と操舵信号処理アンプ２３とノくワーアンプ２４と制
御ｆｅ置２５とが設けてあり、台車本体１０の一端側に
は左右に検出器である電磁誘導コイルＡ、Ｂ、Ｃ，Ｄが
、また他端側には検出器である電磁誘導コイルＥ、Ｆが
それぞれ設けである。The chassis body 10 includes a battery 21 and a power amplifier 2.
2, a steering signal processing amplifier 23, a power amplifier 24, and a control FE device 25. At one end of the bogie body 10, there are electromagnetic induction coils A, B, C, and D as detectors on the left and right sides. Electromagnetic induction coils E and F serving as detectors are provided at the other end.
ま次図面中２６は誘導経路であり、この誘導経路２６１
”！無人車を誘導する手段として、高周波電流を流した
誘導線２７を路面２８に設けた溝２９に埋設し次もので
ある。26 in the drawing is a guide route, and this guide route 261
``!As a means of guiding the unmanned vehicle, a guide wire 27 carrying a high-frequency current is buried in a groove 29 provided in the road surface 28.
次に作動を説明する。Next, the operation will be explained.
無人車は運行プログラムを記憶した無人車制御袋［２５
の指令にエリエネルギー供給源であるバッテリー２１工
りパワーアンプ２２を介し走行モータ１３に電気エネル
ギーを与え機械エネルギーとしてトランスファギヤ機構
１４、デファレンシャルギヤ機構１５ｆｔ介して駆動輪
１６゜１７ｔ−回転させ、操舵輪２０を補助として進行
４１１口１へ移動する。The unmanned vehicle has an unmanned vehicle control bag that stores the operation program [25
In response to the command, electric energy is supplied to the driving motor 13 through a battery 21 and a power amplifier 22, which is an energy supply source, and as mechanical energy, the driving wheel is rotated 16 degrees 17 degrees through a transfer gear mechanism 14 and a differential gear mechanism 15 feet, and steering is performed. Move to exit 1 in progress 411 using wheel 20 as assistance.
今、無人車が進行万同イ１に移動し、横変位Δｙ及び姿
勢角Δθを生じた場合、電磁コイルＡ 、 Ｂ。Now, if the unmanned vehicle moves in the same direction as 1 and generates a lateral displacement Δy and an attitude angle Δθ, the electromagnetic coils A and B.
Ｃ，Ｄに信号Ａａ、Ｂｇ、Ｃｇ、Ｄ−が発生し、操舵信
号処理アンプ２３により加減算処理がなされ無人車１０
の横変位Δｙ及び姿勢角Δθを修正するための操舵指令
Ｅｘとして出力される。Signals Aa, Bg, Cg, and D- are generated at C and D, and addition and subtraction processing is performed by the steering signal processing amplifier 23 and the unmanned vehicle 10
is output as a steering command Ex for correcting the lateral displacement Δy and attitude angle Δθ.
この操舵指令Ｅｚｆｌバッテリ２１をエネルギー源とし
てパワーア／プ２２ｔ−介して操舵用モータ１８に電気
エネルギーを与え機械エネルギーとして操舵用モータ１
ｇの出力軸に連結されなスプロケット３０を回転させチ
ェーン３１を介してスプロケット３２′ｔ−回転しこの
スプロケット３２の固定＠３３を介して従動輪を兼ねる
操舵輪２０を回転きせる。This steering command Ezfl battery 21 is used as an energy source to supply electrical energy to the steering motor 18 via the power amplifier 22t and as mechanical energy to the steering motor 1.
The sprocket 30 not connected to the output shaft of g is rotated, the sprocket 32't- is rotated via the chain 31, and the steering wheel 20, which also serves as a driven wheel, is rotated via the fixation @33 of the sprocket 32.
この時の操舵輪２０の回転角度ΔＩは操舵指令ＥｚｖＣ
見合った位置で停止する。The rotation angle ΔI of the steering wheel 20 at this time is the steering command EzvC.
Stop at the appropriate position.
そのため無人車は誘導経路２．６に沿って進行方向イに
移動することができ多。Therefore, the unmanned vehicle can move in the traveling direction A along the guidance route 2.6.
また無人車が進行方向口１に移動する時は従来のＬつに
電磁誘導コイルＥ、Ｆにエリ無人車の横変位Δνを検出
し、操舵輪２０を回転側例して誘導経路２６に沿って移
動する。Furthermore, when the unmanned vehicle moves toward the exit 1 in the direction of travel, the conventional L electromagnetic induction coils E and F detect the lateral displacement Δν of the unmanned vehicle, and the steering wheel 20 is rotated to move along the guidance path 26. and move.
第４図に本発明の他の実施例を示す。この実施例では検
出器としてＣＯＤリニヤ−センサーまたはホトセンサー
Ｘ、Ｙ、Ｚが用いられ、誘導経路２６に反射テープが用
いられる。そしてＣＯＤ １７ニヤーセンサーまたはホ
トセンサーＸ。FIG. 4 shows another embodiment of the invention. In this embodiment, COD linear sensors or photosensors X, Y, and Z are used as detectors, and a reflective tape is used for the guide path 26. and COD 17 near sensor or photosensor X.
Ｙは台車本体ｌＯの操舵輪２０とは反対側に左右方向に
沿って平行に設けてメジ、他のＣＯＤリニヤ−センサー
またはホトセンサーＺは台車本体１０の操舵輪２０側に
左右方向に沿って設けである。ＣＯＤリニヤ−センサー
またはホトセンサーＸ 、 Ｙｆ：を上記した電磁誘導
コイルＡ。Y is provided parallel to the left-right direction on the side opposite to the steering wheel 20 of the bogie body 10, and the other COD linear sensor or photo sensor Z is provided along the left-right direction on the side of the steered wheel 20 of the bogie body 10. It is a provision. COD linear sensor or photo sensor X, Yf: Electromagnetic induction coil A described above.
Ｂ、Ｃ，Ｄと同じく機能し、またＣＯＤリニヤ−センサ
ーまたはホトセンサーＺＦｉ上記した電磁誘導コイルＥ
、Ｆと同じく機能するものである。It functions in the same way as B, C, and D, and can also be used as a COD linear sensor or photosensor ZFi.
, F.
以上詳述したように、本発明に係る無人車の誘導経路検
出器の配置構造は、左右の駆＠輪と従動輪を兼ねる操舵
輪を備えた台車本体に、操舵輪とは反対側に位置させて
誘導経路からの横変位２ケ所を検出する検出器を設け、
台車本体に操舵輪側に位置させて誘導経路からの横変位
１ケ所を検出する検出器を設けたことを特徴とするもの
である。As described in detail above, the arrangement structure of the guidance route detector for an unmanned vehicle according to the present invention is such that the guide route detector for an unmanned vehicle according to the present invention is arranged on a bogie body equipped with a steering wheel that also serves as left and right driving wheels and driven wheels, and a position opposite to the steering wheel. A detector is installed to detect lateral displacement from the guidance route at two locations.
This system is characterized in that a detector is provided on the main body of the truck, which is located on the steering wheel side and detects lateral displacement at one location from the guide route.
したがって、無人車が操舵輪を後にして移動する時、操
舵輪との反対側に位置する検出器により姿勢角度を検出
し制御手段を介して操舵輪の旋回制御を行い無人車を誘
導経路に沿って蛇行きせることなく移動させることがで
きる。Therefore, when the unmanned vehicle moves behind the steering wheel, the attitude angle is detected by the detector located on the opposite side of the steering wheel, and the turning control of the steering wheel is performed via the control means to guide the unmanned vehicle to the guidance path. It can be moved along the line without meandering.
第１図は本発明一実施例の構成説明図、第２図は第１図
■方向からの矢視図、＠３図は作用説明図、ｔ４４図は
本発明の他の実施例の説明図、ｗＣ５図は従来の無人車
の構成説明図である。
１０は台車本体、ＩＩｔＩ′ｉ駆動機構、１２は操舵機
構、１６．１７は駆動輪・、２０は操舵輪、Ａ、Ｆは電
磁誘導コイル、２６は誘導経路。Fig. 1 is an explanatory diagram of the configuration of one embodiment of the present invention, Fig. 2 is a view taken from the arrow direction in Fig. 1, @3 is an explanatory diagram of operation, and Fig. t44 is an explanatory diagram of another embodiment of the present invention. , wC5 is an explanatory diagram of the configuration of a conventional unmanned vehicle. 10 is the main body of the truck, IItI'i drive mechanism, 12 is a steering mechanism, 16.17 is a drive wheel, 20 is a steering wheel, A and F are electromagnetic induction coils, and 26 is a guide path.
Claims (1)
に、操舵輪とは反対側に位置させて誘導経路からの横変
位２ヶ所を検出する検出器を設け、台車本体に操舵輪側
に位置させて誘導経路からの横変位１ヶ所を検出する検
出器を設けたことを特徴とする無人車。The bogie body is equipped with a steering wheel that serves as both left and right driving wheels and driven wheels, and is equipped with a detector located on the opposite side of the steered wheels to detect lateral displacement from the guidance route. An unmanned vehicle characterized by being provided with a detector located at one point to detect lateral displacement from a guidance route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61299914A JPS63154459A (en) | 1986-12-18 | 1986-12-18 | Unmanned car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61299914A JPS63154459A (en) | 1986-12-18 | 1986-12-18 | Unmanned car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63154459A true JPS63154459A (en) | 1988-06-27 |
| JPH0583429B2 JPH0583429B2 (en) | 1993-11-26 |
Family
ID=17878452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61299914A Granted JPS63154459A (en) | 1986-12-18 | 1986-12-18 | Unmanned car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63154459A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60100808U (en) * | 1983-12-14 | 1985-07-09 | 日立機電工業株式会社 | automated guided vehicle |
| JPS61244660A (en) * | 1985-04-22 | 1986-10-30 | 株式会社ダイフク | Travelling control facility for transfer car |
-
1986
- 1986-12-18 JP JP61299914A patent/JPS63154459A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60100808U (en) * | 1983-12-14 | 1985-07-09 | 日立機電工業株式会社 | automated guided vehicle |
| JPS61244660A (en) * | 1985-04-22 | 1986-10-30 | 株式会社ダイフク | Travelling control facility for transfer car |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0583429B2 (en) | 1993-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5329449A (en) | Vehicle control system for multi-branching track | |
| JPS59177611A (en) | Unattended moving car and its steering method | |
| JPH0833112A (en) | Non-contact current collector for vehicle | |
| JPS63154459A (en) | Unmanned car | |
| CN110515374B (en) | Guide path of conveying trolley | |
| JP2759134B2 (en) | Automatic guidance method for guided vehicles | |
| EP0270415B1 (en) | Ground guidance system for an autonomous vehicle | |
| KR100198023B1 (en) | Steering angle control apparatus of a manless car | |
| JPH07210246A (en) | Steering controller for automated guided vehicle | |
| JPH05333928A (en) | Back traveling control method for unmanned carrier | |
| JP3134551B2 (en) | Travel control method for automatic guided vehicles | |
| JPS61244660A (en) | Travelling control facility for transfer car | |
| JPH08161048A (en) | Travel wheel steering angle determining method for unmanned carriage | |
| JP2779444B2 (en) | Automatic guided vehicle | |
| KR0160302B1 (en) | Control system for unmanned carrier vehicle | |
| JPH08272443A (en) | Attitude control method for unmanned carrier using front and back wheels | |
| JP3227950B2 (en) | Travel control method for automatic guided vehicles | |
| JPH0518123B2 (en) | ||
| JPH0512803Y2 (en) | ||
| JPH0587608U (en) | Automated guided vehicle | |
| JPH0749522Y2 (en) | Guidance signal detector for unmanned vehicles | |
| JPH1020934A (en) | Guide steering device for unmanned driving vehicle | |
| JP3022503B2 (en) | Transport trolley | |
| JPS63141112A (en) | Steering controller for unmanned vehicle | |
| JPS59154512A (en) | Electromagnetic type truck guiding device |