Control method for attitude of unattended running car

Abstract

Abstract PURPOSE:To make inductive materials of a running path unnecessary and to cope flexibly with the change of a running route or the set position of a target object, by controlling the attitude of an unattended running car for the reflector of the target object. CONSTITUTION:Outpus of encoders 4L and 4R provided for driving wheels 3L and 3R and the distance to an initial inductive position Poa are operated to position a running car 1. If the direction of the running car 1 is deviatd, a gyrocompass detects it, and a correction angle is supplied from an operation controlling part 6 to motors 2L and 2R. The running car is turned to a position Po by the operation based on a set angle and the output of the compass. If the turn stop attitude is deviated, a fix point turn scanning command S is outputted from the controlling part 6. The command S is applied to motors 2L and 2R through motor driving parts 7L and 7R. Fix point turning is continued until a peak detection signal P is received from a detecting part 11 by the controlling part 6. In case of overturning, it is corrected by a correction command Sf of the controlling part 6.

Inventors

• 👤 Fumihide Sato
• 👤 Hisashi Kato
• 👤 Hirokazu Taki
• 👤 Kunio Fujiwara

Bibliographic Details