Running controlling method of self-running car

Abstract

Abstract PURPOSE:To detect exactly the position of a self-running car by measuring a distance between two point positions of a reflecting plate by oscillating one of lights projected to a 90 deg. direction, to the right and left at the same necessary angle, and turning the upper turning body so that it coincides. CONSTITUTION:Reflecting plates 2, 3 of an X axis and a Y axis are installed to two sides of a right angle of a rectangular steel plate 1 which has been placed horizontally. Also, a self-running car 8 provided with light wave range finders 6, 7 for projecting and photodetecting a light in two directions of a right angle of both exes and measuring a distance between them, on the upper turning body 11 is provided on the steel plate 1. In such a case, one light wave range finder 7 is ocillated to the right and left at the same necessary angle theta, and distances Y1, Y2 between two points are measured. In this way, when detecting a flaw of the steel plate 1, said oscillating angle thetaand the period, a running speed of the self-running car 8, and inspecting lines L, M, etc. are given in advance to an instructing device, and the self-running car 8 is run. the upper turning body 11 is turned so that the distances Y1, Y2 between two points which have been measured by said range finder 7 coincide with each other, and a running driving motor is controlled through a control device so that the measured distance becomes a set value.

Inventors

• 👤 Takenori Nakanishi
• 👤 中西　武徳
• 👤 Takuo Mizutani
• 👤 水谷　拓夫

Bibliographic Details