無人車の誘導システム

Guide system for unattended vehicle

Abstract

PURPOSE: To simultaneously and easily change running courses of plural attended vehicles in accordance with the change of layout of an equipment on the ground. CONSTITUTION: Master machines 10 moved on checkered fixed rail 50 formed on the surface of a ceiling in accordance with a prescribed course control program and slave machines 20 corresponding to master machines 10 respectively are provided. Each slave machine 20 includes a position sensor 21, which uses the two-dimensional PSD which receives the light spot of infrared rays emitted perpendicularly downward from the master machine 10 corresponding to its own machine, and an operation control means which calculates the direction and the extent of movement of the master machine based on the output signal from the position sensor 21 and controls a steering means and a driving means based on the calculation result to trace the master machine 10. COPYRIGHT: (C)1993,JPO&Japio
(57)【要約】 【目的】複数の無人車の走行経路を同時に且容易に、し かも地上設備のレイアウトの変更に容易に対応して経路 を変更すること。 【構成】天井面に形成された碁盤の目状の固定軌道50 を所定の経路制御プログラムに従って移動する親機10 と、この親機10に対応して各1台設けられた子機20 とを備え、当該各子機20が、自機に対応する親機10 から垂直下方に向けて発光される赤外線の光スポットを 受光する2次元PSDを用いたポジションセンサ21 と、このポジションセンサ21からの出力信号に基づき 前記親機の移動方向及び移動量を演算するとともにこの 演算結果に基づき親機10に追従するように操舵手段及 び駆動手段を制御する演算制御手段とを含んでいる。

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