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Steering control system for remote controlled transportation units

  • US 4,078,630 A
  • Filed: 12/07/1976
  • Issued: 03/14/1978
  • Est. Priority Date: 12/09/1975
  • Status: Expired due to Term
First Claim
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1. An improved steering control system for a remote controlled transport unit for moving said unit along a pair of fixed guide lines, comprising:

  • two drive wheel means for moving said unit, one of said two drive wheel means having a first control angle associated therewith, the other of said two drive wheel means having a second control angle associated therewith, said control angles corresponding to the angular direction of travel of their associated drive wheel means with respect to a common longitudinal axis fixed relative to said transport unit;

    means for controlling the direction of travel of said two drive wheel means, whereby the direction of travel of one of said drive wheel means will be along one of said pair of guide lines and the direction of travel of said other of said drive wheel means will be along said other of said pair of guide lines; and

    means for controlling the drive speed of said one drive wheel means relative to the drive speed of said other drive wheel means in accordance with the equation
    
    
    space="preserve" listing-type="equation">v.sub.A = v.sub.B ·

    (cos β

    /cos α

    )in which α

    is the control angle of said one of said drive wheel means, β

    is the control angle of said other of said drive wheel means, vA is the drive speed of said one of said drive wheel means, and vB is the drive speed of said other of said drive wheel means.

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