Method and device for steering vehicle having no contact with track
First Claim
1. A vehicle guided along a running route without contact with a guide rail, comprising:
- wheels;
a cart supported by said wheels;
a vehicle main body supported by said cart; and
a steering control system which comprises a control section and a drive section, andwherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle,said control section comprises;
an optimization calculating section configured to convert said provisional target steering angle to a target control steering angle by adding a correction steering angle based on a steering angle prediction correction to minimize vibration of said vehicle resulting from a steering of said vehicle, andsaid drive section mechanically steers said cart based on said target control steering angle.
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0 Petitions
Reexamination
Accused Products
Abstract
A rail non-contact vehicle includes wheels, a vehicle main body supported by the wheels, and a steering control system. The steering control system includes a control section configured to control a steering of the wheels in a non-mechanical manner, and a drive section configured to mechanically drive the steering of the wheels. The control section includes a first detector configured to detect 1-dimensional coordinate data of a target route, a steering angle holding section configured to hold a target steering angle corresponding to the 1-dimensional coordinate data, a second detector configured to detect a current deviation between the target route and a current position of the vehicle main body, and a control steering angle calculating section configured to generate a control steering angle corresponding to the current deviation and the target steering angle.
10 Citations
30 Claims
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1. A vehicle guided along a running route without contact with a guide rail, comprising:
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wheels; a cart supported by said wheels; a vehicle main body supported by said cart; and a steering control system which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, said control section comprises; an optimization calculating section configured to convert said provisional target steering angle to a target control steering angle by adding a correction steering angle based on a steering angle prediction correction to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A vehicle guided along a running route without contact with a guide rail, comprising:
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wheels; a cart supported by said wheels; and a steering apparatus which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, and optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle, said drive section comprises; a motor; a screw axis connected with an output axis of said motor; bearings configured to support said screw axis; a nut screwed with said screw axis; a first support configured to support said nut; a second support configured to support said bearings; and a link mechanism configured to steer said wheels, and either of said first support and said second support constitutes a fixation side support fixed to said cart, and either of said first support and said second support constitutes a movable side support connected with said link mechanism. - View Dependent Claims (20, 21, 22, 23, 24)
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25. A vehicle guided along a running route without contact with a guide rail, comprising:
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wheels; a cart supported by said wheels, and a steering unit which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, and optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle, said drive section comprises; a motor; a movable body connected with an output axis of said motor; a safety bar provided with safe rings, and a link mechanism configured to steer said wheels, said link mechanism is connected with said safety bar and said movable body, and said safety bar is movably supported to said cart, and said motor is fixedly supported by said cart. - View Dependent Claims (26)
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27. A vehicle guided along a running route without contact with a guide rail, comprising:
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wheels; a cart supported by said wheels; and a steering unit which comprises a control section and a drive section, and wherein said control section generates a provisional steering angle based on a current target deviation from a running route at a current position of said vehicle, a current actual deviation from said running route at said current position of said vehicle, and a current target steering angle at said current position of said vehicle, and optimize said provisional target steering angle to a control steering angle to minimize vibration of said vehicle resulting from a steering of said vehicle, and said drive section mechanically steers said cart based on said target control steering angle, said drive section comprises; a motor; a screw axis connected with an output axis of said motor;
bearings configured to support said screw axis;a nut screwed in said screw axis; a link mechanism configured to steer said wheels; and a safety bar provided with safe rings, said safety bar, said motor, and said bearings are fixedly supported by said cart, and said nut is connected with said link mechanism. - View Dependent Claims (28)
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29. A method of steering a vehicle guided along a running route without contact with a guide rail, comprising:
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setting of a 1-dimensional coordinate data of a target route, the 1-dimensional coordinate data comprising a sequence of position data of the target route; setting of a target steering angle corresponding only to said 1-dimensional coordinate data [Xj], detecting a current deviation between said target routes and a current position of a vehicle main body; generating a control steering angle corresponding to said current deviation and said target steering angle; and turning orientation of wheels to an angle position corresponding to said control steering angle, and wherein said current deviation is defined as a distance of said current position in a direction orthogonal to said target route. - View Dependent Claims (30)
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Specification