Automatic guided vehicle control system
First Claim
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1. A vehicle control system for controlling a motor driven vehicle having right and left drive wheels arranged transversely side by side which is guided by path guide means to travel on a prearranged path established by said path guide means, said vehicle control system comprising:
- steering means installed on said motor driven vehicle for steering said motor driven vehicle with a controlled steering variable to change a travel direction of said motor drive vehicle, said steering means comprising a steering disk supported for rotation by said motor driven vehicle and wheel drive means installed on said steering disk for independently driving said right and left drive wheels;
guide monitoring means installed on said motor driven vehicle for monitoring a lateral deviation of said motor driven vehicle from said path guide means; and
control means for controlling said wheel drive means by a prescribed relationship between said controlled steering variable and said lateral deviation to drive said drive wheels at different travel speeds according to said controlled steering variable such that a speed difference between said different travel speed for a specific lateral deviation becomes smaller than an increase in said travel speed of said motor driven vehicle so as thereby to control said motor driven vehicle in travel direction.
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Abstract
A automatic guided vehicle travels on a prearranged travel path established by a path guide and detects lateral deviation of the vehicle from a path guide to control the direction of travel of the vehicle by steering the vehicle according to a prescribed relationship between steering angle and lateral deviation which is installed in the form of ruling maps in the vehicle.
75 Citations
20 Claims
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1. A vehicle control system for controlling a motor driven vehicle having right and left drive wheels arranged transversely side by side which is guided by path guide means to travel on a prearranged path established by said path guide means, said vehicle control system comprising:
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steering means installed on said motor driven vehicle for steering said motor driven vehicle with a controlled steering variable to change a travel direction of said motor drive vehicle, said steering means comprising a steering disk supported for rotation by said motor driven vehicle and wheel drive means installed on said steering disk for independently driving said right and left drive wheels; guide monitoring means installed on said motor driven vehicle for monitoring a lateral deviation of said motor driven vehicle from said path guide means; and control means for controlling said wheel drive means by a prescribed relationship between said controlled steering variable and said lateral deviation to drive said drive wheels at different travel speeds according to said controlled steering variable such that a speed difference between said different travel speed for a specific lateral deviation becomes smaller than an increase in said travel speed of said motor driven vehicle so as thereby to control said motor driven vehicle in travel direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle control system for controlling a motor driven vehicle having right and left drive wheels arranged transversely side by side which is guided by path guide means to travel on a prearranged path established by said path guide means, said vehicle control system comprising:
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steering means installed on said motor drive vehicle for steering said motor driven vehicle with a controlled steering variable to change a travel direction of said motor drive vehicle; guide monitoring means installed on said motor drive vehicle for monitoring a lateral deviation of said motor driven vehicle from said path guide means; wheel drive motors for driving said right and left drive wheels, respectively;
travel speed instruction means located along said prearranged path for providing travel speed instructions for said motor driven vehicle;instruction monitoring means installed on said motor driven vehicle for monitoring said travel speed instructions on said speed instruction means; and control means for controlling said steering means by a prescribed relationship between said controlled steering variable and said lateral deviation to steer said motor driven vehicle so as thereby to control said motor driven vehicle in travel direction and controlling said drive motor with a control parameter to drive said drive wheels, said control means changing said control parameter so as to gradually change a traveling speed of said motor driven vehicle according to said travel speed instruction. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A vehicle control system for controlling a motor driven vehicle which is guided by path guide means to travel on a prearranged path established by said path guide means, said vehicle control system comprising:
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steering means installed on said vehicle for steering said single drive wheel with a controlled steering variable to change a travel direction of said motor driven vehicle, said steering means comprising a steering disk supported for rotation by said motor driven vehicle, wheel drive means installed on said steering disk for driving a single drive wheel of said motor driven vehicle and steering disk drive means secured to said motor driven vehicle for driving said steering disk; guide monitoring means installed on said motor driven vehicle for monitoring a lateral deviation of said motor driven vehicle from said path guide means; and control means for controlling said steering disk drive means to drive said steering disk through an angle according to a prescribed relationship between said controlled steering variable and said lateral deviation so as to steer said motor driven vehicle, thereby controlling said motor driven vehicle in travel direction, said control means including a memory storing maps of said prescribed relationships differently established and selectively using said maps according to travel speeds of said motor driven vehicle to control travel of said motor driven vehicle.
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16. A vehicle control system for controlling a motor driven vehicle having a right and left drive wheels arranged transversely side by side, respectively which is guided by path guide means to travel on a prearranged path established by said path guide means, said vehicle control system comprising:
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steering means installed on said motor driven vehicle for steering said motor driven vehicle with a controlled steering variable to change a travel direction of said motor drive vehicle; guide monitoring means installed on said motor driven vehicle for monitoring a lateral deviation of said motor driven vehicle from said path guide means; wheel drive motors for driving said right and left drive wheels; travel speed instruction means located along said prearranged path for providing travel speed instructions for said motor driven vehicle; instruction monitoring means installed on said motor driven vehicle for monitoring said travel speed instructions on said speed instruction means; and control means for controlling said wheel drive motors by a prescribed relationship between said controlled steering variable and said lateral deviation to steer said motor driven vehicle so as thereby to control said motor driven vehicle in travel direction and controlling said wheel drive motors with said travel speed instruction to drive said drive wheels. - View Dependent Claims (17)
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18. A vehicle control system for controlling a motor driven vehicle having a single drive wheel which is guided by path guide means to travel on a prearranged path established by said path guide means, said vehicle control system comprising:
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steering means installed on said motor driven vehicle for steering said motor driven vehicle with a controlled steering variable to change a travel direction of said motor drive vehicle; guide monitoring means installed on said motor driven vehicle for monitoring a lateral deviation of said motor driven vehicle from said path guide means; a wheel drive motor for driving said drive wheel; travel speed instruction means located along said prearranged path for providing travel speed instructions for said motor driven vehicle; instruction monitoring means installed on said motor driven vehicle for monitoring said travel speed instructions on said speed instruction means; and control means for controlling said steering means by a prescribed relationship between said controlled steering variable and said lateral deviation to steer said motor driven vehicle so as thereby to control said motor driven vehicle in travel direction and controlling said drive motor with said travel speed instruction to drive said drive wheels. - View Dependent Claims (19, 20)
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Specification