Title:
【発明の名称】自動走行式連結車両
Document Type and Number:
Japanese Patent JP2956012
Kind Code:
B1
Abstract:
PROBLEM TO BE SOLVED: To establish the control of automatic traveling at the time of moving backward along with the straight line part of a traveling route lane in the case of traveling along with the traveling route lane while linking a semi-trailer behind an automatic guided vehicle(AGV). SOLUTION: The direction of motive force to be operated from an AGV 11 through a king pin 17 to a semi-trailer 16 at the time of moving backward is defined as F, the angle of a center line 22 from left to right of the AGV to a traveling route lane 20 toward the back of the traveling route lane 20 is defined as δ, the angle of F to the center line 22 from left to right of the AGV toward the back of the center line 22 from left to right of the AGV is defined as α, the angle of a center line 23 from left to right of the semi-trailer to the traveling route lane 20 toward the back of the traveling route lane 20 is defined as γ, θ is α+δ-γ and the eccentricity quantity of a center 24 between left and right wheels in a lateral direction to the traveling route lane 20 is defined as x. In this case, a left side is regarded positive in respect to a line on a reference side and the steering angle of a rear wheel 13 is controlled so that θ can become the same sign as x. Thus, the control principle is made simple.
Inventors:
Kunihito Sato
Noboru Yagabe
Noboru Yagabe
Application Number:
JP16032498A
Publication Date:
October 04, 1999
Filing Date:
June 09, 1998
Export Citation:
Assignee:
Tokyu Vehicle Manufacturing Co., Ltd.
International Classes:
B60W30/00; G05D1/02; B62D6/00; (IPC1-7): G05D1/02; B62D6/00
Domestic Patent References:
| JP8272444A | ||||
| JP10119808A |
Attorney, Agent or Firm:
Hiroshi Ishiyama (1 person outside)