Title:
AUTONOMOUS REFUGE GUIDING FOR WALL GRAWLING UNMANNED VEHICLE
Document Type and Number:
Japanese Patent JP3409580
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a refuge guiding method for one of wall crawling unmanned vehicles when a plurality of wall crawling unmanned vehicles whose traveling directions are different from each other are traveling in a shield tunnel.
SOLUTION: When two wall crawling unmanned vehicles 6A, 6B approach each other, one of the wall crawling unmanned vehicles is separated from a main line traveling lane 11H by switching from a wall crawling control method to an autonomous control method, by which it is guided so as to make refuge along a refuge track 12. In this case, two methods are available: One of them is to change over from the wall crawling control method to the autonomous control method by using a magnetic induction means which is installed on the ground along on the refuge track 12 and a magnetometric sensor 15. The other one is to change over from the wall crawling control method to the autonomous control method by which the wall crawling unmanned vehicles 6A, 6B can be traveled by a prescribed distance at a prescribed turning angle, using an internal sensor which is operated on control of the wall crawling unmanned vehicle controller.
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Inventors:
Toshio Miki
Application Number:
JP12084996A
Publication Date:
May 26, 2003
Filing Date:
April 19, 1996
Export Citation:
Assignee:
Shinko Electric Co., Ltd.
International Classes:
B61B13/10; G05D1/02; E21F13/00; (IPC1-7): G05D1/02; B61B13/10
Domestic Patent References:
| JP63150709A | ||||
| JP791200A | ||||
| JP7259500A | ||||
| JP7160329A | ||||
| JP5012775A | ||||
| JP60209819A | ||||
| JP3175506A | ||||
| JP57155613A |
Attorney, Agent or Firm:
Haruya Saito (2 outside)
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