Title:
BANK ANGLE DETECTOR OF UNATTENDED CARRIAGE
Document Type and Number:
Japanese Patent JPS61190611
Kind Code:
A
Abstract:
PURPOSE:To prevent zigzag running by providing a bank angle correcting sensor separately from a guide sensor on an unattended carriage to correct a steering signal. CONSTITUTION:Guide sensors 2 are arranged on the front and the rear of the body of an unattended carriage 1, and a band angle correcting sensor 4 which is parallel with guide sensors 2 and has a prescribed length is arranged in an optional position of the intermediate part of a stood mast 3. The bank angle compensating sensor 4 receives and detects an optical beam LB scanned on a floor surface together with guide sensors 2. The unattended carriage 1 detects the course, on which it should run, and is steered and run in accordance with light reception positions of guide sensors 2. If the unattended carriage 1 rolls in the floor surface state because of a load or the like, the bank angle compensating sensor 4 detects extents (d) and D of deviation and inputs them to a computer to operate a bank angle theta'. This bank angle is inputted as bank angle correcting information to a steering control circuit, and a steering motor is not turned only at an angle based on the correction value.
Inventors:
TSUMURA TOSHIHIRO
MATSUMOTO HIROYUKI
MATSUMOTO HIROYUKI
Application Number:
JP3077785A
Publication Date:
August 25, 1986
Filing Date:
February 18, 1985
Export Citation:
Assignee:
HITACHI KIDEN KOGYO KK
TSUMURA TOSHIHIRO
TSUMURA TOSHIHIRO
International Classes:
G05D1/02; (IPC1-7): G05D1/02
Attorney, Agent or Firm:
Koji Onishi