JPS59172016A - Stop controller for guided unmanned truck - Google Patents
Stop controller for guided unmanned truckInfo
- Publication number
- JPS59172016A JPS59172016A JP58046410A JP4641083A JPS59172016A JP S59172016 A JPS59172016 A JP S59172016A JP 58046410 A JP58046410 A JP 58046410A JP 4641083 A JP4641083 A JP 4641083A JP S59172016 A JPS59172016 A JP S59172016A
- Authority
- JP
- Japan
- Prior art keywords
- stop
- unmanned vehicle
- control device
- guided
- stop control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は、床面に嵌設の誘導線に沿って自動操向状態で
駆動走行自在で、例えば、組立工場での組立部品や組立
製品の移送等に用りられる無人里を、ｊｆ＋記誘導線に
よる走行経路の複数停止位置のうち、設定停止位置の手
前で一旦減速させて停止させるように構成しである誘導
式無人皮の停止制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention is capable of freely driving and traveling in an automatically steered state along guide lines fitted into the floor surface, and is used, for example, to transport assembled parts and assembled products in an assembly factory. The present invention relates to a stop control device for a guided unmanned vehicle, which is configured to temporarily decelerate and stop an uninhabited vehicle before a set stop position among a plurality of stop positions on a travel route based on a guide line indicated by jf+.
従来のかかる誘導式無人車の停止制御装置においては、
第８図に示すように、前記の各停止ｌ−。In the conventional stop control device for such a guided unmanned vehicle,
As shown in FIG. 8, each of the aforementioned stops l-.
位置（Ｐｌ・・・・Ｐｎ ）手前の減速開始位ｉＭ（Ｐ
’、・・・・Ｐ’ｎ ）夫々に磁石等利用の減速指令用
マーク（へイト・・・Ｍｎ ）を設ける一方、無人車（
２）側に前記ノマーク（Ｍｌ・・・・Ｍｎ ）を検出す
る装置（２Ｊ）を設け、設定停止位置（Ｐｌｃ）手前の
減速用マーク（藤）検出に基づ贋て無人車（２）を自動
減速させるように構成してｈたが、これによるときは、
減速指令用マークが停止位置の故だけ必きであるから、
停止位置を数多く設ける場合、マークの施工費用が急み
、しかも、第８図に示すように、各停止位置（Ｐ、・・
・・Ｐｎ ）が接近し、例えば、設定停止位置（Ｐｋ）
とこれに対応する減速指令用マークｌ’Ｍ’ｋ）との間
に、他の停止位置（Ｐｉ ）か位置するようなレイアウ
トの場合、前記の減速指令用マーク（Ｍ′ｋ）か設定停
止位置（Ｐｋ）に対応するもノテあるか、他の停止位Ｗ
（Ｐｉ）に対応するものであるかの判別も必要となり
、制御装置が非常に榎雑なものになるといった欠点があ
った。Deceleration start position iM(P) before position (Pl...Pn)
',...P'n) are provided with deceleration command marks (haight...Mn) using magnets, etc., while unmanned vehicles (
A device (2J) for detecting the mark (Ml...Mn) is installed on the 2) side, and the unmanned vehicle (2) is activated based on the deceleration mark (wisteria) detected before the set stop position (Plc). I configured it to automatically decelerate, but when this happens,
This is necessary because the deceleration command mark is at the stop position.
If a large number of stopping positions are provided, the construction cost of the marks increases, and as shown in Figure 8, each stopping position (P,...
...Pn) approaches, for example, the set stop position (Pk)
If the layout is such that another stop position (Pi) is located between the deceleration command mark l'M'k) and the corresponding deceleration command mark l'M'k), the deceleration command mark (M'k) or the set stop position Is there a note corresponding to position (Pk) or another stopping position W?
It is also necessary to determine whether it corresponds to (Pi), which has the disadvantage that the control device becomes extremely complicated.
本発明は、かかる従来欠点を解消しようとする点に目的
を有する。The present invention has an object to overcome such conventional drawbacks.
上記目的達成のために講じた本発明による誘導式無人車
の停止制御装置の特徴構成は、前記無人車に、前記各停
止位置に設けられた停止用マークを検出する装置と、前
記走行経路の特定位置からの走行距離を計測する装置と
、この計測装置の計測値が前記特定位置から設定停止位
置手ｔｊｆｆの減速開始位置までの距離と等しくなった
とき、無人車を自動減速させる手段及び、減速後の前記
検出装ｄの検出に基づいて無人里を自動停止させる手段
とが設けられている点にある。The characteristic configuration of the stop control device for a guided unmanned vehicle according to the present invention, which was taken to achieve the above object, is that the unmanned vehicle is provided with a device for detecting stop marks provided at each of the stop positions, and a device for detecting a stop mark provided at each of the stop positions, and a device for detecting a stop mark provided at each of the stop positions, and a device for measuring a travel distance from a specific position; a means for automatically decelerating an unmanned vehicle when the measured value of the measuring device becomes equal to a distance from the specific position to a deceleration start position of a set stop position hand tjff; There is provided means for automatically stopping the uninhabited village based on the detection by the detection device d after deceleration.
このような＃Ｐ微構成を有する本発明の作用は次の通り
である。The operation of the present invention having such a #P microstructure is as follows.
■ 特定位置からの走行距離を媒体として、各停止位置
に対応する減速開始位置を検出中るから、減速開始位置
夫々に減速指令用マークを設ける必要がなく、しかも、
停止位置とそれに対応する減速開始位置との間ｉ５他の
停止位置が存在していても、制御形態を変えることなく
、設定停止位置に対応する減速開始位置において無人車
を確実、かつ、ＩＥ確に減速させることができる。■ Since the deceleration start position corresponding to each stop position is detected using the travel distance from a specific position as a medium, there is no need to provide a deceleration command mark at each deceleration start position.
Even if there is another stop position between the stop position and the corresponding deceleration start position, the unmanned vehicle can be reliably and IE accurately positioned at the deceleration start position corresponding to the set stop position without changing the control form. can be slowed down.
■ 減速後の設定停止位置での無人車停止を各停止位置
火々に設けられた停止用マークの検出に基づいて行なわ
せるから、無人車停止位置斤・度を勝れたものにできる
。(2) Since the unmanned vehicle is stopped at the set stop position after deceleration based on the detection of the stop marks provided at each stop position, the unmanned vehicle can be stopped at a higher speed.
従って、本発明は、既述した従来欠点を解消でき、しか
も、確実、正確に無人車を減速し設定停止位置に停止さ
せることができるといった効果を奏し得るに至った。Therefore, the present invention has achieved the effect that the above-mentioned conventional drawbacks can be solved, and the unmanned vehicle can be reliably and accurately decelerated and stopped at a set stop position.
以下１本発明構成の実施例を図面に基づいて説明する。An embodiment of the configuration of the present invention will be described below based on the drawings.
第１図に示すように、床面に、所定の走行経路に沿って
誘導線（１）を敷設する一方、無人車（２）に、前記誘
導線（１）に対する横変位量を検出するセン、す（３）
と、このセンサ（３）の検出結果に基ライて誘導線（１
）に沿って走行するように自動操向する手段とを設けて
、無人車運行設備を構成する。As shown in Figure 1, a guide line (1) is laid on the floor along a predetermined travel route, and an unmanned vehicle (2) is equipped with a sensor that detects the amount of lateral displacement with respect to the guide line (1). ,su(3)
Based on the detection result of this sensor (3), the guide wire (1
) to configure an unmanned vehicle operation facility.
前記誘導ｉｌｉ！ ｍとしては、走行経路に沿った磁界
を発生させる導電線や反射テープ等を挙げることができ
る。Said induction ili! Examples of m include conductive wires and reflective tapes that generate a magnetic field along the travel route.
前記センサ（：ｉ） Ｉｄ、誘導線ｆ１）が導電線の場
合は。If the sensor (:i) Id, guiding wire f1) is a conductive wire.
無人ＪＪｆ（ｔ）の横変位量に応じて誘起電圧を変える
コイルであり、誘導線が反射テープの場合は、光センサ
であ乙。It is a coil that changes the induced voltage according to the amount of lateral displacement of the unmanned JJf(t), and if the guide wire is reflective tape, it is an optical sensor.
前記無人車（２）は、第２図に示すように、モータ（４
）を介して駆動される左右一対の止輪（５）（６）と、
１２ｆｌ記センサ（３）の検出結果に基づいて縦軸芯［
ａ）周りにモータ（６）を介して操向される１つの操向
車Ｉ！ ｆ７１とを備えてお如、そして、通常は高速走
行し、前記走行経路の複数停止位置（Ｐｌ・・・・Ｐｎ
）のうち、設定停止位置（Ｐｋ）の手前で一旦減速［７
て停止すべく制御されるものであり、その制御装置ぽは
、次のように構成されている。The unmanned vehicle (2) has a motor (4) as shown in FIG.
), a pair of left and right retaining wheels (5) and (6) are driven through the
The vertical axis center [
a) One steering wheel I around which is steered via a motor (6)! f71, and normally travels at high speed and stops at multiple stop positions (Pl...Pn) on the travel route.
), decelerate once before the set stop position (Pk) [7
The control device is configured as follows.
第１図に示すように、前記各停止位置ＣＰ、・・・Ｐｎ
）夫々に停止用マークＣＭ、・・・・Ｍｎ ）を設け
るとともに、前記走行経路の１つの特定位ｍ１（Ｐ）に
マーク（財）を設ける一方、無人車（２）に、前記停止
用マーク（Ｍ、・・・・Ｍｎ ）を検出する装置（８）
と、前記マーク■）を検出する装置（９）と、前記特定
位置ｆＰｌからの走行距離を計測する装置＋１０）と、
前記特定位置［Ｐｌから各停止位置ＣＰ、・・・・Ｐｎ
）手前の減速開始位置（Ｐ′１・・・・Ｐ’ｎ ）ま
での距離のうち、任意の距離を設定するだめの設定器（
１１）と、ｔｉｒｉ 記計測装置ｆｌｏ） ノ計測ｆｉ
１ｍ （ｎ）が前記設定器（１１）による設定語１に＋
となったとき、１ｉ＋記走行モータ（４）の制御回路篠
に減速指令を出力する減速指令器（＋３＋と、減速後の
前記停止用マーク検出装置（８ｉの検出に基づいて、つ
まり、前記の減速指令と停止用マーク検出装置（８）の
検出とがあったとき、前記モータ制御回路１１２＋に停
止指令を出力する停止指令器（１４）とを設けて、構成
されている。As shown in FIG. 1, each of the stop positions CP,...Pn
) are respectively provided with a stop mark CM,...Mn), and a mark (goods) is provided at one specific position m1(P) of the traveling route, while the unmanned vehicle (2) is provided with a stop mark CM,...Mn). Device for detecting (M,...Mn) (8)
and a device (9) for detecting the mark ■), and a device +10) for measuring the distance traveled from the specific position fPl,
The specific position [Pl to each stop position CP,...Pn
) A setting device (
11), tiri measurement device flo) and measurement fi
1m (n) is + to the setting word 1 by the setting device (11)
When this happens, based on the detection of the deceleration command device (+3+) which outputs a deceleration command to the control circuit of the traveling motor (4) (1i+) and the stop mark detection device (8i) after deceleration, that is, the above-mentioned A stop command device (14) is provided to output a stop command to the motor control circuit 112+ when a deceleration command is detected by the stop mark detection device (8).
＋ｍ記両種マークＣＭ、−Ｍｎ ） ｒＭＪは、磁石や
反射板等から構成されており、両種検出装置（８）（９
）は、磁気センサや光センサ等である。+m mark both types CM, -Mn) rMJ is composed of magnets, reflective plates, etc.
) are magnetic sensors, optical sensors, etc.
前記計測装置（ｌＯ）は、前記操向■輸（７）の回転に
伴なってパルスを発生するバＩレス発生器＋＋５＋ 、
Ｈ１前記特定位置マーク検出装置（９）の検出に基づい
て前記パルス発生器（１５）による発生パルスを出力さ
せるゲート回路（１６）及び、このゲート回路ｆｌＩｉ
）からの出力パルス数ｉｎ）を積算Ｃカウント）とする
パルス数積算器Ｑ７）とから構成されている。The measuring device (lO) includes a bar I stress generator++5+ that generates pulses in accordance with the rotation of the steering wheel (7);
H1: a gate circuit (16) for outputting pulses generated by the pulse generator (15) based on detection by the specific position mark detection device (9), and this gate circuit flIi
) and a pulse number integrator Q7) which takes the number of output pulses in) from ) as an integrated C count).
従って、上記実施例構成によれば、無人車（２）は、第
４図のフローチャートに示すように、計測装置（１０）
の計測値か設定値になる捷ではｉ昭速走行し、前記計測
値が設定値になったとき、設定停止位置（Ｐｋ）に対す
る減速開始位置ＣＰ’ｋ）に位置したと判断して減速を
開始し、停止用マーク（Ｍｋ）の検出によって特定伴出
位置（Ｐｋ）Ｋ停ｔｈする。Therefore, according to the configuration of the above embodiment, the unmanned vehicle (2) is equipped with the measuring device (10) as shown in the flowchart of FIG.
When the measured value becomes the set value, the vehicle travels at speed i, and when the measured value becomes the set value, it is determined that the vehicle is at the deceleration start position CP'k) relative to the set stop position (Pk), and the vehicle decelerates. It starts and stops at a specific guide position (Pk) by detecting a stop mark (Mk).
本発明は、次のようにして実施しても艮い。The present invention can also be implemented as follows.
第５図に示すように、走行経路上のホームポジション（
Ｈｐ）からの走行に伴なって停止用マーク検出装置（８
）の検出回数を数えるカクンタ（１８）と、ｌｔｔ記停
止用マーク検出装置（８）の検出回数をもって停止位ｆ
ｆｔ （Ｐ＋・・・・Ｐｎ ）を設定する行先設定４Ｑ
９）及び、４ｆ［記カクンタ（１８）の検出回数■が行
先設定回数（Ｋｌよりも１少ない値（Ｋ−１）となった
とき、出力する行先用減算回路１２０）とを設け、もっ
て、第６図に示すように、設定停止位置（Ｐｋ）よりも
１つ手前の停止位置（Ｐｋ−１’）を特定位ｆｋｆ （
ＰＩとして、前記の計測装置（１０）を作動させるべく
構成する。 この場合のフローを第７図に示しておく。As shown in Figure 5, the home position (
The stop mark detection device (8
) The stop position f is determined by the number of detections of the kakunta (18) and the stop mark detection device (8).
Destination setting 4Q to set ft (P+...Pn)
9) and 4f [destination subtraction circuit 120 that outputs when the number of detections (■) of kakunta (18) becomes the number of destination setting times (a value (K-1) less than Kl by 1). , as shown in Fig. 6, the stop position (Pk-1') one position before the set stop position (Pk) is set to a specific position fkf (
As a PI, it is configured to operate the measurement device (10) described above. The flow in this case is shown in FIG.
第１図乃至第４図は実施例を示し、第１図は走行経路レ
イアウト図、第２図は無人車の概略平面図、第３図は制
御ブロック図、第４図はフロートチャートである。 第
５図乃至第７図は別の実施例を示し、第５図は制御ブロ
ック図、第６図は走行経路レイアクト図、第７図はフロ
ーチャートである。 第８図は従来例を示す走行経路レ
イアクト図である。
（１）・・・・・・ｄル導線、（２）・・・・・・無人
車、（Ｐ、・・・Ｐｎ）・・・・停止位置、（Ｍ、・・
・Ｍｎ）・・・・・・停止用マーク、（８）・・・・・
停止用マーク検出装置、（１０）・・・・・・計測装置
、（７）・・・・・組輪、１１５）・・ パルス発生器
、（１η・・・ パルス＆積＄Ｗ。
第１図
第 ２９
第３図1 to 4 show an embodiment, in which FIG. 1 is a travel route layout diagram, FIG. 2 is a schematic plan view of an unmanned vehicle, FIG. 3 is a control block diagram, and FIG. 4 is a float chart. 5 to 7 show another embodiment, in which FIG. 5 is a control block diagram, FIG. 6 is a travel route layout diagram, and FIG. 7 is a flow chart. FIG. 8 is a travel route layout diagram showing a conventional example. (1)...d conductor, (2)...unmanned vehicle, (P,...Pn)...stop position, (M,...
・Mn)・・・Stop mark, (8)・・・・・・
Stop mark detection device, (10)... Measuring device, (7)... Group ring, 115)... Pulse generator, (1η... Pulse & product $W. 1st Figure 29 Figure 3
Claims (1)
駆動走行自在な無人車（２）を、前記誘導線＋１）によ
る走行経路の複数停止位置（’ＰＩ・・・Ｐｎ）のうち
、設定停止位置（Ｐｋ）の手前で一旦減速させて停止さ
せるように構成しである誘導式無人車の停止制御装置で
あって、前記無人車（＋） Ｋ 、前記各停止位＠（Ｐ
ｌ・・・・Ｐｎ ）に設けられた停止用マーク（Ｍｌ・
・・・Ｍｎ ）を検出する装置（８）と、前記走行経路
の特定位置（Ｐ）からの走行距離を計測する装置α０）
と、この計測装置（１０）の計測値が前記特定位＠（Ｐ
）から設定停止位置（Ｐｋ）手前の減速開始位置倣′）
までの距離と等しくなったとき、無人車（２）を自動減
速させる手段及び、減速後の前記検出装置（８）の検出
に基づいて無人血（２）を自動停止させる手段とが設け
られてｂる誘導式無人車の停止制御装置。 ■ 前記計測装置（ｌＯ）か、車輪（７）の回転に伴な
ってパルスを発生するパルス発生器＋１５１と、これに
よる発生パルス数を積算するパルス数積算器０ηとから
成るものである特許請求の範囲第０項に記載の誘導式無
人車の停止制御装置。 ■ 前記計測装＠ （１０）が、前記特定位置ｆＰｌに
設けた計測開始マーク（財）の検出に基ついて計測を開
始するものである特許請求の範囲第■墳又は第■頃に記
載の誘導式無人車の停止制御装置。 ■ 目１１記特定位置ｔＰ］と台車停止位置（Ｐ、・・
・Ｐｎ）とか、１つの特定位置（Ｐ）Ｋ対して複数の台
車停止位置ＣＰ、・・・・Ｐｎ ）が対応する状態に設
けられてｂる特許請求の範囲第０項乃至第０項のいずれ
かに記載の誘導式無人車の停止制御装置。[Scope of Claims] ■ An unmanned vehicle (2) that can freely drive in an automatically steered state along a guide line fli laid on the floor is moved to a plurality of stopping positions ('PI, A stop control device for an guided unmanned vehicle configured to temporarily decelerate and stop the vehicle before the set stop position (Pk), wherein the unmanned vehicle (+) K, each of the aforementioned unmanned vehicles Stopping position @(P
l...Pn) stop mark (Ml...Pn)
...Mn) and a device α0) that measures the travel distance from the specific position (P) on the travel route.
, the measured value of this measuring device (10) is at the specific position @(P
) to the deceleration start position before the set stop position (Pk')
means for automatically decelerating the unmanned vehicle (2) when the distance becomes equal to the distance from A stop control device for guided unmanned vehicles. ■ A patent claim consisting of a pulse generator +151 that generates pulses as the measuring device (lO) or the wheel (7) rotates, and a pulse number integrator 0η that totals the number of pulses generated by the pulse generator +151. A stop control device for a guided unmanned vehicle according to item 0 of the scope. ■ The guidance set forth in Claim No. Stop control device for unmanned vehicles. ■ Item 11 Specific position tP] and trolley stop position (P,...
・Pn), or a plurality of bogie stop positions CP,...Pn) are provided in a state corresponding to one specific position (P)K. A stop control device for a guided unmanned vehicle according to any one of the above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58046410A JPS59172016A (en) | 1983-03-18 | 1983-03-18 | Stop controller for guided unmanned truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58046410A JPS59172016A (en) | 1983-03-18 | 1983-03-18 | Stop controller for guided unmanned truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59172016A true JPS59172016A (en) | 1984-09-28 |
| JPH0344323B2 JPH0344323B2 (en) | 1991-07-05 |
Family
ID=12746377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58046410A Granted JPS59172016A (en) | 1983-03-18 | 1983-03-18 | Stop controller for guided unmanned truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59172016A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6197714A (en) * | 1984-10-18 | 1986-05-16 | Toyota Motor Corp | Driving stop controller of unmanned truck |
| JPS61256411A (en) * | 1985-05-10 | 1986-11-14 | Toyoda Autom Loom Works Ltd | Operation controller for unmanned carrier |
| JPS6426210A (en) * | 1987-07-22 | 1989-01-27 | Toyoda Automatic Loom Works | Emergency stop controller for unmanned carriage |
| JPH04123113A (en) * | 1990-09-13 | 1992-04-23 | Daifuku Co Ltd | Stop controller for moving car |
| JP2002032124A (en) * | 2000-07-19 | 2002-01-31 | Murata Mach Ltd | Tracked bogie system and tracked bogie stop control method in the system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5041276U (en) * | 1973-08-11 | 1975-04-26 |
-
1983
- 1983-03-18 JP JP58046410A patent/JPS59172016A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5041276U (en) * | 1973-08-11 | 1975-04-26 |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6197714A (en) * | 1984-10-18 | 1986-05-16 | Toyota Motor Corp | Driving stop controller of unmanned truck |
| JPS61256411A (en) * | 1985-05-10 | 1986-11-14 | Toyoda Autom Loom Works Ltd | Operation controller for unmanned carrier |
| JPS6426210A (en) * | 1987-07-22 | 1989-01-27 | Toyoda Automatic Loom Works | Emergency stop controller for unmanned carriage |
| JPH04123113A (en) * | 1990-09-13 | 1992-04-23 | Daifuku Co Ltd | Stop controller for moving car |
| JP2002032124A (en) * | 2000-07-19 | 2002-01-31 | Murata Mach Ltd | Tracked bogie system and tracked bogie stop control method in the system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0344323B2 (en) | 1991-07-05 |
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