JPS6384608U - - Google Patents

Info

Publication number
JPS6384608U
JPS6384608U JP1986178697U JP17869786U JPS6384608U JP S6384608 U JPS6384608 U JP S6384608U JP 1986178697 U JP1986178697 U JP 1986178697U JP 17869786 U JP17869786 U JP 17869786U JP S6384608 U JPS6384608 U JP S6384608U
Authority
JP
Japan
Prior art keywords
intersection
shows
output voltage
differential output
diagram showing
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.)
Pending
Application number
JP1986178697U
Other languages
English (en)
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1986178697U priority Critical patent/JPS6384608U/ja
Publication of JPS6384608U publication Critical patent/JPS6384608U/ja
Priority to US07/395,180 priority patent/US5000279A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • 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

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Description

【図面の簡単な説明】
第１図は本考案による三叉路の一例を示す図で
ある。同図ａは本考案による合流路の平面図（以
下平面図は省略）を、同図ｂは枝線への分岐路を
、同図ｃは合流、分岐併用路を示す図。同図ｄは
隣接誘導路と対称となるよう反対側に小さな標識
体を付加した合流路を示す図である。第２図は本
考案による十字路の例を示す図である。同図ａは
切り離した十字路を示す図、同図ｂは切り離した
あと中央部に矩形を置いた十字路を示す図である
。同図ｃは同図ｂの矩形を円形に置き換えた図で
ある。同図ｄは円形を交差点中央に置いた十字路
を示す図であり、同図ｅは車輌走行用標識体とは
無関係の標識体を交差角度と同じに設置した十字
路を示す図である。第２図はいずれも交差点で直
進する十字路を示す図である。第３図は回転また
は移動できる標識体を１本だけ中央部に置いた十
字路を示す図。第４図は２個の検知センサの出力
電圧とその差動出力電圧を示した図である。第５
図は未対策の交差点を示す図で、同図ａは未対策
三叉路の差動出力電圧の最大値、最小値および０
（Ｖ）を示す位置を示した図である。同図ｂは未
対策の十字路の差動出力電圧が０（Ｖ）となる線
の平面分布状態を示した図である。第６図は磁性
体誘導方式に従来用いられている交差点の形状例
を示す図である。 １；差動出力電圧が０（Ｖ）となる線、２；点
線で示した付加標識体による差動出力電圧０（Ｖ
）線、３；走行方向、４，４Ａ，４Ｂ，４Ｃ；誘
導路、６，９；可動方向、７，８，１７，１８；
標識体、１１，１２；検知コイルの出力電圧、１
３；１１と１２の差を増幅した差動出力電圧、１
５；正の最大差動出力電圧、１６；負の最小差動
出力電圧。

Claims (1)

    【実用新案登録請求の範囲】
  1. 磁性体の標識体により構成される誘導路におい
    て、複数の誘導路の交差点がａ、不連続な標識体
    、または、連続した標識体で構成した交差点の近
    傍にさらに標識体が付加された構造、または不連
    続な標識体と該交差点近傍にさらに標識体が付加
    された構造を有することを特徴とする搬送車輌用
    誘導路。
JP1986178697U 1986-11-19 1986-11-19 Pending JPS6384608U (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP1986178697U JPS6384608U (ja) 1986-11-19 1986-11-19
US07/395,180 US5000279A (en) 1986-11-19 1989-08-17 Unmanned vehicle guide system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1986178697U JPS6384608U (ja) 1986-11-19 1986-11-19

Publications (1)

Publication Number Publication Date
JPS6384608U true JPS6384608U (ja) 1988-06-03

Family

ID=16052972

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1986178697U Pending JPS6384608U (ja) 1986-11-19 1986-11-19

Country Status (2)

Country Link
US (1) US5000279A (ja)
JP (1) JPS6384608U (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015210656A (ja) * 2014-04-25 2015-11-24 株式会社リコー 自動移動装置

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5216605A (en) * 1990-06-28 1993-06-01 Eaton-Kenway, Inc. Update marker system for navigation of an automatic guided vehicle
US5187664A (en) * 1990-11-27 1993-02-16 Eaton-Kenway, Inc. Proportional position-sensing system for an automatic guided vehicle
US5281901A (en) * 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
US5127486A (en) * 1990-11-23 1992-07-07 Eaton-Kenway, Inc. System for sensing arrival of an automatic guided vehicle at a wire
US5175415A (en) * 1990-11-27 1992-12-29 Eaton-Kenway, Inc. Combination drive-wheel mechanism and travel-sensor mechanism
US5109940A (en) * 1991-03-05 1992-05-05 Eaton-Kenway, Inc. Automated guided vehicle top disposed towing apparatus
US5154249A (en) * 1991-03-05 1992-10-13 Eaton-Kenway, Inc. Automated guided vehicle top disposed towing apparatus
US5347456A (en) * 1991-05-22 1994-09-13 The Regents Of The University Of California Intelligent roadway reference system for vehicle lateral guidance and control
JPH06301418A (ja) * 1992-10-08 1994-10-28 Takeshi Miura ゴルフカート走行誘導法
JPH0760345B2 (ja) * 1993-02-08 1995-06-28 健 三浦 ゴルフカート走行誘導法
US5404087A (en) * 1993-03-03 1995-04-04 Sherman; Leigh E. Automated guided vehicle wire guidance apparatus
US5539646A (en) * 1993-10-26 1996-07-23 Hk Systems Inc. Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator
JP3289565B2 (ja) * 1995-08-23 2002-06-10 トヨタ自動車株式会社 自動操舵システム
JP3513337B2 (ja) * 1996-09-30 2004-03-31 本田技研工業株式会社 車両誘導用走行路とその走行方法
SE511254C2 (sv) * 1998-01-08 1999-09-06 Electrolux Ab Elektroniskt söksystem för arbetsredskap
DE10019779A1 (de) * 2000-04-20 2001-10-25 Volkswagen Ag Meßfühler
US6772062B2 (en) 2001-05-31 2004-08-03 The Regents Of The University Of California Intelligent ultra high speed distributed sensing system and method for sensing roadway markers for intelligent vehicle guidance and control
GB2448470B (en) * 2007-04-20 2012-04-04 Ultra Global Ltd Vehicle guidance system
JP5182236B2 (ja) * 2009-06-26 2013-04-17 トヨタ車体株式会社 無人搬送車の走行制御装置
US10589931B2 (en) 2016-09-30 2020-03-17 Staples, Inc. Hybrid modular storage fetching system
US10683171B2 (en) 2016-09-30 2020-06-16 Staples, Inc. Hybrid modular storage fetching system
EP3519937A4 (en) 2016-09-30 2020-04-29 Staples, Inc. HYBRID MODULAR MEMORY ACCESS SYSTEM
CA2983986C (en) * 2017-10-26 2019-01-15 Rovibec Inc. Autonomous vehicle for pushing feed, methods and systems thereof
CN108932840B (zh) * 2018-07-17 2021-09-07 北京理工大学 基于强化学习的无人驾驶车辆城市交叉口通行方法
US11084410B1 (en) 2018-08-07 2021-08-10 Staples, Inc. Automated guided vehicle for transporting shelving units
US11590997B1 (en) 2018-08-07 2023-02-28 Staples, Inc. Autonomous shopping cart
US11630447B1 (en) 2018-08-10 2023-04-18 Staples, Inc. Automated guided vehicle for transporting objects
US11119487B2 (en) 2018-12-31 2021-09-14 Staples, Inc. Automated preparation of deliveries in delivery vehicles using automated guided vehicles
US11180069B2 (en) 2018-12-31 2021-11-23 Staples, Inc. Automated loading of delivery vehicles using automated guided vehicles
US11124401B1 (en) 2019-03-31 2021-09-21 Staples, Inc. Automated loading of delivery vehicles
JP7437601B2 (ja) * 2020-08-08 2024-02-26 愛知製鋼株式会社 運行システム及び運行システムの制御方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59197906A (ja) * 1983-04-23 1984-11-09 Daifuku Co Ltd 無人車の走行制御装置
JPS59229625A (ja) * 1983-06-10 1984-12-24 Ishikawajima Harima Heavy Ind Co Ltd 無人台車の誘導方法及び装置
JPS61118816A (ja) * 1984-11-15 1986-06-06 Daifuku Co Ltd 光学誘導式移動車制御設備
JPS61180312A (ja) * 1985-02-06 1986-08-13 Toshiba Corp 無軌道車の誘導制御装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK113124A (ja) * 1964-03-25
GB1190211A (en) * 1967-03-30 1970-04-29 Buero Patent Ag Trolley System
US4160488A (en) * 1977-10-11 1979-07-10 Logisticon, Inc. Extended width sensor
JPS56116114A (en) * 1980-02-19 1981-09-11 Daifuku Co Ltd Branch control system for unmanned car
JPS60107113A (ja) * 1983-11-15 1985-06-12 Ishikawajima Harima Heavy Ind Co Ltd 無人台車の誘導方法
JPS61234407A (ja) * 1985-04-11 1986-10-18 Toshiba Corp 搬送車の定位置停止制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59197906A (ja) * 1983-04-23 1984-11-09 Daifuku Co Ltd 無人車の走行制御装置
JPS59229625A (ja) * 1983-06-10 1984-12-24 Ishikawajima Harima Heavy Ind Co Ltd 無人台車の誘導方法及び装置
JPS61118816A (ja) * 1984-11-15 1986-06-06 Daifuku Co Ltd 光学誘導式移動車制御設備
JPS61180312A (ja) * 1985-02-06 1986-08-13 Toshiba Corp 無軌道車の誘導制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015210656A (ja) * 2014-04-25 2015-11-24 株式会社リコー 自動移動装置

Also Published As

Publication number Publication date
US5000279A (en) 1991-03-19

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