JPS643713A - Stop controller for unmanned vehicle - Google Patents

Abstract

PURPOSE:To stop an unmanned vehicle at a prescribed position regardless of the presence or absence of a cargo by using a cargo detecting means and a stop control mean which changes the driving speed of the vehicle for deceleration in accordance with the presence or absence of cargos and controls a driving motor. CONSTITUTION:When a panel detection sensor 5b detects an indicated panel P1b while an unmanned vehicle 1 containing no load is running toward a delivery station S2, a CPU 12 is set under a stop mode and judges the presence or absence of cargoes from the detection signal of a limit switch 9. When the absence of cargos is confirmed, the time Ta and the velocity V set right before deceleration are read out of ROM 13 to obtain the momentary speed command value Vt(=-V.T/Ta). This value Vt is successively outputted to the motor driving circuits 15 and 16 based on the counted time of a timer 12a. In case the vehicle 1 carries cargoes, the command value Vt(=-V.T/Tb) of a large deceleration degree is obtained in the same way and outputted to both circuits 15 and 16. Thus the vehicle 1 stops accurately at a stop position St2 in any case.