Title:
【発明の名称】走行体の走行軌道制御装置
Document Type and Number:
Japanese Patent JP2781559
Kind Code:
B2
Abstract:
PURPOSE:To enable a traveling body to perform unmanned travel or automatic travel along a traveling track taught, etc., by switching two control systems of a position control system and a bearing control system according to the dislocation quantity of a traveling matter to be controlled system from the traveling track. CONSTITUTION:A position (x), the target value (xt) of the position, a bearing (d) and a target value (dt) of the bearing are inputted in a control device 4. When a difference xt-x between the target value (xt) of the position and the detected position (x) is smaller than a previously set value, i.e., within a bearing control range, a control switching instructing part 6 connects a selector switch 7 to bearing control so as to perform only the bearing control. Besides, when xt-x is larger than the previously set value, it comes within a position control range, and the position control system is selected by the control switching instructing part 6 through the selector switch 7. Thus, since the traveling body is brought close to the traveling track taught, etc., by the position control at first, and next, the traveling body is controlled so as to be brought still more closer to the target traveling track by the bearing control, the traveling body can be made to travel surely along the target traveling track.
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Inventors:
Beyond the mirror
Miyake Iwao
Yoshiki Kato
Kenji Sakai
Takemoto Yasushi
Takashi Shiokawa
Miyake Iwao
Yoshiki Kato
Kenji Sakai
Takemoto Yasushi
Takashi Shiokawa
Application Number:
JP1139488A
Publication Date:
July 30, 1998
Filing Date:
January 21, 1988
Export Citation:
Assignee:
MITSUBISHI HEAVY INDUSTRIES,LTD.
Obayashi Corporation
Obayashi Corporation
International Classes:
G05D1/02; (IPC1-7): G05D1/02
Domestic Patent References:
| JP61128806A | ||||
| JP62265906A | ||||
| JP5547508A | ||||
| JP4885993A |
Attorney, Agent or Firm:
Takehiko Suzue (2 outside)