Title:
METHOD FOR CONTROLLING CONVERGENCE OF UNMANNED VEHICLES
Document Type and Number:
Japanese Patent JPH03131910
Kind Code:
A
Abstract:
PURPOSE:To allow an unmanned vehicle on the other traveling route to pass a converging zone with priority and then to travel a preceding unmanned vehicle through the converging zone to prevent a collision by slowly traveling a certain unmanned vehicle in the vicinity of the converging zone, and at the time of detecting the unmanned vehicle on the other traveling route, temporarily stopping the unmanned vehicle concerned. CONSTITUTION:At the time of detecting a convergence mark arranged before the vicinity of the converging zone, an unmanned vehicle A traveling on the converging route is decelerated by controlling a traveling motor 4 by a motor controller 25. The vehicle A travels at a slow speed in a prescribed distance, and during the period of the traveling, checks the existence of an unmanned vehicle B on the priority road by a photodetecting S2 while radiating sensor light L from a projector S1. At the time of detecting the vehicle B, the vehicle A stops. The vehicle A inputs the output of the sensor S again to check the existence of the vehicle B, and at the time of detecting the vehicle B again, clears a timer in a control device 14 and inputs the output of the sensor S again to check the existence of the vehicle B. The operation is repeated until the vehicle B on the priority road is not detected, and after prescribed seconds from no detection of the vehicle B, the motor 4 is started to start the vehicle A and allows it to pass the converging zone.
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Inventors:
SHINOHARA YOSHINORI
Application Number:
JP27111889A
Publication Date:
June 05, 1991
Filing Date:
October 18, 1989
Export Citation:
Assignee:
MURATA MACHINERY LTD
International Classes:
G05D1/02; B61B13/00; (IPC1-7): B61B13/00; G05D1/02
Domestic Patent References:
| JPS61156313A | 1986-07-16 |
Attorney, Agent or Firm:
Makoto Amino (2 outside)