Title:
STEERING CONTROLLER FOR TRAVELING VEHICLE
Document Type and Number:
Japanese Patent JPH01106114
Kind Code:
A
Abstract:
PURPOSE:To omit the construction of a track for a vehicle by detecting the distance between the traveling vehicle and the surface of a wall to obtain the necessary steering value for the steering control of the vehicle traveling along the wall surface. CONSTITUTION:When a vehicle is traveling at the center of a tunnel, the reciprocating times t1 and t2 of the ultrasonic waves are counted to a wall surface 14 by an ultrasonic wave transmitting/receiving unit 10 and an amplifier 11. These times t1 and t2 are supplied to an arithmetic unit for calculation of the steering degree and direction of the vehicle so that t1=t2 is satisfied. Thus the target value + or -DELTAt' is outputted. A servo amplifier 13 supplies the target value signal + or -DELTAt' and the present steering position signal to compare them with each other and drives a servo motor 8 until the coincidence is secured between the value of a steering detector 9 and the target value.
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Inventors:
SAWANO TOSHIYUKI
Application Number:
JP26166487A
Publication Date:
April 24, 1989
Filing Date:
October 19, 1987
Export Citation:
Assignee:
KOMATSU MFG CO LTD
International Classes:
B62D1/28; G05D1/02; (IPC1-7): B62D1/28; G05D1/02
Attorney, Agent or Firm:
Masaaki Yonehara (1 person outside)