Title:
MOBILE WORKING VEHICLE
Document Type and Number:
Japanese Patent JPS63311512
Kind Code:
A
Abstract:
PURPOSE:To execute travelling without touching a wall by providing a control means for correcting the direction of a car body so that distances measured in a distance measurement means become respectively equal. CONSTITUTION:The control part 17 calculates the distances between the car body 1 and the wall in front of the right and left ends of the car body 1 based on a time from the output timing of transmission pulse signals TP1 and TP2 to the reception timing of reception pulse signals FP1 and FP2. The pulse signals of two phases PP1 and PP2 which are outputted from pulse encoders 12 and 13 with the rotation of driving wheels 6 and 7 are outputted to the control part 17, which calculates the rotational quantity of the driving wheels 6 and 7 based on the pulse signals PP1 and PP2, identifies the rotational directions of them and calculates the moving quantity, the rotational direction and rotational quantity (directional conversion quantity) of the car body 1. Since the directional conversion quantity and the like of the car body 1 are calculated based on the pulse signals of the two phases PP1 and PP2, which are outputted from the pulse encoders 12 and 13, a bearing sensor such as a gyro is not required.
Inventors:
YASUTOMI FUMIO
TAKAOKA DAIZO
TANIGUCHI ETSUO
TAKAOKA DAIZO
TANIGUCHI ETSUO
Application Number:
JP14850787A
Publication Date:
December 20, 1988
Filing Date:
June 15, 1987
Export Citation:
Assignee:
SANYO ELECTRIC CO
International Classes:
A47L11/00; G05D1/02; A47L11/10; (IPC1-7): A47L11/10; G05D1/02
Domestic Patent References:
| JPS59121504A | 1984-07-13 | |||
| JP59122606B | ||||
| JPS59121406A | 1984-07-13 | |||
| JPS62117012A | 1987-05-28 | |||
| JPS61245215A | 1986-10-31 | |||
| JP58130652B | ||||
| JPS6240607B2 | 1987-08-28 |
Attorney, Agent or Firm:
Koji Yasutomi (1 person outside)