PRECISE STOP METHOD FOR OMNIDIRECTIONAL MOBILE VEHICLE

Japanese Patent JPH03135609

A

PURPOSE:To precisely stop an omnidirectional mobile vehicle at the stations, etc., by starting newly an auxiliary program to calculate an error between a target stop position and an actual stop position and to correct the error. CONSTITUTION:The distance measuring devices X1 - X8 are provided at the front and back parts and at both sides of a body 1A of an ominidirectional mobile vehicle 1. When it is regarded that the vehicle 1 reached its target stop position, an error between the target stop position and an actual stop position is calculated via the devices X1 - X8. At the same time, a 2nd auxiliary program is newly started for correction of the error. Thus it is possible to precisely and quickly stop the vehicle 1 at the stations, etc., even if an accurate distance actually traveled is not obtained owing to a mechanical error and a manufacturing error caused by the wear of wheels, etc., or the inferior resolution of each detector.

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KATANAYA IKUYA
HIROOKA SHIGERU
TANAKA SHINOBU

JP20874889A

June 10, 1991

August 12, 1989

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NIPPON YUSOKI CO LTD

G05D1/02; (IPC1-7): G05D1/02

JPS6431208A	1989-02-01
JPS59121408A	1984-07-13
JPS61235220A	1986-10-20

WO1988007711A1

1988-10-06

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