| 摘要 |
PURPOSE:To prevent the malfunctions of a mobile robot by collating the release signal received from a load receiving platform with the command signal received from a vehicle traffic controller at the load receiving platform side via a push- pull device of a mobile robot to advance the process. CONSTITUTION:A push-pull control system for a mobile robot 1 consists of a push-pull P-P device 2, a mobile robot drive controller 3, a vehicle traffic controller 4, and a hand controller unit 5. In an automatic operation mode, the commands are received from the controller 4 as the command cues for the moving speed, the moving distance, and the weight of an object to be carried. Then it is confirmed whether the direction of the robot 1 and the state of the device 2 are normal or not. a transfer instruction is produced by a buffer and the object to be carried is moved up to the position of a load receiving platform to be stopped with an interruption signal received from an encoder. When the object to be carried is stopped, the moving direction of the robot 1 is collated with a command of the device a fork. If not release signal is received within a prescribed period of time, the robot 1 is reset in a waiting state and at the same time an alarm is outputted.
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