| 摘要 |
PURPOSE:To transfer an unmanned truck accurately to a guide line by applying the feed back to a steering angle command of the truck based on the distance from the guide line and the posture angle to the guide line after detecting said distance and angle. CONSTITUTION:A steering angle command of a turning radius (r) is delivered from a spot A on a guide line set in front of another guide line by a program. The output voltage of a detection coil is supplied to obtain the distance of an unmanned truck from the guide line together with the coordinates of a key point P of the truck body and the angle thetac of the truck body. Then the deviation between an ideal turning angle thetar of the truck body and the actual turning angle thetac is fed back to the steering angle command. The distance is obtained again between the truck and the guide line in the next turning control. Then the angle thetac of the truck body is calculated and a steering angle command ST is delivered. Thus the steering angle is reduced gradually and the truck is guided by a drive detecting coil. |
