Running control method and apparatus of the automatic guided vehicles
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorsMasahiro Sudare, Hisao Tomikawa, Mamoru Minami
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Abstract
This invention relates to a running control apparatus and method for calculating the running positions and directions of the automatic guided vehicle in response to detected outputs of the magnetic field intensity of magnets arranged at fixed points on the running course in two-dimension by being detected for several times at a predetermined timing by a plurality of magnetic detecting elements which are aligned in a direction intersecting the moving direction of the vehicle, correcting said running positions and directions, and controlling the automatic guided vehicle.
Claims5
A running control method of an automatic guided vehicle which runs as detecting the running position and direction, characterized by detecting the magnetic field intensity of magnets arranged at fixed points on running courses, said detecting being conducted several times at a predetermined timing with a plurality of magnetic detecting elements aligned in a direction intersecting the moving direction of the vehicle, to calculate at least a first running position and direction of the automatic guided vehicle in response to detected outputs over a plurality of times of conducting said detecting of each of said plurality of magnetic detecting elements, wherein at least said calculated running position includes a position calculated in a first dimension substantially along said moving direction and a second dimension substantially along said direction intersecting the moving direction, and to correct said running positions and directions so as to follow said running courses according to the calculated values.
A running control apparatus of an automatic guided vehicle which runs as detecting the running position and direction, comprising:
- a plurality of magnetic detecting elements aligned in a direction intersecting the moving direction of the vehicle for detecting the magnetic field intensity of magnets arranged respectively at fixed points on running courses;
- a detecting control portion which controls to detect said magnetic detecting elements for several times adjacent said magnets at a predetermined timing;
- a position calculating portion which converts the detected magnetic field intensity over a plurality of times of detecting by said plurality of magnetic detecting elements into a distribution pattern of moving direction of the vehicle and its intersecting direction, to calculate the running position and direction of said automatic guided vehicle in response to converted data, wherein at least said calculated running position includes a position calculated in a first dimension substantially along said moving direction and a second dimension substantially along said direction intersecting the moving direction;
- and
- an operation control portion which corrects said running position and direction so as to follow along said running courses.
Dependencies are inferred from the claim text.