PROBLEM TO BE SOLVED: To provide an unmanned forklift steering control method that is capable of reducing unnecessary energy consumption during an operation.SOLUTION: The steering control method for an unmanned forklift traveling on a target traveling route while acquiring a current position during traveling is configured such that a control device acquires a positional deviation amount of a vehicle body from the target traveling route during the traveling, stops a hydraulic circuit device when a target steering amount calculated on the basis of the positional deviation amount is equal to or smaller than a preset threshold value, controls a pair of left and right traveling motors, executes steering on the basis of a rotational speed difference between a pair of left and right driving wheels, and executes steering by steering wheels operated by the hydraulic circuit device when the target steering amount exceeds the threshold value.SELECTED DRAWING: Figure 4
【課題】運転中における無駄なエネルギーの消費を低減することができる無人フォークリフトの操舵制御方法の提供にある。【解決手段】走行時の現在位置を取得しつつ、目標走行経路を走行する無人フォークリフトの操舵制御方法において、制御装置は、走行時の目標走行経路に対する車体の位置ずれ量を取得し、位置ずれ量に基づいて算出される目標操舵量が予め設定した閾値以下のとき、油圧回路装置を停止させ、左右一対の走行用モータを制御し、左右一対の駆動輪の回転速度差により操舵し、目標操舵量が閾値を越えるとき、油圧回路装置の作動による操舵輪により操舵する。【選択図】 図4
UNMANNED FORKLIFT STEERING CONTROL METHOD
無人フォークリフトの操舵制御方法
2018-09-13
Patent
Elektronische Ressource
Japanisch
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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