PROBLEM TO BE SOLVED: To provide an unmanned transport truck capable of moving along a guidepath without requiring field adjustment.SOLUTION: In an unmanned transport truck 10 including an automatic driving operation part 14 for moving a truck part 12 along a guidepath 13 of a floor surface 11, the automatic driving operation part 14 includes truck deviation detection means 15 for detecting a truck deviation distance X with respect to the guidepath 13 of the truck part 12 and truck driving control means 16 for moving the truck part 12 along the guidepath 13 while correcting the truck deviation distance X. The truck driving control menas 16 includes a truck movement command unit 19 for outputting a rotation driving signal by which the rotation of driving wheels 17, 18 of the truck part 12 is controlled, a track correction command unit 20 for calculating the rotation correction amount of the driving wheels 17, 18 required for the correction of the truck deviation distance X by the sliding mode control and outputting it as a rotation correction signal, and a driving source control unit 23 for inputting rotation command signals including a combination of a rotation driving signal and a rotation correction signal into rotation driving sources 21, 22 of the driving wheels 17, 18.SELECTED DRAWING: Figure 2

    【課題】現場調整せずに誘導路に沿って移動が可能な無人搬送台車を提供する。【解決手段】床面11の誘導路13に沿って台車部12を移動させる自動運転操作部14を備えた無人搬送台車10において、自動運転操作部14は、台車部12の誘導路13に対する台車ずれ距離Xを検出する台車ずれ検出手段15と、台車部12を台車ずれ距離Xを修正しながら誘導路13に沿って移動させる台車運転制御手段16とを有し、台車運転制御手段16は、台車部12の駆動車輪17、18の回転を制御する回転駆動信号を出力する台車移動指令ユニット19と、台車ずれ距離Xの修正に必要な駆動車輪17、18の回転修正量をスライディングモード制御により求めて回転修正信号として出力する軌道修正指令ユニット20と、回転駆動信号と回転修正信号を組み合わせた回転指令信号を駆動車輪17、18の回転駆動源21、22に入力する駆動源制御ユニット23とを有する。【選択図】図2


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    Title :

    UNMANNED TRANSPORT TRUCK


    Additional title:

    無人搬送台車


    Contributors:
    INOUE KAORU (author) / HAMADA MASARU (author)

    Publication date :

    2018-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B61B RAILWAY SYSTEMS , Eisenbahnanlagen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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