To provide an unmanned forklift travel control device, an unmanned forklift travel control method, an unmanned traction vehicle travel control device, and an unmanned traction vehicle travel control method capable of improving straight travelling properties without detecting a wheel speed.SOLUTION: An unmanned forklift travel control device includes a machine base, a right and left pair of front wheels, a rear wheel, a potentiometer 31 for detecting a steering angle of the rear wheel, an encoder 32 attached to the rear wheel, and a gyro sensor 33. A controller 24 is provided for calculating an offset value of the potentiometer 31 removing a target steering angle shift based on a moving distance of the machine base acquired from the encoder 32 before and after the straight traveling, and a displacement of an attitude angle of the machine base acquired from the gyro sensor 33 before and after the straight traveling. The controller 24 performs correction of the steering angle based on the offset value.SELECTED DRAWING: Figure 3

    【課題】車輪速度を検出することなく直進性を向上することができる無人フォークリフトの走行制御装置、無人フォークリフトの走行制御方法、無人牽引車の走行制御装置、無人牽引車の走行制御方法を提供する。【解決手段】機台と、左右一対の前輪と、後輪と、後輪の操舵角を検出するポテンショメータ31と、後輪に設けられたエンコーダ32と、ジャイロセンサ33を備える。直線走行前後におけるエンコーダ32から取得した機台の移動距離、及び、直線走行前後におけるジャイロセンサ33から取得した機台の姿勢角度の変位に基づいて、目標操舵角ずれを除いたポテンショメータ31のオフセット値を算出するコントローラ24を備える。コントローラ24はオフセット値に基づいて、操舵角の補正を行う。【選択図】図3


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    Title :

    UNMANNED FORKLIFT TRAVEL CONTROL DEVICE, UNMANNED FORKLIFT TRAVEL CONTROL METHOD, UNMANNED TRACTION VEHICLE TRAVEL CONTROL DEVICE, AND UNMANNED TRACTION VEHICLE TRAVEL CONTROL METHOD


    Additional title:

    無人フォークリフトの走行制御装置、無人フォークリフトの走行制御方法、無人牽引車の走行制御装置、無人牽引車の走行制御方法


    Contributors:

    Publication date :

    2019-06-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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



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