To provide a transport vehicle that can stably travel even on a curved road, and a steering control program for the transport vehicle.SOLUTION: A distance Lip of virtual origins Cf and Cr with respect to a guide sensor 4 is set shorter when a traveling path is curved than when it is linear. As the distance Lip is longer, a steering angle θv becomes smaller even if deviation amounts df and dr are the same, so that the vehicle can travel stably on a straight traveling path. On the other hand, the shorter the distance Lip is, the larger angles θf and θr formed for calculating a turning center C with respect to the deviation amounts df and dr are, and the smaller a turning radius from the turning center C to each rotation axis 3c is. As a result, even if the deviation amounts df and dr are the same, the steering angle θv becomes large, so that a followability on a curved traveling path is improved. Therefore, stable running can be realized even on a curved running road.SELECTED DRAWING: Figure 3
【課題】カーブ状の走行路においても安定走行できる搬送車および搬送車の操舵制御プログラムを提供すること。【解決手段】ガイドセンサ4に対する仮想原点Cf,Crの距離Lipは走行路が直線状の場合よりカーブ状の場合の方が短く設定される。距離Lipが長い程、ズレ量df,drが同じであっても操舵角θvは小さくなるので、直線状の走行路を安定走行できる。一方、距離Lipが短い程、ズレ量df,drに対する旋回中心Cを算出するためのなす角θf,θrは大きくなり、旋回中心Cから各回転軸3cまでの旋回半径は小さくなる。これにより、ズレ量df,drが同じであっても操舵角θvは大きくなるので、カーブ状の走行路での追従性が向上する。従って、カーブ状の走行路においても安定走行を実現できる。【選択図】図3
TRANSPORT VEHICLE AND STEERING CONTROL PROGRAM FOR TRANSPORT VEHICLE
搬送車および搬送車の操舵制御プログラム
2020-09-03
Patent
Electronic Resource
Japanese
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