Entering attitude control manner null of automatic guided tractor for wagon car

摘要

PURPOSE: To obtain a method for controlling the attitude getting beneath the wagon for the unmanned wagon tractor capable of allowing the attitude of the unmanned tractor to follow up the attitude of the wagon which is located at an arrangement position and eliminating the need for a fixing facility on a traveling path such as a wagon guide without restraining the attitude of the wagon. ;CONSTITUTION: An unmanned tractor 20 is provided with a radio type right range finding sensor 30R and a radio type left range finding sensor 30L measuring the right and left distances in the direction of a vehicle width between the tractor and a wagon 101 and detects the deviated width of the distance in the right and left vehicles and the deviated angle of a vehicle attitude by inputting in sampling the output of both the measurement sensors. When the deviated amount exceeds an allowable value, a guiding control is switched over to a programmed control, a required correction operation angle is calculated and a staring control is executed while utilizing the calculation value as an aimed control value.;COPYRIGHT: (C)1993,JPO&Japio