ATTITUDE CONTROL METHOD FOR UNMANNED CARRIER USING FRONT AND BACK WHEELS

摘要

PURPOSE: To perform stable travelling and to carry long objects by using more than two carrying cars by performing travelling by controlling the attitude so that the car travelling direction and the car direction are kept at the constant angle by using the difference of speed between the forward and back wheels. ;CONSTITUTION: Front wheels 4 and 5 are arranged at the both front sides of a carrying car K and back wheels 6 and 7 at the both back sides. Accerelation sensors are provided at the center front and back parts of the car and a gyro at the center part. Thus, the wheels are driven at the speed where the front wheels 4 and 5 and the back wheels 6 and 7 are separated or linked. A sterring wheel mechanism which controls the front wheels 4 and 5 and the back wheels 6 and 7 separately or being linked with is provided. The attitude-control travelling can be performed by using the difference in speed between the front wheels 4 and 5 and the back wheels 6 and 7, or the difference in sterring angle between the front wheels 4 and 5 and the back wheels 6 and 7, or the both speed difference and the steering angle difference. Thus, the car travelling direction and the car direction are kept at the constant angle in driving a car.;COPYRIGHT: (C)1996,JPO