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    • 106. 发明授权
    • System for automatically controlling movement of unmanned vehicle and
method therefor
    • 用于自动控制无人驾驶车辆运动的系统及其方法
    • US4716530A
    • 1987-12-29
    • US704522
    • 1985-02-22
    • Hiroshi OgawaYasuyuki MiyazakiSusumu YoshidaShinichi Sasaki
    • Hiroshi OgawaYasuyuki MiyazakiSusumu YoshidaShinichi Sasaki
    • B61L3/00G05D1/02G06F19/00G06F15/50
    • G05D1/0265G05D1/0234G05D1/0242G05D2201/0216
    • A system for automatically controlling movement of an unmanned vehicle and method therefor wherein one or more than one marker is installed between each branched corner formed by a guide road through which the vehicle passes for providing an indicating means for the vehicle to accelerate, decelerate, or turn the branched corner and the vehicle includes detecting means for detecting the presence of the marker and outputting a signal indicating that the marker is located at the corresponding position and a controller in which data and main program on a pattern of turning the movement of the vehicle at any given branched corner and vehicle speed control according to the detected number of markers in accordance with a route of movement from a starting point which is loaded prior to the start of the vehicle so that the control for turning the movement direction of the vehicle and vehicle speed is carried out by fetching the corresponding above-described data and main program of the pattern according to the number of detected markers. Furthermore, at least one timer is provided in the controller which outputs an interrupt signal so that an interrupt program is executed for controlling an on-and-off period of steering and/or movement motor chopper circuit with the main program being temporarily halted.
    • 一种用于自动控制无人驾驶车辆的运动的系统及其方法,其中一个或多于一个的标记被安装在车辆通过的导轨之间形成的每个分支角之间,以提供用于车辆的指示装置加速,减速或 转动分支角,并且车辆包括用于检测标记的存在并输出指示标记位于相应位置的信号的检测装置,以及控制器,其中数据和主程序转动车辆的运动 在根据检测到的标记数量的任何给定的分支角和车辆速度控制下,根据从车辆开始之前装载的起点的运动路线,使得用于转动车辆的运动方向的控制和 通过取出相应的上述数据和主程序来执行车速 根据检测到的标记的数量。 此外,在控制器中提供至少一个定时器,其输出中断信号,使得执行中断程序以控制主程序暂时停止的转向和/或运动马达斩波电路的导通和关闭时段。