リニアインダクションモータを用いた無人搬送車の走行制御方式

抄録

This paper reports a linear-type steering mechanism, an image guidance system, and a steering control method in linear-type automated guided vehicles using linear induction motors.
To improve the steering characteristics of four-wheel linear-type automated guided vehicles, we propose linear-type traveling, and steering mechanisms made up of on-the-vehicle two linear induction motors. They generate a thrust between the motors and reaction plates layed on the floor of the vehicle's guide track. A guiding tape affixed on the reaction plate is accurately and quickly recognized by an image guidance system that uses the signals from an image sensor to control a linear-type steering mechanism.
In traveling experiments, a prototype automated guided vehicle was verified to travel smoothly on a straight track at 240 m/min with as little as ±12 mm amplitude deviation which is less than the guiding tape 50 mm width.