Control system for a self-moving vehicle
US5208521A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Sep 3, 1992 |
| Grant date | May 4, 1993 |
| Priority date | — |
| Expiry date | Sep 3, 2012 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/027
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A control system for a self-moving vehicle is provided with a pair of driving wheels on both sides of a shaft of a vehicle, motors for driving the driving wheels, velocity encoders for outputting velocity feedback signals in detecting the rotational velocities of the driving wheels being connected to the driving wheels, a main control apparatus for outputting velocity instruction signals instructing the rotational velocities of motors being given a direction instruction signals, a gyro for detecting a yaw rate of the vehicle, and a motor control apparatus for executing the controls of motors in integrating the velocity instruction signals and the velocity feedback signals with integrators for each period of time, and correcting the integrated velocity instruction signals with the integrated velocity feedback signals. The main control apparatus outputs the velocity instruction signal corrected with the integrated value of the yaw rate in the case where the integrated value of the yaw rate detected by the gyro for each fixed period of time is larger than a specified value or the value of the yaw rate is larger than another specified value so as to obtain an optimum directional and sp…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.