An AI-based adaptive vehicle control system which controls the speed of a vehicle in accordance with the driving characteristics of the driver. In effecting the follow-up driving which corresponds to the driving characteristics of the driver, the vehicle environment such as the distance between the vehicle and the vehicle in front, the relative speed, and the relative position, and the running state such as the speed and the steering angle of the vehicle itself are detected, and a danger index is calculated from the detected vehicle environment and running state in accordance with the driver's sense of driving. The danger index is calculated by the fuzzy induction from the membership functions which are determined in advance in accordance with a general driver's sense of driving. The running state of the vehicle such as the speed is controlled in accordance with the danger index. When the manipulated variable is changed by the driving operation of the driver, the danger index is adjusted in accordance with the amount of change. The change by the driving operation of the driver is reflected as the change in the membership functions. Thus, the calculated danger index gradually agrees with the driving characteristic of the driver.

AI-based adaptive vehicle control system

An automatically guided vehicle that runs guided by guide signals transmitted from guiding material laid on the floor. The wheels at the four corners of the chassis of the vehicle are casters that can be switched over between free and fixed modes. A steering drive unit which can move by itself in longitudinal direction is mounted on the lower surface of the chassis at approximately the center thereof. Sensors that detect guide signals are provided at the front and rear parts of the steering drive unit. The steering drive unit changes its operating position automatically as the vehicle switches over between forward and backward running modes. The casters change modes in such a manner that, as the automatically guided vehicle switches over between forward and backward running modes, the casters at the front function as free wheels while the casters at the rear function as fixed or pivot-restrained wheels.

Automatically guided vehicle

The invention discloses an adaptive tracking control method of paths of a comprehensive automatic guided vehicle The adaptive tracking control method is adopted aiming at the running paths of different shapes, wherein the smoothness of movement of a vehicle body is improved by a free state tracking control method, and the position and the attitude of the vehicle body are accurately adjusted by adopting a comprehensive tracking control method

Adaptive tracking control method of paths of comprehensive automatic guided vehicle

Ce dispositif est du type comportant un châssis (2) avec des moyens d'entrainement au moins en translation, des moyens aptes a porter une charge, des moyens pour deplacer verticalement une couronne (9) entre une position de transport, dans laquelle elle est au-dessus du sol, et une position de pivotement dans laquelle elle est en appui sur le sol et permet le soulevement du chariot, et des moyens pour faire pivoter le chariot souleve par rapport a la couronne. Selon l'invention, les moyens pour deplacer verticalement la couronne (9) comprennent un coulisseau (6) qui, monte coulissant dans des glissieres verticales (7) du châssis (2) et portant, cale a son extremite inferieure, un plateau circulaire (8) sur lequel la couronne (9) est montee libre en rotation, d'une part, supporte dans sa partie superieure les moyens (23) de manutention verticale de la charge, et, d'autre part, est relie au châssis par des moyens moteurs (12 a 16) aptes a assurer les deplacements verticaux du chariot (2) et ceux de la charge, munis de moyens de detection de la course rectiligne effectuee, et asservis a des moyens de pilotage embarques (30), tandis que les moyens moteurs (18) provoquant la rotation de la couronne sont egalement munis de moyens de detection de la course circulaire realisee et asservis aux moyens de pilotage embarques.

Stationary direction changing device for a handling trolley.

PURPOSE:To automatically select and broadcast music which is richest in atmosphere corresponding to an environment by detecting the environment where BGM is broadcasted, executing fuzzy inference for the attribute of the music corresponding to this environment, selecting the music closest to the attribute of the inferred music and broadcasting the BGM. CONSTITUTION:A fuzzy inference device 30 executes the fuzzy inference for cheerfulness (y1) of the music to be broadcasted, grade (y2) of the music, quiet ness (y3) of the music and a frequency (y4) to use a stringed instrument corre sponding to a surrounding temperature (x1), brightness (x2), number (x3) of persons, time (x4) and month (x5) with respect to the music. A BGM retrieving means 60 calculates a distance L(i) between attribute data [y1(i)-y4(i)] of a number (i) stored in a BGM attribute data file 50 and data (y1-y4) inferred by the device 30. Then, a number (n) of the music is selected so that the L(i) can be made minimum. Then, the music is broadcasted from speakers 81-8m through a BGM broadcasting means 70.

Bgm selecting broadcasting device

PURPOSE:To obtain an unmanned vehicle movable in all directions with low energy regardless of the loaded weight by providing free wheels provided below a vehicle body, a pair of drive wheels driven by individual drive sources, vertically moving means of these drive wheels, and horizontally rotating means. CONSTITUTION:When an unmanned vehicle 1 is to be traveled forward or backward, it can be traveled by fixing a rotary table 2 to a vehicle body 6 with an electromagnetic brake 11 and setting the right and left drive motors 4, 4 to the same rotating speed. At the right or left turn, the rotary table 2 is fixed to the vehicle body 6, and the vehicle 1 is turned via the difference of the rotating speeds of the right and left drive motors 4, 4, i.e., spin turn. For the lateral advance, the unmanned vehicle is stopped at the position where it is to be laterally advanced, the drive section is removed from the floor face with a vertically moving motor 8 of a jack 9, the vehicle body is supported with free wheels 5, 5 fitted at the front and rear and the right and left below the vehicle body, the rotary table 2 is rotated by 90 deg. with a motor 10 and fixed to the vehicle body 6 with the electromagnetic brake 11. The drive section is then grounded on the floor face with the vertically moving motor 8 of the jack 9 and laterally advanced.

Unmanned vehicle for transportation

PURPOSE:To realize the highly accurate control like a follow-up action of a human being even with the measurement information of the comparatively low accuracy, by converting the follow-up action of the human being into a fuzzy rule and deciding a control command by the fuzzy inference. CONSTITUTION:A fuzzy control part 2 includes a knowledge base part 2a which stores a control rule for execution of the fuzzy inference and a membership function and a fuzzy inference processor 2b which carries out the fuzzy inference. The distance between a traveling object and a target and the moving speed of the traveling object itself are measured via the sensing media like an ultrasonic wave sensor, an encoder, etc., of a measurement part 1. Then the part 2 calculates the degree of satisfaction for a condition part of a prescribed control rule set for acceleration/deceleration control based on the input measurement value. Then the membership function is corrected for a conclusion part of each control rule and an OR function is calculated. The centroid of said OR function is secured as the acceleration/deceleration control value and the information on this centroid is supplied to a traveling control part 3 for control of the acceleration, deceleration, etc., of the traveling object having a follow-up action.

Follow-up control system

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Unmanned vehicle for transportation

Follow-up control system