JP3120363B2 - Method and apparatus for detecting lateral deviation of unmanned vehicle, and method and apparatus for controlling return to center - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting a lateral deviation of an unmanned vehicle.
Also, the present invention relates to a method and an apparatus for controlling the return of an unmanned vehicle to the center in the left-right direction of a traveling path, and more particularly to a method and apparatus for detecting a lateral deviation of an unmanned traveling vehicle capable of suppressing an increase in the number of 1-bit digital magnetic sensors, and The present invention relates to a center return control method and apparatus.

[0002]

2. Description of the Related Art In an unmanned traveling vehicle such as an unmanned guided vehicle, permanent magnets are laid at appropriate intervals along the center line of the traveling path of the unmanned traveling vehicle, and the unmanned traveling vehicle detects a lateral deviation from the permanent magnet. In addition, the vehicle travels in the center of the traveling path in the left-right direction.

[0003] In a conventional automatic guided vehicle, for example, 1-bit digital magnetic sensors are arranged in a line at equal intervals in the left-right direction. A lateral deviation has been detected. That is, the bisecting point of a line segment having both ends at the positions of the 1-bit digital magnetic sensors at both ends in the left-right direction of the continuous row of the 1-bit digital magnetic sensors that are turned on by detecting the magnetic force of the permanent magnet, The position of the permanent magnet, that is, the center of the traveling path in the left-right direction is determined.

[0004]

In the conventional method for determining the center of the traveling path in the left-right direction of an unmanned vehicle, the number of 1-bit digital magnetic sensors increases as the width of the unmanned vehicle increases in the left-right direction. However, the number of I / O (input / output) ports also increases, and the calculation load on the CPU increases. In order to avoid this, if the interval between the one-bit digital magnetic sensors is increased, the detection accuracy of the left-right position of the unmanned vehicle decreases.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method and apparatus for detecting a lateral deviation of an unmanned traveling vehicle capable of detecting the lateral deviation of an unmanned traveling vehicle with appropriate accuracy while suppressing an increase in the number of 1-bit digital magnetic sensors. It is another object of the present invention to provide a control method and an apparatus for returning an unmanned vehicle to the center in the left-right direction of a traveling path.

[0006]

According to the present invention, an unmanned vehicle (1) is provided.
According to the left-right deviation detection method of (0), the unmanned vehicle (10) is equipped with a 1-bit digital magnetic sensor (20) and an analog magnetic sensor (26) for detecting the left-right direction of the traveling path (16). A plurality of 1-bit digital magnetic sensors (20) are arranged in the horizontal direction to form a digital magnetic sensor array (22), and the analog magnetic sensor (26) is a digital magnetic sensor array.
The digital magnetic sensor array (22) is disposed on both sides of the digital magnetic sensor array (22) in the left-right direction, away from both ends of (22). A lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18) is detected based on the output of the digital magnetic sensor array (22). If it is difficult to detect the left-right deviation of the unmanned vehicle (10) with respect to the magnetic body (18) based on the output of the digital magnetic sensor array (22), the magnetic body is detected based on the output of the analog magnetic sensor (26). Unmanned vehicles for (18)
The left-right deviation of (10) is detected.

In this specification, an unmanned vehicle (1
The lateral deviation of (0) means, in addition to the lateral position of the unmanned traveling vehicle (10), the unmanned traveling vehicle (10) on the traveling path (16) in the lateral direction.
The concept encompasses the approximate range of For example, it is assumed that the vehicle is divided into a plurality of zones (center zone, left zone, etc.) in the left-right direction, and which zone the unmanned traveling vehicle (10) is in is included in the left-right deviation.

The unmanned vehicle (10) normally has a lateral deviation with respect to the magnetic body (18) within a predetermined range, and the lateral deviation within such a predetermined range is output to the digital magnetic sensor array (22). Based on sufficient accuracy. In addition, a large lateral deviation that occurs in rare cases can be detected by the analog magnetic sensors (26) on both the left and right sides of the digital magnetic sensor array (22). In this way, while suppressing an increase in the total number of 1-bit digital magnetic sensors (20), the digital magnetic sensor array (22) enables accurate detection of lateral deviation, and an unmanned over a sufficiently wide lateral range. Detection of the lateral deviation of the traveling vehicle (10) can be ensured.

The device for detecting the deviation of the unmanned vehicle (10) in the left-right direction according to the present invention has the following elements (a) to (d). (A) A digital magnetic sensor array (22) consisting of a left-right array of a plurality of 1-bit digital magnetic sensors (20) for detecting magnetic force from a magnetic body (18) on a traveling path (16) (b) Digital magnetic An analog magnetic sensor (26) that is disposed on both sides of the digital magnetic sensor array (22) in the left-right direction, away from both ends of the sensor array (22), and detects the magnetic force from the magnetic body (18) of the traveling path (16). (C) Ordinary deviation detecting means (52) for detecting a lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18) based on the output of the digital magnetic sensor array (22). Magnetic body based on the output of (22)
If the detection of the lateral deviation of the unmanned traveling vehicle (10) with respect to (18) is hindered, the lateral deviation of the unmanned traveling vehicle (10) with respect to the magnetic body (18) is determined based on the output of the analog magnetic sensor (26). Non-normal deviation detection means (54)

The unmanned vehicle (10) is normally in a left-right direction deviation within a predetermined range, and the normal-time deviation detection means (52) detects the left-right direction deviation in such a predetermined range by a digital magnetic sensor array.
Detection is performed accurately based on the output of (22). For a large lateral deviation that occurs in rare cases, the non-normal deviation detecting means (54) detects the non-normal deviation based on the outputs of the analog magnetic sensors (26) on both the left and right sides of the digital magnetic sensor array (22). It is detected by the detecting means (54). In this way, it is possible to accurately detect the deviation of the unmanned traveling vehicle (10) in the left-right direction while suppressing the increase in the total number of 1-bit digital magnetic sensors (20). Detection of the lateral deviation of the unmanned traveling vehicle (10) can be ensured.

According to the method for controlling the return of the unmanned vehicle (10) to the center according to the present invention, a 1-bit digital magnetic sensor (20) and an analog magnetic sensor (26) for detecting the left-right direction of the running path (16).
To the unmanned vehicle (10). A plurality of 1-bit digital magnetic sensors (20) are arranged in the left-right direction to form a digital magnetic sensor array (22), and an analog magnetic sensor (26)
Are arranged on both sides of the digital magnetic sensor array (22) in the left-right direction, away from both ends of the digital magnetic sensor array (22). A deviation of the unmanned traveling vehicle (10) in the left-right direction with respect to the magnetic body (18) is detected based on an output of the digital magnetic sensor array (22). The traveling vehicle (10) is returned. In addition, the digital magnetic sensor array (2
If the detection of the lateral deviation of the unmanned traveling vehicle (10) with respect to the magnetic body (18) based on the output of (2) does not interfere, the unmanned vehicle with respect to the magnetic body (18) is determined based on the output of the analog magnetic sensor (26). The lateral deviation of the traveling vehicle (10) is detected, and the unmanned traveling vehicle (10) is returned to the center in the lateral direction of the traveling path (16) based on the detection.

The unmanned vehicle (10) is usually in a lateral direction within a predetermined range, and the lateral deviation within the predetermined range is detected based on the output of the digital magnetic sensor array (22). Unmanned vehicle to the center in the left-right direction of the running path (16) based on
Perform the return operation of (10). In addition, with regard to a large lateral deviation that occurs in rare cases, the lateral deviation is detected based on the outputs of the analog magnetic sensors (26) on both the left and right sides of the digital magnetic sensor array (22), and the travel path ( Perform the operation of returning the unmanned traveling vehicle (10) to the center in the left-right direction in 16). In this way, while suppressing an increase in the number of 1-bit digital magnetic sensors (20), the deviation of the unmanned traveling vehicle (10) in the left-right direction at normal time is accurately detected, and the smooth movement of the unmanned traveling vehicle (10) is achieved. The center return can be achieved, and the center return control of the unmanned traveling vehicle (10) can be performed even in a wide left-right direction deviation.

According to another control method for returning the unmanned traveling vehicle to the center of the invention, the deviation of the unmanned traveling vehicle (10) relative to the magnetic body (18) based on the output of the digital magnetic sensor array (22) in the left-right direction. If there is a problem with the detection of the analog magnetic sensor (26)
The magnitude of the lateral deviation of the unmanned vehicle (10) is determined based on the output of the analog magnetic sensor.
Unmanned vehicle (10) for magnetic body (18) based on output of (26)
The unmanned traveling vehicle (10) is returned to the center in the left and right direction of the traveling path (16) based on the detection of the deviation in the left and right direction, and when the determination is large, the unmanned traveling vehicle (10) is stopped.

The magnitude of the lateral deviation of the unmanned traveling vehicle (10) on the traveling path (16) is determined based on the output of the analog magnetic sensor (26), and when it is small, the deviation is determined based on the analog magnetic sensor (26). The center return control of the unmanned traveling vehicle (10) is performed based on the detected lateral deviation of the unmanned traveling vehicle (10). When the determination is large, the traveling of the unmanned traveling vehicle (10) is stopped. In the case of automatic return to the center even when the vehicle is large, there is a problem that the steering mechanism and the like become complicated, but the unmanned vehicle (10) is stopped and, for example, the center return of the unmanned vehicle (10) is manually performed. By doing so, sufficient safety can be ensured while eliminating such problems.

The central return control device for an unmanned traveling vehicle (10) of the present invention has the following components (a) to (e). (A) A digital magnetic sensor array (22) consisting of a left-right array of a plurality of 1-bit digital magnetic sensors (20) for detecting magnetic force from a magnetic body (18) on a traveling path (16) (b) Digital magnetic An analog magnetic sensor (26) that is disposed on both sides of the digital magnetic sensor array (22) in the left-right direction, away from both ends of the sensor array (22), and detects the magnetic force from the magnetic body (18) of the traveling path (16). (C) Normal-time deviation detecting means (52) for detecting a lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18) based on the output of the digital magnetic sensor array (22) (d) Analog magnetic sensor ( 26) Magnetic body based on output
Non-normal deviation detecting means (54) for detecting a lateral deviation of the unmanned vehicle (10) with respect to (18) (e) a magnetic body based on the output of the digital magnetic sensor array (22)
The normal-time deviation detecting means when there is no problem in detecting the lateral deviation of the unmanned traveling vehicle (10) with respect to (18) and when there is a certain case
(52) and a center return means (56) for returning the unmanned traveling vehicle (10) to the center in the left-right direction of the traveling path (16) based on the output of the non-normal state deviation detection means (54).

The unmanned traveling vehicle (10) is normally in a left-right direction deviation within a predetermined range, and during this period, the magnetic body of the traveling road (16) is
The magnetic force from (18) is detected by a digital magnetic sensor train (22), and the normal-time deviation detecting means (52) is a digital magnetic sensor train.
The unmanned vehicle (1) with respect to the magnetic body (18) based on the output of (22)
0) is detected in the left-right direction. Then, return to the center (5
6) returns the unmanned traveling vehicle (10) to the center of the traveling path (16) in the left-right direction based on the output of the normal-time deviation detecting means (52). On the other hand, when there is a problem in detecting the lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18) by the digital magnetic sensor array (22), the non-normal deviation detection means (54) is set to the analog magnetic sensor.
The left-right deviation of the unmanned traveling vehicle (10) is detected based on the output of (26). Then, the center return means (56) moves the unmanned traveling vehicle (10) to the traveling path (1) based on the output of the non-normal state deviation detecting means (54).
6) Return to the left / right center. As described above, with respect to the center return control of the unmanned traveling vehicle (10), the deviation of the unmanned traveling vehicle (10) in the left-right direction in the normal state is accurately detected while suppressing an increase in the number of 1-bit digital magnetic sensors (20). As a result, smooth center return can be achieved, and the center return of the unmanned traveling vehicle (10) to a sufficiently wide left-right deviation can be ensured.

The control device for returning to the center of the unmanned traveling vehicle (10) of the present invention further has the following (f) and (g). (F) Judgment means (50) for judging the magnitude of the lateral deviation of the unmanned vehicle (10) based on the output of the analog magnetic sensor (26) (g) Judgment by the judgment means (50) is large and small In each case, stop the unmanned vehicle (10) and use the analog magnetic sensor (2
Travel stop means (58) for stopping the return of the unmanned traveling vehicle (10) to the center in the left-right direction of the traveling path (16) based on the output of (6) and stopping the unmanned traveling vehicle (10)

The determining means (50) determines the magnitude of the lateral deviation of the unmanned vehicle (10) on the traveling path (16) based on the output of the analog magnetic sensor (26). The traveling stop means (58) stops traveling of the unmanned traveling vehicle (10) when the result of the determination by the determining means (50) is large. The problem of complicating the steering mechanism and the like occurs in order to automatically perform the return to the center when the vehicle is large.However, when the vehicle is large, the unmanned vehicle (10) is stopped and, for example, the unmanned vehicle is manually operated. By performing the return to the center of (10), sufficient safety can be ensured while avoiding such problems.

According to the center return control device for an unmanned traveling vehicle (10) of the present invention, the direction of the analog magnetic sensor (26) is set to the left / right direction, and the determination means (50) is controlled by the analog magnetic sensor (26). Makes a magnitude judgment based on the sign of the output

Whether the magnetic body (18) of the traveling path (16) is on the inner side or the outer side in the left-right direction with respect to the analog magnetic sensor (26) depends on the magnetic body (1) in the analog magnetic sensor (26).
The direction of the magnetic field due to 8) is reversed, and the analog magnetic sensor (26)
Output polarity is inverted. Therefore, it is possible to simplify the determination of the magnitude of the lateral deviation of the unmanned traveling vehicle (10) in the determination means (50) based on the sign of the output of the analog magnetic sensor (26).

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIGS. 4 and 5 are front views of the automatic guided vehicle 10 traveling substantially at the center in the left-right direction of the traveling path 16 and traveling near one side of the traveling path 16. Automatic guided vehicle
Reference numeral 10 denotes a pedestal 11 on which luggage is placed, and tires 12 attached to the lower side of the pedestal 11 to support the pedestal 11 in front, rear, left and right
The tire 12 is driven to rotate along a traveling path 16 in the factory 14. permanent magnet
18 are laid on the traveling path 16 at appropriate intervals along the center line of the traveling path 16. The digital magnetic sensor array 22 is connected to the automatic guided vehicle 10
A plurality of 1s arranged at equal intervals in a row in the horizontal direction
It is composed of a bit-type digital magnetic sensor 20, and is attached to the base 11 via the bracket 24 so as to be at a predetermined height from the traveling path 16 so that the center in the left-right direction coincides with the center in the left-right direction of the automatic guided vehicle 10. The CPU (not shown) is provided with I / O ports as many as the 1-bit digital magnetic sensors 20. The left and right analog magnetic sensors 26 are automatic guided vehicles
The bracket 10 is located between the digital magnetic sensor row 22 and the tire 12 at a position equal to the height of the digital magnetic sensor row 22, away from the end of the digital magnetic sensor row 22 in the left-right direction of 10.
It is attached to the base 11 through 28. The arrangement of the digital magnetic sensor array 22 and the analog magnetic sensors 26 in the automatic guided vehicle 10 is symmetrical. In the vicinity of the permanent magnet 18,
A magnetic field is formed by lines of magnetic force 30 from the permanent magnets 18, and the magnetic lines of force 30 correspond to the 1-bit digital magnetic sensor 20 and the analog magnetic sensor of the automatic guided vehicle 10 according to the position of the automatic guided vehicle 10 relative to the permanent magnets 18 in the left-right direction. 26.

FIG. 6 is a front view showing the directing direction of the analog magnetic sensor 26. Direction direction D of analog magnetic sensor 26
, Both the left and right analog magnetic sensors 26 are directed outward in the left-right direction of the automatic guided vehicle 10. The directional direction D of the analog magnetic sensor 26 may be directed inward in the left-right direction of the automatic guided vehicle 10 for both the left and right analog magnetic sensors 26.

The automatic guided vehicle 10 normally travels near the center of the traveling path 16 in the left-right direction as shown in FIG.
That is, the center of the automatic guided vehicle 10 in the left-right direction is not so far from the permanent magnet 18 in the left-right direction, and the magnetic field lines 30 from the permanent magnet 18 are detected by the 1-bit digital magnetic sensor 20. Each 1-bit digital magnetic sensor 20 has a magnetic field line
It turns on and off depending on whether or not 30 is detected. When the outputs of the plurality of 1-bit digital magnetic sensors 20 are on, the plurality of on-state 1-bit digital magnetic sensors 20 are continuous in the left-right direction. The bisecting point of the line segment having both ends of the 1-bit digital magnetic sensor 20 is detected as the position of the permanent magnet 18, that is, the center position in the left-right direction on the traveling path 16.

Occasionally, the automatic guided vehicle 10 increases the amount of deviation in the left-right direction with respect to the center in the left-right direction of the traveling path 16, as shown in FIG. In this case, the digital magnetic sensor array 22
Cannot detect the position of the automatic guided vehicle 10 in the left-right direction on the traveling path 16. However, the magnetic field lines 30 from the permanent magnet 18
Is detected by the left or right analog magnetic sensor 26, and the approximate left-right deviation of the automatic guided vehicle 10 can be detected from the analog output amount of the analog magnetic sensor 26.

FIG. 2 is a flowchart of the mode determination routine. In step 60, it is checked whether or not the outputs of all the 1-bit digital magnetic sensors 20 of the digital magnetic sensor array 22 are off. When the outputs of all the 1-bit digital magnetic sensors 20 are off, that is, to the extent that all the 1-bit digital magnetic sensors 20 cannot detect the magnetic field lines 30 from the permanent magnets 18 on the traveling path 16, Is shifted from the permanent magnet 18 in the left-right direction, step 66
Then, the mode is changed to the non-normal mode. In step 60,
If at least one 1-bit digital magnetic sensor 20 is on, the process proceeds to step 62. In step 62, it is checked whether any one of the 1-bit digital magnetic sensors 20 at both ends of the digital magnetic sensor array 22 is turned on. When the one-bit digital magnetic sensor 20 at the end of the digital magnetic sensor array 22 is on, it is difficult to detect the position of the permanent magnet 18 in the left-right direction by the bisector method described above. In order not to detect the position of the automatic guided vehicle 10 in the left-right direction based on the output of the row 22, the process proceeds to step 66, where the non-normal mode is set. Step 62
Is NO, the position of the automatic guided vehicle 10 in the left-right direction can be accurately detected based on the output of the digital magnetic sensor array 22, so that the routine proceeds to step 64, where the normal mode is set.

FIG. 3 is a flowchart of a control routine for returning the automatic guided vehicle 10 to the center in the left-right direction in the non-normal mode. The return control routine of FIG. 3 is executed when the non-normal mode is set in the routine of FIG. In step 70, the output of the analog magnetic sensor 26 is checked.
If there is no output from the analog magnetic sensor 26, that is, the magnetic field lines 30 from the permanent magnet 18 are
If the analog magnetic sensor 26 is in the non-normal mode in which the analog magnetic sensor 26 is moving farther from the permanent magnet 18 in the left and right directions so that both cannot be detected, the process proceeds to step 76. If it is determined in step 70 that there is an output from the analog magnetic sensor 26,
Proceeding to 72, the sign of the output of the analog magnetic sensor 26 is checked. When the output of the analog magnetic sensor 26 is positive, that is, since the permanent magnet 18 is located inside the analog magnetic sensor 26 in the left-right direction, the left-right deviation of the automatic guided vehicle 10 is relatively small, and the process proceeds to step 74. move on. If the output of the analog magnetic sensor 26 is negative, that is, since the permanent magnet 18 is located outside the analog magnetic sensor 26 in the left and right direction, the lateral deviation of the automatic guided vehicle 10 is large, and the process proceeds to step 76. In step 74, the steering mechanism is automatically controlled so that the center of the automatic guided vehicle 10 in the left-right direction returns to the permanent magnet 18 in the left-right direction. In contrast, in step 76,
Stop the automatic guided vehicle 10 and then manually
Of the automatic guided vehicle 10 to the center in the left-right direction of the vehicle.

FIG. 1 is a block diagram of a central return control device provided in the automatic guided vehicle 10. The return mode determination means 50 includes a digital magnetic sensor array 22 and left and right analog magnetic sensors 26.
Is input, and the normal mode and the non-normal mode are determined according to the routine of FIG. 2, and the automatic return in the non-normal mode or the manual return after stopping the traveling is determined according to the routine of FIG. 3. The normal mode deviation detecting means 52 is a permanent magnet based on the input from the digital magnetic sensor array 22.
The position of the automatic guided vehicle 10 in the left-right direction with respect to 18 is detected. The non-normal mode deviation detecting means 54 detects a deviation range of the automatic guided vehicle 10 with respect to the permanent magnet 18 based on an input from the left and right analog magnetic sensors 26. The center return means 56
When the return mode determination unit 50 determines that the mode is the normal mode,
Automatic return is possible according to the horizontal position of the automatic guided vehicle 10 detected by the normal mode deviation detecting means 52 and according to the sign of the output of the analog magnetic sensor 26 regardless of whether the return mode determining means 50 determines the non-normal mode. If it is determined that the automatic guided vehicle 10 is detected by the non-normal mode deviation detecting means 54,
Return 10 to the center of runway 16. Non-normal mode deviation detection means
When the automatic guided vehicle 10 approaches the center of the traveling path 16 by an appropriate amount by the central return control of the central return means 56 based on the input from the input 54, the central return based on the input from the normal mode deviation detecting means 52 is performed again. It becomes possible and switches to it.

[Brief description of the drawings]

FIG. 1 is a block diagram of a center return control device mounted on an automatic guided vehicle.

FIG. 2 is a flowchart of a mode determination routine.

FIG. 3 is a flowchart of a return control routine of the automatic guided vehicle to the center in the left-right direction in the non-normal mode.

FIG. 4 is a front view when the automatic guided vehicle travels substantially at the center in the left-right direction of a traveling path.

FIG. 5 is a front view when the automatic guided vehicle is traveling toward one side of a traveling path.

FIG. 6 is a front view showing a directional direction of the analog magnetic sensor.

[Explanation of symbols]

Reference Signs List 10 automatic guided vehicle (unmanned traveling vehicle) 16 traveling path 18 permanent magnet (magnetic body) 20 1-bit digital magnetic sensor 22 digital magnetic sensor array 26 analog magnetic sensor 50 return mode determining means (determining means) 52 normal mode deviation detecting means (Normal deviation detection means) 54 Non-normal mode deviation detection means (Normal deviation detection means) 56 Center return means 58 Travel stop means

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-62-164118 (JP, A) JP-A-3-127105 (JP, A) JP-A-50-100732 (JP, A) 66402 (JP, A) JP-A-8-161041 (JP, A) JP-A-7-56628 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (7)

(57) [Claims] 1. Laying along the center line of the running path (16)
An unmanned vehicle (10) is equipped with a 1-bit digital magnetic sensor (20) and an analog magnetic sensor (26) for detecting a magnetic force from a magnetic body (18), and the 1-bit digital magnetic sensor (20) A plurality of digital magnetic sensor rows (22) are arranged in the left-right direction, and the analog magnetic sensor (26)
Is separated from both ends of the digital magnetic sensor array (22),
It is disposed on both sides of the digital magnetic sensor array (22) in the left-right direction, and based on the output of the digital magnetic sensor array (22), adjusts the lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18). Detects the front of the travel path (16) with respect to the center
The magnetic body (18) based on the output of the digital magnetic sensor array (22) for increasing the lateral deviation of the unmanned traveling vehicle (10 )
If there is a problem in detecting the lateral deviation of the unmanned traveling vehicle (10) with respect to the unmanned traveling vehicle (10) with respect to the magnetic body (18) based on the output of the analog magnetic sensor (26).
Detecting a lateral deviation of the unmanned traveling vehicle. 2. (a) Laying along the center line of the traveling path (16)
A plurality of 1 for detecting the magnetic force from the magnetic force member (18) being
A digital magnetic sensor array (22) comprising a left-right array of bit-type digital magnetic sensors (20); (b) the digital magnetic sensor array (22) is separated from both ends of the digital magnetic sensor array (22) in the left-right direction. An analog magnetic sensor (26) disposed on each side to detect a magnetic force from the magnetic body (18) ; (c) an unmanned magnetic body (18) based on the output of the digital magnetic sensor array (22); A normal-time deviation detecting means (52) for detecting a lateral deviation of the traveling vehicle (10); and (d) the unmanned driver with respect to a lateral center of the traveling path (16).
The detection of the lateral deviation of the unmanned traveling vehicle (10) with respect to the magnetic body (18) based on the output of the digital magnetic sensor array (22) is hindered due to the increase in the lateral deviation of the traveling vehicle (10). In this case, there is provided a non-normal deviation detecting means (54) for detecting a lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18) based on an output of the analog magnetic sensor (26). A lateral deviation detection device for an unmanned vehicle. 3. Laying along the center line of the running path (16)
An unmanned vehicle (10) is equipped with a 1-bit digital magnetic sensor (20) and an analog magnetic sensor (26) for detecting a magnetic force from a magnetic body (18), and the 1-bit digital magnetic sensor (20) A plurality of digital magnetic sensor rows (22) are arranged in the left-right direction, and the analog magnetic sensor (26)
Is separated from both ends of the digital magnetic sensor array (22),
It is disposed on both sides of the digital magnetic sensor array (22) in the left-right direction, and based on the output of the digital magnetic sensor array (22), adjusts the lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18). Detecting, and returning the unmanned traveling vehicle (10) to the center in the left-right direction of the traveling path (16) based on the detection, and performing the unmanned traveling with respect to the center in the left-right direction of the traveling path (16).
When there is a problem in detecting the lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18) based on the output of the digital magnetic sensor array (22) due to an increase in the lateral deviation of the traveling vehicle (10). The lateral deviation of the unmanned traveling vehicle (10) with respect to the magnetic body (18) is detected based on the output of the analog magnetic sensor (26), and the travel path (1) is detected based on the detection.
(6) The unmanned traveling vehicle (10) is returned to the center in the left-right direction in the left-right direction. 4. The vehicle according to claim 1, wherein said traveling path (16) has a center with respect to a horizontal direction.
The magnetic body (1) based on the output of the digital magnetic sensor array (22) for increasing the lateral deviation of the unmanned vehicle (10).
If the detection of the lateral deviation of the unmanned traveling vehicle (10) with respect to 8) is hindered, the magnitude of the lateral deviation of the unmanned traveling vehicle (10) is determined based on the output of the analog magnetic sensor (26). When the determination is small, the travel path is detected based on the detection of the lateral displacement of the unmanned vehicle (10) with respect to the magnetic body (18) based on the output of the analog magnetic sensor (26).
The unmanned traveling vehicle (10) is returned to the center in the left-right direction of (16), and when the determination is large, the unmanned traveling vehicle (10) is stopped. Central return control method for unmanned vehicles. 5. (a) Laying along the center line of the traveling path (16)
A plurality of 1 for detecting the magnetic force from the magnetic force member (18) being
A digital magnetic sensor array (22) comprising a left-right array of bit-type digital magnetic sensors (20); (b) the digital magnetic sensor array (22) is separated from both ends of the digital magnetic sensor array (22) in the left-right direction. An analog magnetic sensor (26) disposed on each side to detect a magnetic force from the magnetic body (18) ; (c) an unmanned magnetic body (18) based on the output of the digital magnetic sensor array (22); A normal-state deviation detecting means (52) for detecting a lateral deviation of the traveling vehicle (10); (d) the unmanned traveling vehicle (10) with respect to the magnetic body (18) based on an output of the analog magnetic sensor (26); Non-normal deviation detection means (54) for detecting the lateral deviation of the unmanned vehicle (10) with respect to the magnetic body (18) based on the output of the digital magnetic sensor array (22). When there is no problem in the detection of the deviation, the normal deviation detection means
The unmanned traveling vehicle (10) is moved on the traveling path based on the output of (52).
(16) to return to the center in the left-right direction, and the traveling path (16)
The left-right direction of the unmanned vehicle (10) with respect to the center
The output of the digital magnetic sensor array (22) is increased to increase the bias.
The unmanned vehicle (10) with respect to the magnetic body (18) based on force
If there is a problem in detecting the lateral deviation of the unmanned traveling vehicle (1) based on the output of the non-normal deviation detection means (54).
A center return means (56) for returning the vehicle 0) to the center in the left-right direction of the traveling path (16). (F) determining means (50) for determining the magnitude of the lateral deviation of the unmanned vehicle (10) based on the output of the analog magnetic sensor (26); (g) determining means (50) If the judgment in () is small,
The magnetic body (18) based on the output of the analog magnetic sensor (26)
Based on the detection of the lateral deviation of the unmanned traveling vehicle (10) with respect to
To the center in the left-right direction of the traveling path (16).
0) the central return means for returning the (56), and (h) if the determination of said determining means (50) of the character is large the Mu
The control device for returning a center of an unmanned traveling vehicle according to claim 5, further comprising traveling stopping means (58) for stopping the traveling vehicle (10) . 7. The analog magnetic sensor (26) has a directivity direction of the left and right direction, and the determining means (50) performs a magnitude determination based on the sign of the output of the analog magnetic sensor (26). 7. The control device for returning to the center of an unmanned traveling vehicle according to claim 6.