JPH0253113A - Work vehicle guiding device using beam light - Google Patents

Abstract

PURPOSE:To detect the accurate traveling direction of a beam light guide type unmanned vehicle against the position of a bean light projection means by providing a pair of light receiving means at the front and the back of the vehicle body with a prescribed distance secured between them. CONSTITUTION:The position (l) of a vehicle body V is obtained as l = x.costheta in the width direction of a path based on a distance X between the light receiving positions of two guide beans A1 and A2. Based on said formula, the positions l1 and l2 or the light receivers S1 and S2 are obtained in the width direction of the path. Then the tilt psi of the body V is obtained as psi = sin<-1> (l1 - l2)/Lb against a set traveling locus L. The values obtained from those formulas are used as the steering control information for traveling control of the unmanned vehicle.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides guidance beam light from a lateral side of a vehicle body.
Scanning along the length direction of a set travel trajectory on which the vehicle body travels while projecting the beam in a direction inclined at a set angle with respect to a virtual plane that is parallel to the travel surface of the vehicle body and passes through the beam projection position. A beam light projection means is provided on the ground side, and a pair of light receiving means for detecting a light receiving position in the vertical direction for the guidance beam light are located on the vehicle body at a set interval in the longitudinal direction of the vehicle body. a first position detecting means provided in the first position detecting means for detecting a position in the vehicle body width direction with respect to an installation position of the beam light projecting means based on light receiving position information of the pair of light receiving means; and information on the first position detecting means. The present invention relates to a work vehicle guiding device using beam light, which is provided with a guiding means for guiding the vehicle body to automatically travel along the set travel trajectory.

[Conventional technology]

The above-mentioned type of work vehicle guidance device using beam light emits a guiding beam light from a lateral side of the vehicle body at a set angle with respect to a virtual plane that is parallel to the running surface of the vehicle body and passes through the beam light projection position. When the beam is projected in an inclined direction, the change in position in the width direction of the vehicle body with respect to the beam projection position can be detected as a change in the light receiving position in the vertical direction of the light receiving means, which allows the vehicle body to automatically move along the set travel trajectory. (Patent application 1986 proposed by the present applicant)
-75530).

By the way, when the vehicle automatically travels along a set travel trajectory, if there are multiple set travel trajectories, as the vehicle reaches the end of each set travel trajectory, the vehicle moves to the next set travel trajectory. In order to be able to move the vehicle, it is necessary to determine the vehicle body position in the longitudinal direction of the set travel trajectory.

Therefore, in the past, for example, in addition to the above beam light for guiding the vehicle body, a guiding beam light is also projected in a direction inclined at a set angle in the vehicle width direction with respect to the running surface of the vehicle body, and the guiding beam light is Based on the light-receiving position information of etc., to detect the position in the longitudinal direction of the set travel trajectory.

[Problem to be solved by the invention]

Therefore, in the conventional configuration, in order to detect the position in the longitudinal direction of the set travel locus, in addition to the guiding beam light and the light receiving means for detecting the light receiving position, it is necessary to detect the position in the longitudinal direction of the set travel locus. This has the disadvantage that a device is required, and the device configuration becomes complicated and expensive.

The present invention has been made in view of the above circumstances, and its purpose is to effectively utilize the configuration inherent in the device,
The object is to also be able to detect the position in the traveling direction of the vehicle relative to the beam projection position.

[Means to solve the problem]

The work vehicle guiding device using beam light according to the present invention directs the guiding beam light from a lateral side of the vehicle body at a set angle to a virtual plane parallel to the running surface of the vehicle body and passing through the beam light projection position. Beam light projection means is provided on the ground side for scanning along the length direction of a set travel trajectory on which the vehicle body travels while projecting the light in an inclined direction; A pair of light receiving means for detecting light receiving positions in the vertical direction are provided so as to be spaced apart from each other in the longitudinal direction of the vehicle body, and based on the light receiving position information of the pair of light receiving means, the light beam projecting means is detected. Based on the first position detection means for detecting the position in the width direction of the vehicle body relative to the installation position, and the information of the first position detection means,
A guide means is provided for guiding the vehicle body to automatically travel along the set travel trajectory, and its characteristic configuration is as follows.

That is, information on the scanning speed of the guiding beam light, information on the time difference between when one of the pair of light receiving means receives the guiding beam light and the other receives the guiding beam light, and information on the set interval; A second position detection means is provided for detecting a position in the vehicle body traveling direction relative to the installation position of the beam light projection means based on information on a position in the vehicle body width direction with respect to the installation position of the beam light projection means, The guiding means determines the position of the vehicle body in the longitudinal direction of the set traveling trajectory with respect to the installation position of the beam light projection means based on the information of the first position detecting means and the information of the second position detecting hand. The point is that it is configured to discriminate.

[For production]

In other words, since the pair of light receiving means are located at a set interval in the longitudinal direction of the vehicle body, which is the beam light scanning direction, information on the scanning speed of the guiding beam light and one of the pair of light receiving means are provided. The angle formed by the beam light projecting means and the pair of light receiving means can be determined from the information on the time difference between when one receives the guiding beam light and when the other receives the guiding beam, and from the information on the set interval. Then, the beam light is determined based on the information on the angle formed by the beam light projection means and the pair of light receiving means, and the information on the position in the vehicle body width direction relative to the installation position of the beam light projection means detected by the first position detection means. This makes it possible to detect the position of the projection means in the vehicle body traveling direction with respect to the installation position.

〔Effect of the invention〕

Therefore, by making effective use of the configuration inherent in the device and using only the received information of the guiding beam light, it is possible to determine both the vehicle body position in the vehicle width direction and the vehicle body position in the vehicle body traveling direction with respect to the beam light projection position. By detecting this, it has become possible to determine the vehicle body position in the longitudinal direction of the set travel trajectory.

The information on the vehicle body position in the length direction of the set travel trajectory is used as travel control information to determine whether or not the vehicle has reached the end of the set travel trajectory. This information can be used as control information for tracking the light source so that it faces in the beam projection direction.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a cleaning work vehicle that automatically travels and cleans the passages of buildings will be described below with reference to the drawings.

As shown in Fig. 4, the guiding beam light (A) is directed along the longitudinal direction of the passageway at a location on one side of the side wall of the passageway in which the vehicle body (V) travels, at the middle part of the passageway in the longitudinal direction, which is the work area. A beam light projection device (B) is installed as a beam light projection means for projecting light in the width direction of the passageway and in a direction inclined with respect to the running surface while scanning the vehicle body (V).
A pair of light receivers (St) and (S2) serving as a pair of light receiving means for detecting the light receiving position in the vertical direction with respect to the guiding beam light (A) are spaced apart from each other by a set interval (Lb) in the longitudinal direction of the vehicle body. It is provided.

However, in order to minimize the situation in which one of the light receivers (S1) and (S2) is blocked from the guiding beam (A) by the other, the pair of light receivers (S1) and (S2) are spaced at a set interval (shield) also in the width direction of the vehicle body. They are provided at the upper portions of both front and rear ends of the vehicle body (V) on diagonal lines in the vehicle body longitudinal direction so as to be located apart from each other.

A plurality of work strokes are set in parallel along the length direction of the passage and in the width direction of the passage for each work width.

That is, in each work stroke, the vehicle body (ν) automatically travels in the longitudinal direction of the passage along a set traveling locus (L) that is set as an imaginary line passing through the center of the width direction of the work stroke. The steering will be controlled based on the light receiving position information of the pair of light receivers (S1) and (S2), and as both ends of each work stroke are reached, the width will be shifted by one work stroke in the width direction of the passage. The machine will run and automatically move to the next work process.

However, since the guiding beam light (A) is projected from one side that is lateral to the vehicle body (V), the light receiver (
St), the guiding beam light (A) for (S2)
The vehicle body (V) is configured to travel automatically by repeating forward and backward movement every -stroke so that the images are projected from the same lateral direction.

To explain the beam light projection device (B), the third
As shown in the figure, the beam is projected at a set angle (θ) in an upwardly inclined direction with respect to a virtual plane (F) that is parallel to the running surface of the vehicle body (V) and passes through the beam projection position. a first guiding beam light (A, ), and a second guiding beam light (A2) projected in a direction passing through the virtual plane (F).
) and two guiding beams (A) are simultaneously scanned along the longitudinal direction of the passage and projected in the width direction of the passage.

However, although not detailed, the guiding beam light (AI),
Each of (A2) is projected simultaneously by, for example, scanning beam light generated by a semiconductor laser or the like repeatedly along the longitudinal direction of the passage at a set period using a rotationally driven reflecting mirror or the like. ing.

In addition, in the following explanation, the first guiding beam light (A
, ) and the second guiding light beam (A2) may be collectively referred to as the guiding light beam (A).

Although not described in detail, each of the light receivers (Sυ, (S2)) is formed using a CCD type one-dimensional image sensor, a PSD element, etc. so that its light receiving surface is elongated in the vertical direction of the vehicle body. It turns out.

Next, a configuration for detecting the position (1) of the vehicle body (V) in the passage width direction based on the light receiving position information of the pair of light receivers (S1) and (S2) will be described.

As shown in FIG. 3, the first guiding beam light (A1)
is projected in a direction inclined at a set angle (θ) in the width direction of the passage, so the light receiving position of the first guiding beam (AI) in the main receiver (S, ) is 1. It changes in the vertical direction depending on the position of the vehicle body (V) in the passage width direction.

However, even if the position of the vehicle body (V) in the width direction of the passage is the same, due to unevenness of the running surface, etc., the vehicle body (V)
) moves up and down, there is a risk that the light receiving position of the main light receiver (Sl) will move up and down, leading to erroneous detection of the light receiving position. The interval (X) between the light receiving positions is the same regardless of the vertical movement of the vehicle body.

Therefore, the two guiding light beams (AI), (82
) Based on the interval (X) of each light receiving position, the following (i
), the position <i> of the vehicle body (V) in the width direction of the passageway is determined.

j2 =X-cotθ -----(i) Also, as shown in FIG. Based on this, the position in the aisle width direction at two points on the front and rear of the vehicle body is <1!
1) Find each of (lx> from the above equation (i), and then calculate the difference between the positions (f1) and (j2□) at the two points on the front and rear of the vehicle body and the pair of light receivers (S1) and (S2). Based on the distance (Lb) in the longitudinal direction of the vehicle body, from the following formula (ii), the vehicle body (V) with respect to the set travel trajectory (L) is calculated.
The purpose is to find the slope (ψ) of .

ψ=sjn −'((i+ −1'z))/Lb −
(ii) However, the pair of light receivers (S1), (S2)
are provided so as to be located at a set interval (La) in the width direction of the vehicle body, so the value of the position (A +), (12) in the width direction of the passage at the two points in the front and rear of the vehicle body is as follows. Based on the value of the set interval (La) in the vehicle body width direction,
The value is corrected to be the value at the center of the vehicle body (V) in the width direction. Also, the position in the width direction of the passage (
The value of Il) is the value of the pair of light receivers (S1) and (S2).
Although the value obtained based on the light receiving position information of one of them may be used, in order to remove the influence of the inclination (ψ) of the vehicle body (V), the value determined based on the light receiving position information of one of the two positions (j! 1), (12 ) may be used.

That is, from the above equation (i), the beam light projection device (B)
position in the vehicle body width direction relative to the installation position (121);
(J22) corresponds to the first position detection means (100).

The information on the position in the width direction of the vehicle body is determined based on the value and the position information in the width direction of the passage of the work stroke in which the vehicle body (V) is currently traveling. This is converted into a position (χ) in the vehicle width direction with respect to the trajectory (L), and is used as steering control information together with the information on the inclination (ψ).

By the way, as shown in FIG. 2, the vehicle body position (
Y) is the pair of light receivers (Y) relative to the beam projection position.
S1), (S2), the positions (β1), (β2) of the pair of light receivers (S1), (S2) in the passage width direction, and the pair of light receivers (S1), (S2). ),
Based on the interval in (32), it can be determined from the following equation (iii).

Y"tan a +Y・((R2-11+)-β・ta
nα)-I! 2(β−ffl,・tar+α)=0
...4iii) However, β= AS'-(f
+-Az door. Moreover, AB is the pair of light receivers (S1
), (32).

Further, the pair of light receivers (
S1), (S2) and the scanning speed (ω) of the guiding beam light (A) and one of the pair of light receivers (S1) and (S2) are the guiding beam light (A). Beam light (A
) time difference between receiving light and receiving light of the other (1)
Based on this, it can be determined from the following equation (iv).

α=ω・t...(iv) In other words, from the above equation (iii), the position (Y) in the vehicle body traveling direction with respect to the installation position of the beam light projection device (B)
The process of finding the second position detecting means (102) corresponds to the second position detecting means (102).

Although not described in detail, the position information of the vehicle body (V) in the longitudinal direction of the passage may be information for determining whether or not the vehicle body (V) has reached the end of each work stroke, for example. , the pair of light receivers (Sl).

(S2) The guiding beam light (A
) is used as control information for automatically tracking the direction of the light receiving surface in the direction of the beam projection position so that the beam is incident from the front.

Next, the configuration of each part will be explained.

As shown in FIG. 5, running wheels (1) that can be driven and stopped individually by a running motor (Ml) are provided on each of the front, rear, left and right sides of the lower part of the vehicle body (V).

However, the running wheels (1) are configured to be steered separately in the front and rear, with left and right wheels forming a pair, respectively, by a steering motor (M2).

In FIG. 5, (2) is a rotating brush for cleaning, and (3) is a water absorption device provided at the front and rear of the vehicle body, respectively. However, although not described in detail, the rotating brush (2) and the water absorption device (3) can be used even when they are protruded outward from the side of the vehicle when cleaning the walls of the passageway. It is provided so that its position can be changed freely in the width direction of the vehicle body.

To explain the steering operation configuration using the steering motor (M2), as shown in FIG.
Each of the support members (4) supporting the wheels (4) is supported so as to be swingable around the vertical axis, and the upper end of the support member (4) supports the rocking movement of the running wheel (1) around the vertical axis. Rotating bodies (5) that rotate in conjunction with are attached, and a link mechanism (6) that connects each of the rotating bodies (5) on the left and right sides is provided, so that the running wheels (1) can rotate on the left and right sides. They are designed to change direction as a pair.

A squirt portion is formed on the outer periphery of one of the left and right rotating bodies (5) and engages with a steering gear (7) driven by the steering motor (4°).

In FIG. 6, (8) is a gear type transmission unit for linking the steering motor (M2) and the steering gear (7), and (S3) is the driving wheel (1). The current steering angle of (δ
) is a steering angle detection sensor using a potentiometer.

In each of the above-mentioned work steps, only the pair of left and right running wheels (1) on the front side with respect to the vehicle traveling direction are steered (2).
In addition to using a wheel steering type, a parallel steering type is used in which all of the traveling wheels (1) are steered in the same phase and at the same angle when moving toward the next work stroke. However, if it is necessary to turn the vehicle body (V) when moving to the next passage, etc.
It is also possible to use a four-wheel steering system in which the front and rear wheels of the vehicle are steered in opposite phases and at the same angle.

To explain the steering control using the two-wheel steering method, the position (χ) in the vehicle width direction with respect to the set travel trajectory (I), the inclination (ψ) in the vehicle body traveling direction with respect to the set travel trajectory (L), , based on the current steering angle (δ) detected by the steering angle detection sensor (S3), the steering angle increases as the position (χ) and inclination (ψ) increase; Based on the following formula (V), the target steering angle (
θf).

θf=to, 2 to χ+, 3 to ψ+, δ, group, (V)
However, if the above formula is ↓, Kll K2. K3 is a constant preset according to the steering characteristics.

In other words, the process of setting the target steering angle (θf) from the above equation (V) and steering the pair of left and right running wheels (1) on the front side with respect to the vehicle traveling direction in a two-wheel steering style is performed. , the pair of light receivers (S1) as light receiving means, (
This corresponds to the guiding means (101) that guides the vehicle body (V) to automatically travel along the set travel trajectory (L) based on the light reception information of 32).

By the way, the pair of light receivers (S) are installed in the vehicle body (V).
In addition to the steering angle detection sensor (S3) and the steering angle detection sensor (S3), various sensors are provided.

That is, as shown in FIG. 5, on the front, rear, left, and right side portions of the vehicle body (V), non-contact detection is performed to detect whether or not there is an obstacle within a set distance around the vehicle body (V). and a bumper-type contact sensor (S,) for causing an emergency stop when the vehicle body (V) comes into contact with another object. In addition, in order to prevent the vehicle body (V) from falling on a step such as a staircase, the step uses an ultrasonic sensor to non-contactly detect whether the distance to the floor is within a set distance. A sensor (S6) is provided at each location in the lower part of the vehicle body (V) that is outside the vehicle body relative to the running wheels (1).

To explain the control configuration for automatically driving the vehicle body (V) based on the light reception information of the pair of light receivers (S1) and (S2), as shown in FIG. (Sυ, (S2>) based on the light receiving position information and the detection information of the various sensors, the traveling motor (Ml
) and a control device (9) using a microcomputer to control the steering motor (M2). That is, by using the control device (9), the first position detection means (100), the second position detection means (102),
and the guiding means (101).

In FIG. 1, (10) is a drive device for the rotating brush (2), and (11) is a rotary encoder for detecting the rotation of the travel motor (Ml), which is connected to the vehicle body (V).
It will be used for things such as controlling the running speed of cars. Also, (1
2) is the number of working strokes in each passage in which the vehicle body (V) automatically travels, and the inclination angle (
This is an operation panel for manually setting various traveling control information such as θ) information, passage width, and passage length.

By the way, although not described in detail, when the vehicle body (V) is manually operated, it is necessary to manually operate various operation levers, switches, etc. provided on the operation panel (12). become.

[Another example]

In the above embodiment, two guiding beams (A) (80,
(A,) is used to detect the position of the vehicle body (V) in the width direction of the passage, but the second guidance beam is projected in the direction passing through the virtual plane (F). The light (A2) may be omitted.

Further, in the above embodiment, a pair of light receivers (S1) and (S2
) are provided at intervals in the vehicle width direction; Two sets may be provided on the left and right sides of the vehicle body so that the vehicle (V) travels back and forth, and the left and right may be switched and used depending on the direction of travel of the vehicle body. However, in the case where the light receiving surfaces of the pair of light receivers (S1) and (S2) are tracked in the direction of the beam projection position, the - set of light receivers (Sl) is used.

(S2) also allows the vehicle body (V) to travel back and forth.

In addition, in the above embodiment, the case where the running wheel (1) on the front side with respect to the vehicle traveling direction is steered in a two-wheel steering manner is exemplified. The position (χ) in the vehicle width direction may be corrected using a parallel steering method, and the tilt (ψ) in the vehicle traveling direction with respect to the set travel trajectory (L) may be corrected using a four-wheel steering method. . .

Furthermore, the present invention can be applied to guiding various types of work vehicles in addition to cleaning work vehicles, and the specific configuration of each part can be modified in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the work vehicle guiding device using beam light according to the present invention, FIG. 1 is a block diagram of the control configuration, FIG. 2 is a plan view showing the positional relationship between the beam light projection position and the light receiving means, Fig. 3 is a front view of the vehicle body showing the positional relationship between the guiding beam light and the light receiving means, Fig. 4 is an overall plan view of the passage, Fig. 5 is a schematic perspective view of the work vehicle, and Fig. 6 is the steering operation configuration. FIG. (A)...Guiding beam light, (B)...
・Beam light projection means, (V)...Vehicle body, (θ)
...Setting angle, (S1), (S2)...
...Pair of light receiving means, (Lb)...Setting interval,
(β1), (β2)...Position in the vehicle width direction, (ω)...Scanning speed, (Y)...Position in the vehicle direction, (100 )...First position detection means, (101)...Guidance means, (102
)...Second position detection means.

Claims (1)

[Claims] The guiding beam light (A) is tilted at a set angle (θ) from a lateral side of the vehicle body (V) with respect to a virtual plane that is parallel to the running surface of the vehicle body (V) and passes through the beam light projection position. A beam light projection means (B) is provided on the ground side, which scans the vehicle body (V) along the length direction of a set traveling trajectory while projecting the beam in the direction of the vehicle body (V). are a pair of light receiving means (S_1) and (S_2) for detecting the light receiving position in the vertical direction with respect to the guiding beam light (A).
are provided so as to be located at a set interval (Lb) in the longitudinal direction of the vehicle body, and the pair of light receiving means (S_1), (S
Based on the light receiving position information of __2), the position (l) in the vehicle body width direction with respect to the installation position of the beam light projection means (B) is determined.
_1), (l_2)
0) and a guiding means (101) for guiding the vehicle body (V) to automatically travel along the set traveling trajectory based on the information of the first position detecting means (100). A working vehicle guidance device using a beam light, wherein information on the scanning speed (ω) of the guiding beam light (A) and one of the pair of light receiving means (S_1) and (S_2) are provided with the guiding beam light (A). Information on the time difference (t) from when one light beam (A) is received to when the other light beam is received, information on the set interval (Lb), and the position in the vehicle body width direction relative to the installation position of the beam light projection means (B). A second position detection means (102) is provided for detecting a position (Y) in the vehicle body traveling direction with respect to the installation position of the beam light projection means (B) based on the information of (l_1) and (l_2), The guiding means (101)
is the information of the first position detection means (100) and the second position detection means (100).
Based on the information of the position detection means (102), the vehicle body (V) is determined relative to the installation position of the beam light projection means (B).
A work vehicle guidance device using beam light configured to determine a position in a longitudinal direction of the set travel trajectory.