CN1113280C - Automatic guide method for vehicles - Google Patents
Automatic guide method for vehicles Download PDFInfo
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- CN1113280C CN1113280C CN95116779A CN95116779A CN1113280C CN 1113280 C CN1113280 C CN 1113280C CN 95116779 A CN95116779 A CN 95116779A CN 95116779 A CN95116779 A CN 95116779A CN 1113280 C CN1113280 C CN 1113280C
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- vehicle
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Abstract
The present invention relates to a method for automatic guide for operation of an unmanned vehicle, which belongs to automatic guide for a vehicle. A vehicle is guided by guide paths on the ground of a factory, a storehouse, etc., and the vehicle loads and processes various loads in a full automatic mode. The present invention particularly relates to a full automatic guide method having the functions of route search and deviation resistance; thereby, a vehicle which runs in the starting position and of which the magnetic force sensor deviates from the guide path in the range of a certain limit or a vehicle which suddenly deviates from the route because of a certain reason in the process of normal running returns to the guide path by searching a magnetic tape.
Description
Invention field
The present invention relates to a kind of self method of operation of automatic driving vehicle that is, this car loads and handles various load by the ground guide path guiding that is preset at factory and warehouse etc. in full-automatic mode; Relate more specifically to a kind of have route function of search and the anti-automatic guide method that departs from function, so that car that places operation start position and its magnetometric sensor in certain limit, to depart from guide path, perhaps normal in service, by search with look for tape and return on the guide path because of some reason departs from the car of route suddenly.
Background technology
Various automatic guided vehicles (being called for short AGVs usually) have been developed and have been used for putting into practice.
For example, Japan registration patent NO.3013716 discloses a kind of unpiloted magnetic force Guide vehicle that moves automatically along the closed hoop that is made of tape.
Above-mentioned unmanned magnetic force Guide vehicle has showed a high level of technological development and practice.Yet its interior magnetometric sensor is surveyed the system that the magnetic (magnetic field) that is made of tape is come guided vehicle because this car has used a kind of usefulness.If the initial position of this car outside its magnetic sensor is positioned at the magnetic field effective range that tape produces, car just can not be activated.In this case, the responsible official must check the bottom of car, and the position of manual adjustment car is delayed the long duration with alignment sensor and tape before causing like this starting.
And, when car because of guide path on barrier or unexpected external force when departing from route, must manually vehicle be returned on the guide path, and must in the required time of resuming operation, manually press reset button to resume operation.Such manual operation has reduced the efficient of this vehicle.
Summary of the invention
The object of the present invention is to provide a kind of automatic guide method, in this method, its sensor is positioned at the outer car of placing of guidance tape magnetic field effective range, as long as its sensor and guidance tape be enough approaching to be made it pass through to search for automatically (route function of search) in one section preset time period to detect this guidance tape, just can be activated normal operation and reorientate; And in this method, the automatic search (the anti-function that departs from) by to guide path can make a car that departs from route in normal course of operation suddenly return on the path, thereby improve the efficient of this Guide vehicle.
Second purpose of the present invention is to provide a kind of guidance method, in this method, after a car is being pressed following start button (start-up operation), in the time of predetermined paths function of search, fail to find guidance tape, perhaps, after a car departs from route because of certain reason, to fail in the time to get back on the path in the default anti-function that departs from, the operation that then suspends this car is to prevent the accident accident.
Is following operation according to the present invention to the automatic guide method of a magnetic force Guide vehicle, this vehicle has a driving wheel, a magnetometric sensor, the magnetic that the guide path that is made of tape that the running route of this described vehicle in sensor detection upper edge, ground is placed produces, a drive unit and a pilot instrument by control device control, this control device is handled the signal that described sensor detects, and the method is characterized in that:
When (a) operation began, this vehicle was subjected to the described sensor of left-right rotation to search for the control of described guide path;
(b) if fail to find described guide path by above-mentioned control procedure (a), as second step, described vehicle is being subjected to turning to the control low-speed motion of some directions to search for described guide path fully described sensor, continue one section Preset Time, and,, then make described pilot instrument switched in opposite direction fully if do not find described guide path yet, continue low-speed motion, continue to double the Preset Time that once turns to before described;
(c) if found described guide path, then described vehicle to be subjected to accelerating to the control of normal speed to resume operation along described guide path by described control procedure (a) or (b); And
(d) if by described control procedure (a) or (b) in described Preset Time, do not find described guide path then to described vehicle shut-down operation.
According to the present invention to another guidance method of magnetic force Guide vehicle, this vehicle has a driving wheel, a magnetometric sensor, the magnetic that the guide path that is made of tape or analog that this described vehicle operating route in sensor detection upper edge, ground is placed produces, a drive unit, with a pilot instrument by control device control, this control device is handled the signal that described sensor detects, and the method is characterized in that:
(a) if described vehicle departs from route at run duration, then at first with described Vehicular shift to low speed, the decision offset direction, described pilot instrument turned to described depart from opposite direction, in one section Preset Time, carry out the search of described guide path, and when described vehicle was restored on the described guide path, described vehicle was accelerated to normal speed, to resume operation; And
(b) if described vehicle can not return on this guide path by described control procedure (a) in described Preset Time, then the operation of vehicle is terminated.
According to this automatic guide method, if a car is made of a magnetic force guiding driving-driver element, this unit comprises a driving wheel, a magnetic that is used for surveying the guide path that constitutes by tape, and the magnetometric sensor of installing for ease of together driving with driving wheel, one make driving wheel can by a control device that is used for the signal that processes sensor detects the drive unit and the pilot instrument of control automatically, and common four-wheel is taken turns at every angle one, and its coaster (trolley) that driving/driving unit is housed down so, this car is when operation start, at first be controlled, make sensor by pilot instrument with driving wheel left-right rotation together, with when this car is stopped the search guide path.
On the other hand, according to this automatic guide method, when a car by a pair of under the chassis middle part both sides driving wheel, the sensor of a magnetic that is used for the guide path that detecting tape constitutes in the coaster front portion, one make every driving wheel can by one be used for handling from the control device of the signal of sensor automatically the drive unit of control and one when the drive unit of the control pilot instrument that drives driving wheel constitutes differentially automatically by control device, this car is when the operation beginning, so controlled so that sensor for by pilot instrument by this to the differential left-right rotation of driving wheel, with the search guide path.
The car that has single driving wheel shown in Fig. 1-3 can be made of single driving and pilot instrument, and control also can be simplified.Yet for guaranteeing to operate steadily, the coaster front-wheel should be general castor, and trailing wheel is the castor of fixing, and moves very difficult behind this feasible (driving) this car of control automatically.On the other hand, the device that drives and drive every driving wheel of car needs that has two driving wheels shown in Fig. 9 and 10, although thereby all sheaves can be general castors, the control device of controlling driven in synchronism and rotation by differential driving is more complicated.This makes automatic control (driving) to move forward and backward all and is easy to, and must know that this class vehicle both had been suitable for moving along forthright very much, is suitable for very much again moving along bent road.
In the present invention, be engaged in the route function of search or the anti-the longest Preset Time that departs from function can be made as arbitrary value.
Owing to, for example, start by pressing a start key to the operation of Guide vehicle, thus the interior software of control enclosure (control device) so programmed so that this car will carry out unmanned running, till pressing down stop key.
When pressing down start key, as first step, pilot instrument left-right rotation sensor.If by this process, sensor enters the guide path district, then sensor sends detectable signal, and at this moment vehicle begins normal operation immediately.Otherwise control device is carried out second step: pilot instrument is by a left side (or right) commentaries on classics fully, and drive unit moves car by slow rotation, with in one section Preset Time, and the position of search guide path.If fail to find guide path by this operation, pilot instrument is switched in opposite direction (promptly to right) fully, by slow rotation car is moved similarly, with in one section Preset Time, and the position of search guide path.When detecting guide path, car is accelerated to normal high-speed cruising along guide path.If do not find guide path during Preset Time, the operation of car is stopped (route function of search) immediately.
On the other hand, when car departed from route suddenly during normal running, according to the data that show that the relative position of guide path with respect to the sensor of deviation point changes, deviation in driction controlled device was immediately determined by calculating.Then, car rotates pilot instrument on the reverse direction of offset direction, and shift to low gear, with the search guide path.Because work as that moment that sensor detects guide path, vehicle has been got back on the guide path really, so vehicle is accelerated to normal high-speed cruising along guide path.Yet if fail to detect guide path in Preset Time, the operation of car is stopped (the anti-function that departs from) immediately.
Automatic guide method of the present invention can be adopted by the oriented vehicle of following type equally:
1) a kind of electromagnetism Guide vehicle, this car by sensor survey one place on the ground or lead that subsurface has electric current to pass through in it around the magnetic field that forms lead.
2) a kind of photoconduction car, this car are surveyed with optical method by optical sensor and are placed ground guiding to bring guiding.
3) a kind of magnetic conductance vehicle, this car places on the ground by the magnetic sensor detection or underground magnetic material leads.
According to Guide vehicle automatic guide method of the present invention, when a car placed initial position, its sensor was outside guide path, can start by automatic detection guide path, this means only needs with respect to guide path car roughly to be located, so that it is shorter to start setup time, and efficient is higher.
And, unexpectedly depart from the guide path incident at vehicle, need not vehicle be automatically restored on the guide path, also cause the minimizing of the loss of time, and improved operational efficiency.
Description of drawings
Fig. 1 is the structural upright view under the expression magnetic conductance car dismounting state;
Fig. 2 is the plan view of driving/driving unit;
Fig. 3 is the side view of driving/driving unit;
Fig. 4 is the floor map of the hunting zone of expression sensor left-right rotation scanning tape;
The floor map of search tape location when Fig. 5 is slow running;
The floor map of search tape location when Fig. 6 is slow running;
Fig. 7 be vehicle by searching for tape, after departing from, return to the floor map on the guide path;
Fig. 8 is a process block scheme of explaining the automatic guide method;
Fig. 9 is the backplan with vehicle example of two driving wheels and four general castors; And
Figure 10 is the backplan with vehicle example of two driving wheels and two general castors.
Embodiment
Embodiments of the invention describe with reference to the accompanying drawings as follows.
The general structure of automatic guided vehicle shown in Fig. 1-3 (AGV) is similar to the disclosed vehicle structure of Jap.P. NO.3013716, and existing the work briefly described.
This AGV comprises a magnetic force guidance type driving/driving unit 3, and this unit has the drive unit 5 and the pilot instrument 4 that is used for driving wheel 6 that are used for driving wheel 6, and one has four jiaos of coasters 12 that the chassis 16 of wheel is arranged.Drive unit is by control device 8 controls, and this control device is handled the signal from the magnetometric sensor 7 of the magnetic of the guide path generation of detecting tape 10 formations.Driving/driver element 3 attachings are under the chassis.As shown in Figure 3, support 17 of magnetometric sensor 7 usefulness is attached to the support member front portion of driving wheel 6, so that magnetometric sensor 7 rotates together with driving wheel 6.Magnetometric sensor 7 is positioned at horizon bar (Fig. 4) right-hand part.Cable 18 of magnetometric sensor 7 and control device (control enclosure) 8 usefulness links to each other.
If necessary, shelf 13 are installed on the chassis 16 of coaster 12, with shipment load.The attached plate 2 of driving/driving unit 3 places the chassis 16 times, and is fixed on the attached seat 14 with fastening bolt.Coaster 12 front-wheels are general castors, and trailing wheel is a rigid castors.Processing is being controlled as the driving motor of the drive unit power source of driving wheel 6 with as the pilot instrument (as driving motor) 4 of the pilot instrument energy of driving wheel 6 from the control device (control enclosure) 8 of the signal of magnetometric sensor 7.Chassis 16 and shelf 13 by the steel pipe that is coated with (apply tree) fat with the joint formation that is coupled.
Connector 9 is used for pilot instrument (as the driving motor) 4 is connected with the power-supply battery (not shown) that drive unit (as driving motor) 5 is installed on the chassis 16 together.Enforcement is attached to attached plate 2 back lower places to the control enclosure 8 of the automatic control process of driving/driving unit 3.Be contained in the automaton in the control enclosure 8 automatic guide method software flow as shown in Figure 8.
Fig. 4 illustrates interval W, start key is with after the startup vehicle operating under pressing, first step as the route function of search, when vehicle self is still slack, by making magnetometric sensor 7 and driving wheel 6 left-right rotation together, the pilot instrument 4 of driving/driving unit 3 can detect the magnetic field that is produced by tape 10 in this interval.Magnetometric sensor 7 is arranged on the left side of driving wheel 6, and driving wheel 6 is arranged in the centre of the width of driving/driving unit 3, or or rather, in distance right-hand member 75mm (roughly right half), to reduce step on possibility on the tape 10 of driving wheel 6 to greatest extent.Magnetometric sensor 7 is about 210mm by the width of the scope W in the magnetic field of left-right rotation energy detecting tape 10.
Fig. 5 illustrates vehicle (driving/driving unit 3) and magnetometric sensor 7, as an example, they shift out tape 10 and have gone to the right, can not determine the position (first step of control) of tape 10 by left-right rotation magnetometric sensor 7, now enter second step of control.In control second step in these cases, driving/driving unit 3 fully turns left driving wheel 6, and with 4 meters/minute low rate start, the position of search tape 10 continues one section Preset Time (being 20 seconds in the present embodiment).At this in the case, can tape 10 will be found very soon obviously.
Fig. 6 illustrates the situation that magnetometric sensor 7 and vehicle (driving/driving unit 3) are positioned at tape 10 left sides and are in second step of control.By the action (shown in broken lines) of fully turning left among driving wheel such as Fig. 5, in the search Preset Time, obviously can not detect tape 10.So second step of control is fully turned right driving wheel 6, and allow vehicle with slow running search tape 10 (illustrating) with solid line, continue to double the time (being 40 seconds in this example) of previous test, this will find that vehicle and magnetometric sensor 7 arrives tapes 10 and send the probability of detectable signal quite high.
As mentioned above, in the first step of control, just press down start key with after the operation that starts AGV, AGV may only search for guide path by magnetometric sensor 7 move left and right, and car self be motionless at any initial position.If in this step, do not find guide path, control enters second step, and search is by at first low speed left-hand rotation action, if do not find guide path then yet, just turn right and move, set up a quite wide region of search and the high success rate that finds guide path thus by low speed.If although passed through above-mentioned all measures, magnetometric sensor 7 still can not find guide path (tape), this is decided to be a kind of abnormal conditions.Operation to vehicle is ended, and all the other leave responsible official's manual operation for.Be a kind of measure that prevents mishap at last.On the other hand, if successfully found tape 10 by the control of first or second step, then vehicle is accelerated to 24 meters/minute normal high-speed cruising along the guide path of tape 10.
Next step, Fig. 7 illustrates as AGV and is applied to when departing from route on the car control operation of automatic guide method of the present invention (the anti-function that departs from) because of crossing barrier on the route or a kind of unexpected external force.In this case, control device is handled departing from moment magnetometric sensor 7 action record, determines offset direction immediately, and driving wheel 6 is turned to the reverse direction that departs from, and low speed search tape 10, continues one section Preset Time (being 8 seconds in this example).This provides a high success rate for finding tape 10, and, mean that vehicle gets back on the guide path because detect tape 10, thus control device can quicken with being about to vehicle, to recover its normal high-speed cruising.Yet in this case, if also do not find tape in Preset Time, operation also is interrupted immediately to prevent mishap, and all the other leave responsible official's manual operation for.
Subsequent, the vehicle of such structure shown in Figure 9, so that the chassis 12 its four jiaos have general castor 11 respectively, the both sides, middle part provide two driving wheels 6 under the chassis, 6, be again that each driving wheel 6,6 provides a drive unit 5, this drive unit is controlled automatically by control device 8, and this control device is handled magnetometric sensor 7 detected signals.Vehicle shown in Figure 10 is different from the car of Fig. 9 only because provide 11,11 one of two general castors anterior under the chassis, and another is the rear portion under the chassis.When this to driving wheel 6,6 during by synchro control, vehicle rectilinear motion (preceding and back), and when this to taking turns controlled making when differential, the car motion (also move forward or then move) of turning round.No matter under car shown in Figure 9 or two kinds of situations of car shown in Figure 10, above-mentioned automatic guide method can be adopted in complete same mode.
According to automatic guide method of the present invention, though magnetometric sensor when start-up operation not on guide path (tape), vehicle also can find tape (guide path) in high probability ground automatically, and brings into operation; On the other hand, if vehicle unexpectedly departs from route, vehicle can be got back on the guide path by looking for tape (guide path) automatically high probability.More than reduce manual operation, obtained unmanned more completely running.
Claims (4)
1. the automatic guide method of a vehicle, this vehicle has a driving wheel, a magnetometric sensor, the magnetic that the guide path that is made of tape that the running route of this described vehicle in sensor detection upper edge, ground is placed produces, a drive unit and a pilot instrument by control device control, this control device is handled the signal that described sensor detects, and the method is characterized in that:
When (a) operation began, this vehicle was subjected to the described sensor of left-right rotation to search for the control of described guide path;
(b) if fail to find described guide path by above-mentioned control procedure (a), as second step, described vehicle is being subjected to turning to the control low-speed motion of some directions to search for described guide path fully described sensor, continue one section Preset Time, and,, then make described pilot instrument switched in opposite direction fully if do not find described guide path yet, continue low-speed motion, continue to double the Preset Time that once turns to before described;
(c) if found described guide path, then described vehicle to be subjected to accelerating to the control of normal speed to resume operation along described guide path by described control procedure (a) or (b); And
(d) if by described control procedure (a) or (b) in described Preset Time, do not find described guide path then to described vehicle shut-down operation.
2. the automatic guide method of a vehicle, this vehicle has a driving wheel, a magnetometric sensor, the magnetic that the guide path that is made of tape or analog that this described vehicle operating route in sensor detection upper edge, ground is placed produces, a drive unit, with a pilot instrument by control device control, this control device is handled the signal that described sensor detects, and the method is characterized in that:
(a) if described vehicle departs from route at run duration, then at first with described Vehicular shift to low speed, the decision offset direction, described pilot instrument turned to described depart from opposite direction, in one section Preset Time, carry out the search of described guide path, and when described vehicle was restored on the described guide path, described vehicle was accelerated to normal speed, to resume operation; And
(b) if described vehicle can not return on this guide path by described control procedure (a) in described Preset Time, then the operation of vehicle is terminated.
3. the automatic guide method of claim 1 or 2 described vehicles, this vehicle comprises a magnetic conductance type driving/driving unit, it is a drive unit and pilot instrument for this driving wheel outfit that a driving wheel is equipped with that this unit has, and one have the coaster that Qi Sijiao has the chassis of wheel, described drive unit is controlled from the control device of the signal of a sensor by a processing, this sensor is surveyed the magnetic of a guide path generation that is made of tape, described driving/driving unit attaching is in the lower surface on described chassis, and the feature of this method is as follows:
When the operation beginning, described pilot instrument is subjected to using the control of described driving wheel with described magnetometric sensor left-right rotation, to search for described guide path.
4. the automatic guide method of claim 1 or 2 described a kind of described vehicles, this vehicle comprises two driving wheels that central described lower surface both sides, described chassis are set, a magnetometric sensor that is arranged at front portion, described chassis, this sensor is surveyed the magnetic of the tape generation of the guide path placement in upper edge, ground, two drive units are that described driving wheel is respectively joined one, described drive unit is controlled automatically by control device, this control device is handled the signal that described magnetometric sensor detects, and pilot instrument, this pilot instrument drives described two driving wheels by the described drive unit of being controlled automatically by described control device differentially, the method is characterized in that:
When the operation beginning, described pilot instrument is controlled to come the described magnetometric sensor of left-right rotation by drive described two driving wheels differentially, to search for described guide path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN95116779A CN1113280C (en) | 1995-10-13 | 1995-10-13 | Automatic guide method for vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN95116779A CN1113280C (en) | 1995-10-13 | 1995-10-13 | Automatic guide method for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1175719A CN1175719A (en) | 1998-03-11 |
| CN1113280C true CN1113280C (en) | 2003-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN95116779A Expired - Fee Related CN1113280C (en) | 1995-10-13 | 1995-10-13 | Automatic guide method for vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1113280C (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1110731C (en) * | 1999-05-25 | 2003-06-04 | 李善伯 | Method for forming ground magnetic route, beacon and sensor installation under computer management |
| JP4280940B2 (en) * | 2007-09-06 | 2009-06-17 | トヨタ自動車株式会社 | Automatic transfer device |
| JP2013146302A (en) * | 2012-01-17 | 2013-08-01 | Sharp Corp | Self-propelled electronic device |
| CN103676953B (en) * | 2013-12-19 | 2017-06-16 | 深圳市朗驰欣创科技有限公司 | Intelligent Mobile Robot magnetic navigation derailing automatic recovery method |
| EP3037907A1 (en) * | 2014-12-23 | 2016-06-29 | Université Sciences Technologies Lille | Autonomously assisted and guided vehicle |
| WO2016199312A1 (en) * | 2015-06-10 | 2016-12-15 | 株式会社Ｄｏｏｇ | Autonomous movement system |
| JP6476077B2 (en) * | 2015-06-18 | 2019-02-27 | シャープ株式会社 | Self-propelled electronic device and traveling method of the self-propelled electronic device |
| CN105235775B (en) * | 2015-11-27 | 2017-07-07 | 黄石市华天自动化设备有限公司 | AGV trackless dolly driving wheel automatic correction devices |
| CN107092249A (en) * | 2016-02-18 | 2017-08-25 | 苏州青飞智能科技有限公司 | A kind of rail-free magnetic navigation unmanned vehicle system of scheduling on demand |
| CN105807772B (en) * | 2016-05-06 | 2019-07-30 | 苏州佳世达电通有限公司 | The method and device of vehicle tracking |
| CN109426251B (en) * | 2017-08-29 | 2020-11-06 | 杭州海康机器人技术有限公司 | Running control method and device for robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0556689A2 (en) * | 1992-02-21 | 1993-08-25 | Giovanni Beltrami | Device for directional control of a moving vehicle and associated method |
| WO1994027854A1 (en) * | 1993-05-26 | 1994-12-08 | Lohr Industrie | Unit for directionally guiding a transport vehicle along a rail |
| JPH07179170A (en) * | 1993-12-22 | 1995-07-18 | Funai Electric Co Ltd | Automatic carrying vehicle |
-
1995
- 1995-10-13 CN CN95116779A patent/CN1113280C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0556689A2 (en) * | 1992-02-21 | 1993-08-25 | Giovanni Beltrami | Device for directional control of a moving vehicle and associated method |
| WO1994027854A1 (en) * | 1993-05-26 | 1994-12-08 | Lohr Industrie | Unit for directionally guiding a transport vehicle along a rail |
| JPH07179170A (en) * | 1993-12-22 | 1995-07-18 | Funai Electric Co Ltd | Automatic carrying vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1175719A (en) | 1998-03-11 |
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Granted publication date: 20030702 Termination date: 20121013 |