JP2001296920A - Method and device for controlling traveling of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and device for controlling traveling of a vehicle by which a traveling control system can be made simple in configuration and low in cost while highly maintaining control precision by outputting detection signals in a plurality of guide sensors mounted on the vehicle without any time lag. SOLUTION: In this system for controlling the traveling of a vehicle on which the plurality of guide sensors for detecting a plurality of guiding bodies traveling along a traveling lane is mounted, the plurality of guide sensors and the plurality of guiding bodies are arranged, and a relation between an arrangement pitch L of the guide sensors and an arrangement pitch S of the guiding bodies is set as n×S=L1=L2=L3...-=Li (n is an integer of >=1), thus the detection signals of the guiding bodies are simultaneously outputted from the plurality of guide sensors.

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 controlling the traveling of a vehicle, which is applied to an automatic guided vehicle or the like, and is equipped with an induction sensor for detecting a plurality of derivatives arranged along a traveling lane.

[0002]

2. Description of the Related Art In factories such as steelworks, the use of automatic guided vehicles is becoming widespread in order to save labor. Such an automatic guided vehicle is configured to travel along the traveling lane while detecting a derivative of a magnetic substance, a white line, an electric wire, etc. disposed along the traveling lane by an induction sensor mounted on the vehicle. I have.

FIG. 4 shows a schematic configuration of a traveling apparatus for such an automatic guided vehicle, in which 1 is a vehicle (automated guided vehicle),
1a is a traveling wheel of the vehicle 1, 2a, 2b is a vehicle 1
It is an induction sensor of a magnetic type, an optical type, or the like mounted on the front and rear portions at a predetermined interval. Reference numeral 11 denotes a derivative of a magnetic material, a white line, an electric wire or the like arranged at a predetermined pitch along the traveling lane 4 of the traveling path of the vehicle 1.
Then, the vehicle 1 detects the derivatives 11 arranged discretely along the traveling lane 4 by two guide sensors 2a and 2b disposed at the front and rear portions thereof, and performs steering control based on the detection signal. The traveling is controlled by the system.

FIG. 5 is a flow chart of the traveling control in the traveling apparatus of the automatic guided vehicle according to the prior art shown in FIG. In FIG. 5, when the front induction sensor 2a passes over the discretely arranged derivatives 11, the derivative 11 is detected and a detection signal is output (step a1). And
This output value is stored and held in the memory (step a2).
There is no output of the detection signal until the signal passes through the derivative 11 arranged next (step a3). These steps are repeated each time the derivative 11 is passed. On the other hand, the rear induction sensor 2b is not necessarily on the derivative 11 when the front induction sensor 2a detects the derivative 11 and outputs a detection signal, and does not detect the derivative 11 at that time. There is no output of the detection signal (step b1). When the guide sensor 2b on the rear side passes over the derivative 11, the derivative 11 is detected and a detection signal is output (step b).
2). Further, the output value is stored in the memory (step b3). This step is repeated every time the guide 11 passes through the derivative 11 also in the guidance sensor 2b on the rear side.

[0005] Between the holding value (a4) of the output from the front induction sensor 2a and the output value (b4) from the rear induction sensor 2b, the derivative 11 of the two induction sensors 2a or 2b is connected. In this case, there is a time difference between the detection of the derivatives 11 which are discretely arranged in different forms. In the next step, the held value (a4) of the output from the front-side guidance sensor 2a and the output value (b4) from the rear-side guidance sensor 2b are determined as described above using the traveling distance of the vehicle. After correcting the time difference that has occurred, the deviation of the vehicle body, the deviation of the traveling angle of the vehicle, and the like are calculated based on the output hold value and the output value (step 5). Then, the steering control system controls the traveling of the vehicle based on the calculated values of the deviation of the vehicle body, the deviation of the traveling angle of the vehicle, and the like.

[0006]

However, in such a prior art, the output value from the front induction sensor 2a (4a) and the output value from the rear induction sensor 2b (4b) are interposed. Performs detection of the derivatives 11 that are discretely arranged with different detection positions of the derivatives 11 in the two inductive sensors 2a or 2b, so that the detection signals of the two inductive sensors 2a or 2b are simultaneously detected. There is no output and there is a time difference in the output value. For this reason, in the prior art, in order to accurately calculate the deviation of the vehicle body and the deviation of the advancing angle of the vehicle, it is necessary to use the above-described method.
It is necessary to correct the time difference for the output values of the two inductive sensors 2a or 2b using the traveling distance of the vehicle or the like, which complicates the traveling control system and increases the cost of the control system.

The present invention has been made in view of the problems of the prior art, and enables a detection signal of a plurality of inductive sensors mounted on a vehicle to be output without a time difference, thereby simplifying a traveling control system while maintaining high control accuracy. It is another object of the present invention to provide a traveling control method and a traveling control device for a vehicle that can be reduced in cost.

[0008]

In order to solve the above-mentioned problems, the present invention provides an inductive sensor for traveling along a traveling lane on which a plurality of derivatives are arranged and detecting the derivatives. In a vehicle traveling control method for controlling traveling of a mounted vehicle, a plurality of the induction sensors are arranged and a plurality of the derivatives are arranged, and the arrangement pitch L of the induction sensors and the arrangement pitch S of the derivatives are determined. The relationship is set as n × S = L ₁ = L ₂ = L ₃ ... = L _i (where n is an integer of 1 or more), and the detection signals of the derivative are simultaneously output from the plurality of inductive sensors. A vehicle travel control method characterized by the following is proposed.

According to a second aspect of the present invention, there is provided an apparatus for carrying out the first aspect of the present invention, wherein a plurality of derivatives arranged along a traveling lane and a guide mounted on a vehicle to detect the derivative. In the travel control device for a vehicle provided with a sensor, the plurality of derivatives are arranged such that their arrangement pitch S is n × S = L with respect to the arrangement pitch L (L ₁ , L ₂ , L ₃ ... _Li ) of the induction sensor. ₁ = L ₂ = L ₃ ... = L _i , a sensor signal receiving unit for simultaneously receiving the detection signal of the derivative from the inductive sensor, and a vehicle signal based on an output signal from the sensor signal receiving unit. A travel control device for a vehicle, comprising: a travel control calculation unit that calculates a travel state.

[0010] The invention according to claim 3 provides the invention according to claim 2.
Is applied to an automated guided vehicle, along the traveling lane.
Equipped with an inductive sensor that detects multiple derivatives arranged in a row
The traveling control device of the automatic guided vehicle,
In the derivative, the arrangement pitch S is set to the arrangement pitch of the inductive sensor.
L (L₁, L₂, L₃... L_i) For n × S = L ₁
= L₂= L₃… = L_iThe guidance sensor is set as
Sensor that simultaneously receives the detection signal of the derivative from the sensor
A signal receiving unit, and an output signal from the sensor signal receiving unit.
And a travel control calculation unit for calculating the travel state of the vehicle
It is characterized by having.

According to this invention, the relationship between the arrangement pitch L of a plurality of inductive sensors (L = L ₁ , L ₂ , L ₃ ... _Li ) and the arrangement pitch S of a plurality of derivatives is n × S = L. ₁ = L ₂
= L 3 _... = L i because it is set _(where n is an integer of 1 or more) as, when a plurality of inductive sensors, which passes through the discretely-arranged plurality of derivatives, the inductive sensor The derivative is intermittently detected, and when one of the induction sensors passes over any of the derivatives, the other induction sensor passes over any of the other derivatives.

Therefore, the plurality of inductive sensors can simultaneously detect the derivative, and the detection signals from the plurality of inductive sensors can be simultaneously input to the sensor signal receiving section. A time difference does not occur in the output value (detection signal) of the sensor. Therefore, in order to accurately calculate the deviation of the vehicle body and the deviation of the advancing angle of the vehicle in the travel control calculation unit, the time difference is corrected for the output values of the plurality of guidance sensors using the travel distance of the vehicle. Is not required, which simplifies the cruise control system and reduces the cost of the control system.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to an embodiment shown in the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention thereto, but are merely illustrative examples. It's just

FIG. 1 is a perspective view showing a schematic configuration of a traveling apparatus of an automatic guided vehicle according to an embodiment of the present invention, FIG. 2 is a control block diagram of a traveling control apparatus of the automatic guided vehicle, and FIG. 3 is a flowchart of traveling control. .

In FIG. 1, 1 is a vehicle (automated guided vehicle),
1a is a traveling wheel of the vehicle 1, 2a, 2b is a vehicle 1
Is an induction sensor of a magnetic type, an optical type, or the like mounted on the front part and the rear part with a predetermined pitch (interval) L. Also, 3a, 3b, 3c, 3d,... Have a predetermined pitch (interval) S along the traveling lane 4 of the traveling path of the vehicle 1.
And a derivative of the magnetic material, white wire, electric wire, etc. The plurality of derivatives 3a, 3b, 3c, 3d,.
The arrangement pitch S is defined as an arrangement pitch L (L = L ₁ , L ₂ , L ₃₎ between the front induction sensor 2a and the rear induction sensor 2b.
... L _i ) are set as n × S = L ₁ = L ₂ = L ₃ ... = L _i (where n is an integer of 1 or more). And
The vehicle 1 is driven by the two induction sensors 2a and 2b disposed at the front and rear of the vehicle 1, respectively.
.. are detected, and the traveling is controlled by the steering control system 7 based on the detection signal.

Next, the operation of the cruise control device having such a configuration will be described with reference to a control block diagram shown in FIG. 2 and a control flowchart shown in FIG. In FIG. 2, two inductive sensors 2a arranged at the front and rear of the vehicle 1
And the derivative 3a, the derivative 3b, and the derivative 3 that are discretely arranged along the traveling lane 4 by the guidance sensor 2b.
c, and the derivatives 3 d are detected and input to the sensor signal receiving unit 5. In the sensor signal receiving unit 5, the derivative 3 (3a, 3b, 3c, 3) detected by the inductive sensor 2a is used.
d) and the detection signal of the derivative 3 (any of 3a, 3b, 3c, 3d... not detected by the induction sensor 2a) detected by the induction sensor 2b at the same time. Receive.

The detection signal of the derivative 3 received by the sensor signal receiving unit 5 from the two inductive sensors 2a and 2b as described above is input to the vehicle running control calculation unit 6. The vehicle travel control calculation unit 6 detects a deviation of the induction sensors 2a and 2b from the derivative 3 based on an output signal from the sensor signal receiving unit 5, and based on the detected deviation, detects a deviation of the vehicle body and a travel angle of the vehicle. The deviation is calculated and input to the steering control system 7. The steering control system 7 multiplies the value calculated by the vehicle travel control calculation unit 6 by a gain corresponding to the deviation or deviation using PID control or the like to control a hydraulic valve for steering or control of an electric motor for steering. Do
The vehicle 1 is steered.

In the control flow chart of FIG. 3, the front-side induction sensor 2a or the rear-side induction sensor 2b is connected to the discretely arranged derivatives 3a, 3b, 3d.
c, 3d... when the inductive sensor 2a
Alternatively, no detection signal is output from 2b (steps a1, b1). Then, as described above, the inductive sensor 2a
Pitch L (L = L ₁ , L ₂ ,
L ₃ ... L _i ) and the arrangement pitch S of the derivatives 3 a, 3 b, 3 c, 3 d,..., N × S = L ₁ = L ₂ = L ₃
Since L _i (where n is an integer) is set,
One of the induction sensors 2a is composed of the derivatives 3a, 3b, 3c, 3
When passing over any of d,..., the inductive sensor 2b on the other side is passing over any of the other derivatives 3a, 3b, 3c, 3d,.

Therefore, the two inductive sensors 2a and 2b are simultaneously connected to the derivatives 3a, 3b, 3c, 3d,.
(Steps a2 and b2), and the sensor signal receiving unit 5 receives the detection signals (output values) from the two inductive sensors 2a and 2b simultaneously (step 3). Then, as described above, the vehicle travel control calculation unit 6 detects the deviation of the induction sensors 2a and 2b from the derivative 3 based on the detection signal (output value) simultaneously input from the sensor signal reception unit 5, Then, the deviation of the vehicle body and the deviation of the advancing angle of the vehicle are calculated based on (Step 4). Then
As described above, the steering control system 7 controls the hydraulic valve for steering and the electric motor for steering based on the calculated value to steer the vehicle 1 (step 5).

Therefore, according to this embodiment, the two inductive sensors 2a and 2b are connected to the discretely arranged derivative 3.
a, 3b, 3c, 3d, etc., the inductive sensor 2a or 2b intermittently
, 3d,..., at this time, when one of the induction sensors 2a passes over any of the derivatives 3a, 3b, 3c, 3d,. , 3b, 3c, 3d,..., The two inductive sensors 2a
And 2b simultaneously detect the derivatives 3a, 3b, 3c, 3d,...
Detection signals from the two inductive sensors 2a and 2b can be input simultaneously.

As a result, since the detection signals of the two induction sensors 2a or 2b are simultaneously input to the sensor signal receiving unit 5, a time difference may occur between the output values (detection signals) of the two induction sensors 2a or 2b. Disappears. For this reason, in order to accurately calculate the deviation of the vehicle body and the deviation of the advancing angle of the vehicle in the vehicle travel control calculation unit 6, the output values of the two guidance sensors 2a or 2b are calculated using the travel distance of the vehicle. There is no need to correct the time difference, which simplifies the cruise control system and reduces the cost of the control system.

[0022]

As described above, according to the present invention, when a plurality of inductive sensors pass through a plurality of discretely arranged derivatives, one of the inductive sensors passes over any of the derivatives. Then, the inductive sensor on the other side has passed over any of the other derivatives, and therefore, the plurality of inductive sensors can simultaneously detect the derivative, and the sensor signal Detection signals from a plurality of inductive sensors can be simultaneously input to the receiving unit, so that there is no time difference between the output values (detection signals) of the plurality of inductive sensors. Therefore, in order to accurately calculate the travel control value, it is not necessary to correct the time difference for the output values of the plurality of guidance sensors,
As a result, the traveling control system can be simplified, and the cost of the control system can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating a schematic configuration of a traveling device of an automatic guided vehicle according to an embodiment of the present invention.

FIG. 2 is a control block diagram of the embodiment.

FIG. 3 is a control flowchart of the embodiment.

FIG. 4 is a diagram corresponding to FIG. 1 showing a conventional technique.

FIG. 5 is a diagram corresponding to FIG. 3 showing a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle 1a Wheel 2a, 2b Guidance sensor 3a, 3b, 3c, 3d Derivative 4 Running lane 5 Sensor signal receiving unit 6 Vehicle running control calculating unit 7 Steering control system

 ──────────────────────────────────────────────────の Continuing on the front page (72) Wataru Mizunuma 3000 Tana, Tana, Sagamihara-shi, Kanagawa F-term in Sagamihara Works of Mitsubishi Heavy Industries, Ltd. (Reference) 5H301 AA01 AA09 BB05 CC03 CC06 EE06 EE08 EE13 EE28 GG28 HH01 HH02

Claims (3)

[Claims] 1. A traveling control method for a vehicle that travels along a traveling lane on which a plurality of derivatives are arranged and controls the traveling of a vehicle equipped with an induction sensor for detecting the derivatives. And arranging a plurality of the derivatives, arranging a pitch L of the inductive sensor,
The relationship between the derivative arrangement pitch S and n × S = L ₁ = L ₂ =
L 3 _... = L set as _i and (where n is an integer of 1 or more), the travel control method for a vehicle, wherein a detection signal of the derivative so as to simultaneously output from the plurality of inductive sensors . 2. A plurality of invitations arranged along a driving lane.
A conductor and an induction sensor mounted on the vehicle for detecting the derivative.
And a travel control device for a vehicle comprising:
In the derivative, the arrangement pitch S is set to the arrangement pitch of the inductive sensor.
L (L ₁, L₂, L₃... L_i) For n × S = L₁
= L₂= L₃… = L_i(Where n is 1)
Above integer), detection of the derivative from the inductive sensor
A sensor signal receiving unit for receiving signals at the same time;
Calculates the running state of the vehicle based on the output signal from the signal receiver
And a traveling control calculation unit that performs
Travel control device. 3. A travel control device for an automatic guided vehicle equipped with an induction sensor for detecting a plurality of derivatives arranged along a traveling lane, wherein the plurality of derivatives are arranged at a pitch S of the guidance sensors. The pitch L (L ₁ , L ₂ ,
_{L 3} ... L _i) with respect to _{n × S = L 1 = L} 2 = L 3 ... = L i
A sensor signal receiving unit configured to receive the detection signal of the derivative from the inductive sensor at the same time, and a traveling control calculation unit that calculates a traveling state of the vehicle based on an output signal from the sensor signal receiving unit. A travel control device for an automatic guided vehicle, comprising: