JP2005107961A - Travel control system for moving body, and moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel control system for a moving body that can improve the tracking of a guide path at a change in the operating state of a chassis. <P>SOLUTION: When the chassis 11 enters a corner from a straight path, the position of the chassis 11 set along magnetic tape 19 is gradually shifted from a front lateral middle position Pf for straight travel to a longitudinal and lateral middle position Pm for turning travel. Every time a given distance is traveled, a controller computes a virtual lateral drift of a virtual position Px on a straight path connecting the front lateral middle position Pf and the longitudinal and lateral middle position Pm, from a front lateral drift of the front lateral middle position Pf detected by a straight guide sensor 20 and a middle lateral drift of the longitudinal and lateral middle position Pm detected by a turning guide sensor 21. According to the virtual lateral drift computed every time the given distance is traveled, the controller steers a dirigible driving wheel 12. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a traveling control device for a moving body such as an automatic guided vehicle that travels while being guided by a magnetic tape disposed along a path on a floor surface, and a moving body including the traveling control device. It is.

  In this type of automatic guided vehicle, the machine base is more accurately followed by the magnetic tape disposed in the travel path, thereby improving the positioning accuracy of the machine base when stopped at the station, There is a demand for a narrower width.

Conventionally, as a technique for responding to such a request, when the automatic guided vehicle travels straight, a lateral deviation from the magnetic tape is detected using a front induction sensor provided at the center of the front end of the machine base, and when turning traveling, There is one in which a lateral deviation from a magnetic tape is detected by using a back guidance sensor provided in the center of the machine base (see, for example, Patent Document 1). This is intended to ensure the straight running stability of the machine base by steering the machine so that the center of the front end of the machine base provided with the forward guidance sensor is along the magnetic tape during the straight running performed at a high speed. Further, when turning at a low speed, the rear part of the machine base is prevented from being greatly disengaged inside the corner by steering the machine base provided with the rear guidance sensor along the magnetic tape.
Japanese Patent Laid-Open No. 10-207547

  However, in the technique described in Patent Document 1, the rear guidance sensor detects the amount of lateral deviation at the center of the front of the machine base detected by the front guidance sensor when the machine base tries to move from straight traveling to turning traveling. The amount of lateral deviation at the center of the machine base may be larger. In this case, when the steering wheel is switched from steering based on the lateral deviation at the center of the machine base to steering the steering wheel based on the lateral deviation at the center of the machine, the steering wheel is moved to keep the machine center along the magnetic tape. It may be steered greatly. As a result, the machine base may suddenly change direction or meander immediately after switching from straight running to turning. If the machine base suddenly changes direction or meanders, the load to be transported may be misaligned.

  An object of the present invention is to provide a traveling control device for a moving body that can improve followability to a guidance route when the operating state of a machine base changes, and a moving body including the traveling control device. .

  In order to achieve the above object, according to the first aspect of the present invention, the amount of lateral deviation at a predetermined position of the machine base with respect to the guide wire arranged along the movement path of the machine base is detected by a detector provided on the machine base. Then, the machine base is steered so as to reduce the lateral deviation amount, and the predetermined position is determined based on the operation state of the machine base between the first position for the first operation state and the second position for the second operation state. This is a traveling control device for a moving body to be switched to one of them. The travel control device, when switching from one of the first driving state and the second driving state to the other, sets the predetermined position to one of both positions along a predetermined path connecting the first position and the second position. Switching control means for changing from one to the other.

  Therefore, according to the first aspect of the present invention, when the operation state of the moving body is switched from one of the first operation state and the second operation state to the other, the predetermined machine base that detects the amount of lateral deviation with respect to the guide wire is determined. The position is gradually moved from one of the two positions to the other along a predetermined path connecting the first position with respect to the first operating state and the second position with respect to the second operating state. For this reason, even if there is a large difference between the first position and the second position in the lateral deviation amount with respect to the guide line, the lateral deviation amount used for determining the steering amount of the machine base does not change abruptly. Therefore, the moving body is not suddenly steered when switching from one of the first operation state and the second operation state to the other.

According to a second aspect of the present invention, in the first aspect of the invention, the first operating state is a straight traveling state of the machine base, and the second operating state is a turning traveling state.
Therefore, according to the invention described in claim 2, when the machine base is switched from one of the straight traveling state and the turning traveling state to the other, the predetermined position of the machine base for detecting the lateral deviation amount with respect to the guide wire is the first position. It gradually changes from one to the other along a predetermined route connecting the second position. For this reason, by setting the first position and the second position to appropriate positions, both the straight movement stability of the machine base in the straight running state and the followability of the machine base to the guide line in the turning state are ensured. However, it is possible to prevent the base from being steered suddenly when switching from one of the straight traveling state and the turning traveling state to the other.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the detector includes a first detector that detects a lateral shift amount of the first position with respect to the guide line, and the guide line. And a second detector for detecting a lateral shift amount of the second position with respect to the second position. The switching control means includes a first lateral deviation amount detected by the first detector and a second lateral deviation amount detected by the second detector when switching from one of the first operation state and the second operation state to the other. From the above, a lateral shift amount at the predetermined position is detected.

  Therefore, according to the third aspect of the present invention, the first position and the second position are calculated from the lateral shift amount of the first position detected by the first detector and the lateral shift amount of the second position detected by the second detector. A lateral shift amount at a predetermined position on a predetermined route connecting the positions is detected. For this reason, the amount of lateral displacement at a predetermined position on a predetermined path connecting the first position and the second position can be acquired using only two detectors provided on the machine base, so that the detector mounting structure is simple. .

  According to a fourth aspect of the present invention, in the third aspect of the present invention, the lateral shift amount at the predetermined position is obtained by the following equation. The predetermined lateral displacement amount = (lateral displacement amount of the first position detected by the first detector × a + lateral displacement amount of the second position detected by the second detector × (100−a)) / 100 (a is 0 to 100) The value of the).

  According to a fifth aspect of the present invention, in the first or second aspect of the present invention, the detector detects a lateral shift amount of the first position with respect to the guide line, and the guide line. It comprises a single detector which is switched to the second detection position for detecting the lateral displacement amount of the second position with respect to. The switching control means gradually moves the detector from one of the first detection position and the second detection position to the other.

  Therefore, according to the fifth aspect of the present invention, one detection that is switched and arranged between the first detection position for detecting the lateral displacement amount of the first position and the second detection position for detecting the lateral displacement amount of the second position. By moving the device gradually from one of the first detection position and the second detection position to the other, the lateral shift amount of the predetermined position on the predetermined path connecting the first position and the second position is obtained. For this reason, it is possible to acquire the lateral shift amount of the predetermined position on the predetermined path connecting the first position and the second position using only one detector.

  According to a sixth aspect of the present invention, in the invention according to any one of the first to fifth aspects, the switching control unit is configured to perform the switching along a straight path connecting the first position and the second position. The predetermined position is moved.

  The invention according to claim 7 is the invention according to any one of claims 1 to 6, wherein the switching control means switches from one of the first operation state and the second operation state to the other. Sometimes, the predetermined position is changed along the route based on the travel distance.

  The invention according to claim 8 is the invention according to any one of claims 1 to 7, wherein the switching control means switches from one of the first operation state and the second operation state to the other. Sometimes, the predetermined position is changed at a constant rate along the route.

  A ninth aspect of the invention includes the traveling control device for a moving body according to any one of the first to eighth aspects, and steering means for steering the steered wheels provided on the machine base. The travel control device controls the steering means so as to reduce the lateral deviation amount.

  It is possible to provide a traveling control device for a moving body that can improve the followability to the guidance route when the operating state of the machine base changes, and a moving body including the traveling control device.

Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the automatic guided vehicle 10 as a moving body includes a drive steering wheel 12 and a caster 13 as steering wheels at a front portion of a machine base 11, and a rear part of the center of the machine base 11. Are provided with a pair of left and right driven wheels 14R, 14L. The drive steering wheel 12 is arranged in a state of being biased to the right side of the machine base, and the caster 13 is arranged on the left side of the machine base. A driving motor 15 and a steering motor 16 as a steering means are disposed on the upper side of the drive steering wheel 12.

Next, the electrical configuration of the present embodiment will be described.
As shown in FIGS. 1 and 2, the traveling motor 15 is provided with an encoder 17 for detecting the traveling speed of the machine base 11 from the rotation speed of the drive steering wheel 12. The steering motor 16 is provided with a steering angle sensor 18 for detecting the actual steering angle of the drive steering wheel 12.

  Straight ahead as a first detector for detecting a lateral shift with respect to the magnetic tape 19 as a guide line disposed along the movement path of the floor on which the automatic guided vehicle 10 travels at the center of the front end of the machine base 11. A guide sensor 20 is provided. The rectilinear guide sensor 20 detects a lateral displacement amount (hereinafter referred to as a front lateral displacement amount) with respect to the magnetic tape 19 at the front end left-right center position Pf as the first position of the machine base 11. Note that the linear guide sensor 20 includes a plurality of Hall elements arranged in a direction orthogonal to the magnetic tape 19, and outputs a lateral shift amount of the magnetic tape 19 with respect to the central portion thereof, for example, as an analog voltage signal.

  A turn guide sensor 21 as a second detector for detecting the magnetic tape 19 is also provided at the front, rear, left and right center of the machine base 11. The turning guide sensor 21 detects a lateral displacement amount (hereinafter referred to as a central lateral displacement amount) with respect to the magnetic tape 19 at the front / rear / left / right central position Pm as the second position of the machine base 11.

  As shown in FIG. 4, a pair of left and right markers 22R, 22L, and 23R disposed on both sides of the magnetic tape 19 at a predetermined position in the movement path are provided in front of the turning guide sensor 21 at the front and rear central portions of the machine base 11. , 23L for detecting a pair of marker sensors 24R, 24L.

Further, the machine base 11 is provided with a controller 25 (see FIG. 2B) as a switching control means for performing control for causing the machine base 11 to travel along the magnetic tape 19.
As shown in FIG. 3, an encoder 17, a steering angle sensor 18, a straight traveling guide sensor 20, a turning guide sensor 21, and marker sensors 24R and 24L are electrically connected to the input side of the controller 25, respectively. A traveling motor 15 and a steering motor 16 are electrically connected to the output side.

  The controller 25 is composed of a microcomputer and causes the machine base 11 to travel along the magnetic tape 19 in accordance with an operation program stored in advance. Further, as shown in FIG. 4, the controller 25 detects the markers 22R, 22L, 23R, and 23L disposed at a plurality of positions on the travel route by the marker sensors 24R and 24L, so that the machine base 11 travels straight. It recognizes the switching between the straight path S to be (first driving state) and the corner C to be turned (second driving state). That is, the markers 22R and 22L are provided at the turning preparation position P2 on the straight path S that is a predetermined distance away from the turning start position P1 of the corner C of the travel route, and the straight path S ends and the corner C starts. It shows that. The markers 23R and 23L are provided at the straight advance preparation position P4 on the straight path S that is a predetermined distance away from the turning end position P3 of the corner C, indicating that the corner C has ended and the straight path S has started. . Then, the controller 25 causes the machine base 11 to travel at a predetermined straight traveling speed on the straight path S, and causes the machine base 11 to travel at a predetermined turning speed lower than the straight traveling speed at the corner C. Further, when the marker sensors 24R and 24L detect the markers 22R and 22L while traveling on the straight path S, the controller 25 decelerates the vehicle speed from the straight traveling speed by a predetermined deceleration and turns to the turning start position P1 of the corner C. Speed. Further, when the controller 25 detects the markers 23R and 23L while traveling in the corner C, the controller 25 accelerates the vehicle speed from the turning speed to a straight traveling speed at a predetermined acceleration.

  On the straight path S, the controller 25 sets the target steering angle of the drive steered wheels 12 using a preset relational expression or map based on the amount of front lateral deviation detected by the straight traveling guide sensor 20, and the steering angle The steering motor 16 is steered so that the steering angle detected by the sensor 18 becomes the target steering angle. Further, in the corner C, the controller 25 sets the target steering angle of the drive steering wheel 12 based on the amount of lateral deviation of the central portion similarly detected by the turning guide sensor 21 so that the detected value of the steering wheel becomes the target steering angle. The steering motor 16 is controlled to be steered. Since the drive steering wheel 12 is disposed to be biased to the right side of the machine base, the target of the drive steering wheel 12 set when the front end left-right center position Pf is laterally shifted to the right side with respect to the magnetic tape 19. The steering angle is different from the target steering angle that is set when the front end left-right center position Pf is shifted laterally by the same amount to the left with respect to the magnetic tape 19.

  Further, when the marker sensors 24R and 24L detect the markers 22R and 22L at the turning preparation position P2, the controller 25 detects the amount of front lateral deviation until then while the machine base 11 travels a predetermined distance from the turning preparation position P2. The steering control of the drive steering wheel 12 based only on the detection value is gradually switched to the steering control of the drive steering wheel 12 based only on the detection value of the center side lateral deviation amount. The time required for the switching is set so that this switching is performed while the machine base 11 travels from the turning preparation position P2 to the turning start position P1.

  Similarly, when the controller 25 detects the markers 23R and 23L at the straight traveling preparation position P4, the controller 11 determines the driving steering wheel 12 based only on the detected value of the center side lateral deviation while the machine base 11 travels a predetermined distance. The steering control is gradually switched to the steering control based only on the detected value of the front lateral deviation amount.

  Next, the switching control performed when the controller 25 shifts from the steering control of the drive steering wheel 12 using only the front side shift amount to the steering control using only the center side shift amount according to the flowchart shown in FIG. explain.

  First, in step 100 (hereinafter referred to as S), the controller 25 reaches the turning preparation position P2 based on the detection signals input from the marker sensors 24R and 24L while traveling on the straight path S. Determine whether or not. When the markers 22R and 22L are not detected, it is determined that the machine base 11 is traveling on the straight path S, and the steering control based on the front lateral deviation amount Df detected by the straight traveling guide sensor 20 is performed.

  On the other hand, when the markers 22R, 22L are detected in S100, the controller 25 determines that the machine base 11 has reached the turning preparation position P2. Then, in S110, measurement of the travel distance of the machine base 11 is started using the rotation speed of the drive steering wheel 12 detected by the encoder 17.

  Next, in S120, the controller 25 actually determines the target steering angle of the drive steered wheels 12 from the front lateral displacement amount Df and the central lateral displacement amount Dm that are repeatedly detected as it proceeds from the turning preparation position P2. The ratio a of the front lateral deviation amount Df when the virtual lateral deviation amount Da used for the calculation is obtained using the following equation (1) is set to a = 100.

Da = (Df × a + Dm × (100−a)) / 100 (1)
After the execution of S120, the controller 25 acquires the front lateral deviation amount Df and the central lateral deviation amount Dm detected at S130, respectively.

  Next, in S140, the controller 25 obtains the virtual lateral deviation amount Da using the previous equation (1). As shown in FIG. 1, this virtual lateral displacement amount Da is a virtual position Px as a predetermined position existing on a straight path connecting the front end left / right center position Pf and the front / rear left / right center position Pm (in FIG. 1, a = 50 or so). This corresponds to the amount of lateral displacement with respect to the magnetic tape 19. Then, the controller 25 obtains a target steering angle from the obtained virtual lateral deviation amount Da, and steers the drive steering wheel 12 so that the actual steering angle becomes the target steering angle.

  Next, the controller 25 determines whether or not the measured travel distance has reached a predetermined distance in S150. In the present embodiment, the predetermined distance is set to a distance obtained by dividing the distance from the turning preparation position P2 to the turning start position P1 into 10 equal parts. If the travel distance has not reached the predetermined distance in S150, the process is executed again from S130.

  When the travel distance has reached the predetermined distance in S150, the controller 25 next sets a value obtained by subtracting 10 from the ratio a used in S140 at that time as a new ratio a. That is, every time the machine base 11 travels a predetermined distance from the turning preparation position P2, a ratio a for obtaining a new virtual lateral displacement amount Da from the front lateral displacement amount Df and the central lateral displacement amount Dm detected at that time is newly set. Set.

After execution of S160, the controller 25 resets the travel distance measured so far to “0” in S170.
Next, in S180, the controller 25 determines whether or not the value of the ratio a newly set in S160 is “0”. When the ratio a is not “0”, a transition is made from a straight traveling state in which the target steering angle is set only from the front lateral deviation amount Df to a turning traveling state in which the target steering angle is set only from the central lateral deviation amount Dm. Is not completed, and the process from S130 is repeated again. That is, the virtual lateral displacement amount Da is set a total of 10 times each time the machine base 11 travels a predetermined distance from the turning preparation position P2.

  On the other hand, when the ratio a is “0” in S180, the controller 25 determines that the transition to the turning traveling state in which the target steering angle is set from only the center side lateral deviation amount Dm is completed, and ends this processing. .

  The controller 25 detects the markers 23R and 23L at the straight advance preparation position P4, and then switches from the steering control of the drive steering wheel 12 based only on the center side lateral deviation amount Dm to the steering control based only on the front side lateral deviation amount Df. In S140 shown in FIG. 5, the same procedure as the above process is executed except that Df and Dm are exchanged.

Next, the operation of the present embodiment configured as described above will be described.
When the machine base 11 travels on the straight path S, the machine base 11 is based only on the front lateral deviation amount Df detected by the straight traveling guide sensor 20 provided at the center of the front end of the machine base 11 on the front side in the traveling direction. The drive steering wheel 12 is steered so that the front end left-right center position Pf of the front end of the front end of the drive steering wheel 12 follows the magnetic tape 19. For this reason, the machine base 11 travels straight along the magnetic tape 19 in the straight path S that travels at a high speed.

  When the machine base 11 reaches the turning preparation position P2, each time it travels a predetermined distance from the front lateral displacement amount Df and the central lateral displacement amount Dm detected at that time, the front end left / right central position Pf and the front / rear left / right central position Pm A new virtual position Px is set on the straight path connecting the two, and a virtual lateral deviation amount Da at the newly set virtual position Px is sequentially obtained. Then, the drive steering wheel 12 is steered so as to be the target steering angle with respect to the virtual lateral deviation amount Da at that time, and the machine base 11 is steered so as to eliminate the lateral deviation of the virtual position Px. For this reason, even when the center part lateral deviation amount Dm of the front / rear / right / left center position Pm is large when the machine base 11 reaches the turning preparation position P2, the virtual steering is sequentially set to set the target steering angle of the drive steered wheels 12. Since the lateral deviation amount Da does not change abruptly from the front lateral deviation amount Df, the drive steering wheel 12 is not steered suddenly. Then, before the machine base 11 enters the corner C, the target steering angle is set based only on the center side lateral deviation amount Dm of the front / rear / left / right center position Pm, and the drive steering wheel 12 is steered.

  When the machine base 11 enters the corner C, the drive steering wheel 12 is steered so that the front / rear / left / right center position Pm of the machine base 11 is along the magnetic tape 19 based only on the center side deviation Dm detected by the turning guide sensor 21. Is done. For this reason, in the corner C traveling at a low speed, the machine base 11 turns along the magnetic tape 19 with the central portion of the machine base 11 along the magnetic tape 19.

  Further, when the machine base 11 passes through the corner C and again enters the straight path S and reaches the straight travel preparation position P4, the front lateral deviation amount Df and the central lateral deviation are obtained each time the vehicle travels a predetermined distance as described above. A virtual lateral displacement amount Da is obtained from the amount Dm, and the drive steering wheel 12 is steered so as to be a target steering angle with respect to the virtual lateral displacement amount Da. For this reason, even when the front lateral deviation amount Df of the front end left and right central position Pf when the machine base 11 reaches the straight ahead preparation position P4 is large, the virtual lateral deviation amount Da that is sequentially set changes rapidly from the central lateral deviation amount Dm. Therefore, the drive steering wheel 12 is not steered abruptly.

Next, effects of the present embodiment described in detail above will be listed.
(1) When the machine base 11 enters the corner C from the straight path S, the position of the machine base 11 along the magnetic tape 19 is changed from the front left / right center position Pf set during straight running to the front / rear left / right set during turning. The transition was gradually made to the center position Pm. For this reason, even if the center side lateral shift amount Dm with respect to the magnetic tape 19 at the front / rear left / right central position Pm when the machine base 11 enters the corner C is large, the lateral shift amount used for the controller 25 to set the target steering angle is straight ahead. There is no sudden change from the front lateral deviation amount Df of the front / rear / left / right center position Pm used during traveling. Therefore, the drive steering wheel 12 is not steered suddenly during the transition from straight traveling to turning traveling, and the machine base 11 does not suddenly change direction or meander. Similarly, when the machine base enters the straight path S from the corner C, the drive steering wheel 12 is not steered suddenly even if the front lateral deviation amount Df of the front end left-right center position Pf is large. . As a result, the position of the load transported by the machine base 11 is more difficult to shift when switching between straight traveling and turning traveling.

  (2) The rectilinear guide sensor 20 provided at the front left and right central portion of the machine base 11 detects the front lateral displacement amount Df of the front end left and right central position Pf, and the turning guide sensor 21 provided at the front and rear left and right central portions is front, rear, left and right. A lateral displacement amount Dm at the central position Pm is detected. And the controller 25 calculates | requires the virtual lateral displacement amount Da of the virtual position Px which exists on the linear path | route which connects the front end left-right center position Pf and the front-back left-right center position Pm from the front side lateral displacement amount Df and the center side lateral displacement amount Dm, The drive steering wheel 12 is steered so as to eliminate the virtual lateral deviation amount Da. For this reason, since the virtual lateral displacement amount Da of the virtual position Px can be acquired using only the two guide sensors 20 and 21, the configuration is simple.

  (3) The controller 25 is a straight line connecting the front left / right center position Pf and the front / rear left / right center position Pm for the virtual position Px for obtaining the virtual lateral displacement Da every time the machine base 11 travels a predetermined distance from the turning preparation position P2. Move along the route by a certain distance. For this reason, the shift from the steering control giving priority to the straight running stability based on the front side deviation amount Df to the steering control giving priority to the turn following ability based on the center side deviation amount Dm is performed more smoothly.

Next, embodiments other than the one embodiment will be listed.
In the above embodiment, the first position is set to a position deviated from the front left / right center position Pf to the right side or the left side at the front end portion of the machine base. Similarly, the second position is set to a position deviated from the front / rear / left / right center position Pm to the right side or the left side at the front end of the machine base.

  In the above embodiment, the switching from the straight path S to the corner C may be determined by the marker sensor 24R detecting the marker 22R and the marker sensor 24L detecting the marker 22L, and at least any The determination may be made by detecting one of the marker sensors 24R (24L) and the marker 22R (22L). The same applies to switching from the corner C to the straight path S.

  In the above embodiment, the positions of the linear guide sensor 20 and the turning guide sensor 21 are not limited to the front end left / right center position Pf and the front / rear left / right center position Pm. The guide sensor 21 for turning may be arranged somewhat rearward of the front end part, and the turning guide sensor 21 may be arranged slightly forward and backward from the front and rear center part.

  As shown in FIG. 6, one guide sensor 40 as a detector includes a front end left / right center position Pf as a first position and a first detection position, and front / rear left / right center positions as a second position and a second detection position. It is supported by a linear actuator 41 serving as a switching control means so as to be movable between a front-end left-right center and a front-rear left-right center along a straight path connecting Pm. Then, every time the machine base 11 travels a predetermined distance from the turning preparation position P2, the controller 25 controls the linear actuator 41 to gradually move the guide sensor 40 from the front end left / right center position Pf to the front / rear left / right center position Pm. At this time, a configuration is adopted in which the drive steering wheel 12 is steered based on the lateral deviation amount detected by the guide sensor 40 at each position on the straight path. 6 has a pair of left and right drive wheels 52R and 52L at the center of the machine base 51, and has caster wheels 53 at the four corners of the machine base 51, respectively.

  As shown in FIG. 7, a plurality of guide sensors 50a as detectors are provided between the front left / right center and the front / back / left / right center along a straight path connecting the front left / right center position Pf and the front / rear left / right center position Pm. , 50b, 50c, 50d, 50e, 50f, and 50g. Then, every time the machine base 11 travels a predetermined distance from the turning preparation position P2, the controller 25 calculates the lateral deviation amount at a predetermined position for obtaining the lateral deviation amount from the lateral deviation amount at the front end left and right center position Pf detected by the guide sensor 50a. Then, the lateral shift amount at the front / rear / left / right center position Pm detected by the guide sensor 50g is sequentially switched. At this time, a configuration is adopted in which the drive steering wheel 12 is steered by the steering motor 16 based on the lateral deviation amount detected by each guide sensor 50a to 50g at each position on the straight path.

  In the above-described embodiment, the controller 25, when switching from the straight traveling state to the turning traveling state, replaces the traveling distance every time the deceleration speed is decelerated by a predetermined speed, or the elapsed time has elapsed for a predetermined time. Each time, the position of the virtual position Px is changed along a straight path by a predetermined distance.

  As shown in FIG. 8, in addition to the linear guide sensor 20 used when moving forward on the straight path S, the linear guide sensor 60 used when moving backward on the straight path S is used as the rear end of the machine base 11. In the automatic guided vehicle 50 provided in the left and right central portions, the embodiment is embodied when switching from forward to reverse on the straight path S. That is, at the time of switching from the forward travel state to the reverse travel state, the position for detecting the lateral deviation amount is gradually moved from the front end left / right center position Pf to the rear end left / right center position Pr. According to this configuration, when the traveling direction of the machine base 11 is switched on the straight path S, the steering wheel is prevented from being steered suddenly, and the machine base 11 is not suddenly turned or meandered. be able to.

The top view which shows the automatic guided vehicle provided with the traveling control apparatus of this embodiment. (A) is a top view which shows an automatic guided vehicle, (b) is a side view similarly. The block diagram which shows an electrical structure. The schematic diagram which shows the operation state of an automatic guided vehicle. The flowchart which shows switching control. The top view which shows the automatic guided vehicle of other embodiment. The top view which similarly shows an automatic guided vehicle. The top view which similarly shows an automatic guided vehicle.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Automatic guided vehicle as a moving body, 11 ... Machine stand, 12 ... Drive steering wheel as a steering wheel, 16 ... Steering motor as a steering means, 19 ... Magnetic tape as a guide wire, 20 ... 1st detector Guide sensor for rectilinear movement, 21... Guide sensor for turning as a second detector, 25... Controller as switching control means, 40... Guide sensor as detector, 41... Linear guide as switching control means, 50 a. 50g ... Guide sensor as detector, 51 ... Machine, a ... Ratio, Da ... Virtual lateral displacement amount as lateral displacement amount (at a predetermined position), Df ... Front lateral displacement amount, Dm ... Center lateral displacement amount, Pf ... No. Front position left and right center position as one position and first detection position, Pm... Front and rear, right and left center position as second detection position, Px... Virtual position as a predetermined position.

Claims (9)

The detector provided on the machine base detects the amount of lateral deviation at a predetermined position of the machine base with respect to the guide wire arranged along the movement path of the machine base, and steers the machine base to reduce this lateral deviation amount. A traveling control device for a moving body that switches the predetermined position to any one of a first position for the first operation state and a second position for the second operation state based on the operation state of the machine base,
When switching from one of the first operation state and the second operation state to the other, the predetermined position is gradually changed from one of the two positions to the other along a predetermined route connecting the first position and the second position. A traveling control device for a moving body, characterized by comprising switching control means for causing the vehicle to move.   2. The travel control device for a moving body according to claim 1, wherein the first operation state is a straight traveling state of the machine base, and the second operation state is a turning traveling state. The detector includes a first detector that detects a lateral shift amount of the first position with respect to the guide line, and a second detector that detects a lateral shift amount of the second position with respect to the guide line,
The switching control means is configured to detect the predetermined position based on a lateral deviation amount detected by the first detector and a lateral deviation amount detected by the second detector when switching from one of the first operation state and the second operation state to the other. The travel control device for a moving body according to claim 1 or 2, characterized in that an amount of lateral deviation is detected. The travel control apparatus for a moving body according to claim 3, wherein the lateral deviation amount at the predetermined position is obtained by the following equation.
Lateral displacement amount at the predetermined position = (lateral displacement amount at the first position detected by the first detector × a + lateral displacement amount at the second position detected by the second detector × (100−a)) / 100 (a is 0 or more) 100 or less) The detector is switched between a first detection position for detecting a lateral shift amount of the first position with respect to the guide line and a second detection position for detecting a lateral shift amount of the second position with respect to the guide line. Consisting of two detectors
3. The traveling control for a moving body according to claim 1, wherein the switching control unit gradually moves the detector from one of the first detection position and the second detection position to the other. apparatus.   The moving body according to any one of claims 1 to 5, wherein the switching control means moves the predetermined position along a straight path connecting the first position and the second position. Travel control device.   The switching control means is configured to change the predetermined position along the route based on a travel distance when switching from one of the first operation state and the second operation state to the other. The travel control device for a moving body according to any one of claims 1 to 6.   The switching control means changes the predetermined position along the route at a constant rate when switching from one of the first operation state and the second operation state to the other. Item 8. The traveling control device for a moving body according to any one of items 7 to 9. A traveling control device for a moving body according to any one of claims 1 to 8,
Steering means for steering the steering wheel provided on the machine base,
The travel control device controls the steering means so as to reduce the lateral displacement amount.

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