JP2646589B2 - How to control unmanned vehicles - Google Patents

Description

Description: A TECHNICAL FIELD The present invention relates to a control method in a case where a transition from a teaching playback travel to a guideline travel is performed.

B. Outline of the Invention In the present invention, when the vehicle transits from the teaching playback traveling to the guiding line traveling, a guiding line scan is performed in advance, and the driving is switched to the guiding line driving when the guiding line is found.

C Conventional technology Conventionally, when an unmanned vehicle travels to a target position, a guide wire is laid on a floor or the like leading to the target position, and a current of a certain frequency flows through the guide line to generate magnetism and generate an unmanned vehicle. There is a method of traveling while detecting magnetism with a pickup coil etc. provided on the car side, or a method of guiding by optical means, but if these methods once determine the guide line, change If it is desired to do so, the change becomes serious. Therefore, an unmanned vehicle that can easily change the target position by using teaching playback is used. FIG. 2 shows a configuration of a combined control method of the guide line traveling and the teaching playback traveling. Reference numeral 1 denotes an induction wire to which a power supply for supplying a current of a certain frequency is connected. Reference numeral 2 denotes a right pickup coil, and reference numeral 3 denotes a left pickup coil. This coil is disposed at the head of an unmanned vehicle and detects magnetism from an induction wire. Signals detected by a few pickup coils are amplified by a differential amplifier 4 as left and right signal differences.
The digital signal is input to the microprocessor 61 in the control unit 6 by the A / D converter 5. In the microprocessor 61, the signal difference is output to a control unit (not shown) as a left / right shift amount and the vehicle travels. Here, the pickup coil detects a signal oscillated by a teaching playback running command signal oscillator installed at a certain point on the guide line, and teaches back by teaching data stored in a memory 62 in the control unit 6 in advance. Switch to running and start running. When the teaching playback travel starts, detection signals are output from amplifiers 9, 12 and A by a travel distance detection pulse oscillator 11 and a travel direction detection potentiometer 8 directly connected to a drive unit (not shown) in the control unit 6. It is fed back to the microprocessor 61 via the / D converter 10, and the actual driving data fed back is compared with the teaching data stored in the memory 62. The driver travels while correcting the orbit of the unmanned vehicle by issuing a correction command. Since the teaching playback travel end point is set on the guide line, the vehicle is switched to the guide line travel from this end point, and the guide line travel is performed.

D Problems to be Solved by the Invention It is possible to freely change the traveling route by using both the guide line traveling and the teaching playback traveling. However, when transferring to the guidance line from the teaching playback traveling, it is stored in the memory. The difference between the teaching data and the actual travel distance and direction during the teaching playback travel is corrected, but the actual travel and the teaching data may be corrected depending on the wear of the drive mechanical transmission parts and wheels and the condition of the travel path. The difference is accumulated and becomes an error at the end of the teaching playback run.After the teaching playback run is completed, the driver turns the steering wheel suddenly to correct the accumulated error when moving on to the guidance line, and in the worst case, goes out of the course. There is a problem that. Further, if the teaching playback travel end point is not set directly above the guide line when teaching data is input, there is a problem that the steering wheel is suddenly turned off at the end of the teaching playback travel as described above.

Therefore, an object of the present invention is to provide a method of controlling a driverless vehicle that is safe without a sudden steering wheel or a course out when the driver transfers to a guide line from teaching playback.

E Means for Solving the Problems According to the control method for an unmanned vehicle of the present invention, the guidance line scan command is stored in the memory in the control unit for storing the teaching data a few seconds before the end of the teaching playback travel. Then, based on the stored command, the pickup coil arranged in the unmanned vehicle scans the guide line.

F action When a certain distance immediately before the end of the teaching playback travel is reached, scanning of the guide wire is started by the pickup coil, and when the guide wire is found, the teaching playback travel is stopped and the normal guide wire travel is started. It is something that can be replaced.

G Examples Hereinafter, examples of the present invention will be described in detail with reference to the drawings. First
FIG. 2 is a flowchart of a control method according to the embodiment of the present invention.

Immediately before the end of the playback traveling during the teaching playback traveling of the unmanned vehicle (in the embodiment, the traveling traveling is set to about 2 to 3 seconds, but this time is limited by the conditions such as the distance of the traveling road). No). A guide line scan is started according to a guide line scan command stored in the memory 62 in the control unit 6 in advance. This scanning method will be described with reference to the flowchart of FIG.

When a scan command is output from the memory 62, scanning of signals oscillated from the induction wires by the pickup coils 2 and 3 is started. If there is no guide line, scanning is continued while continuing the teaching playback travel, and if there is a guide line, the system immediately switches to guide line travel and enters guide line travel.

H Effect of the Invention According to the present invention, the guide line is scanned immediately before the end of the teaching playback travel, and the vehicle enters the guide line travel with the guide line present. Therefore, even if an error during the teaching playback travel is accumulated, the operation shifts to the guide line travel. When the teaching data is stored in the memory, the teaching playback can be performed without bringing the teaching end point right above the guide line. As a result, an effect that teaching becomes very easy can be obtained.

[Brief description of the drawings]

FIG. 1 is a flowchart of a guide line scanning method according to the present invention, and FIG. 2 is a main part configuration diagram of an unmanned vehicle that uses both guide line traveling and playback traveling. 1 is an induction wire, 2 and 3 are pickup coils, 4 is a differential amplifier, 5 and 10 are A / D converters, 6 is a control unit, 61 is a microprocessor, 62 is a memory, 8 is a potentiometer,
9 and 12 are amplifiers and 11 is a palace oscillator.

Claims (1)

(57) [Claims] 1. A pickup coil disposed on the left and right sides of an unmanned vehicle for detecting a signal oscillated from an induction wire, amplifies a difference between output signals of the pickup coils and outputs the amplified signal via an A / D converter. The control unit controls the traveling of the unmanned vehicle, the pulse oscillator that detects the traveling distance during the traveling of the unmanned vehicle, and the output of the potentiometer that detects the traveling direction are fed back to the control unit. In a control method of an unmanned vehicle, comprising a means for correcting a traveling trajectory and a memory for storing data in advance in a control unit and having a combined use of a guide line traveling and a teaching playback traveling, the control method is pre-stored in a memory in the control unit. In addition, just before the end of the teaching playback run by the teaching data and the scan start signal data, the guide line scan was started by the guide line scan signal and the guide line was found. Control method for an unmanned vehicle, characterized in that from the point to start the usual guide wire travel.