JP2663442B2 - Driving control device for unmanned vehicles - Google Patents

Description

The present invention relates to a traveling control device for an unmanned vehicle. B. Summary of the Invention The present invention relates to a device for controlling the driving of an unmanned vehicle while detecting a guideline by a detection unit on the unmanned vehicle side. An unmanned vehicle is driven in a non-road mode according to each pattern by taking out a standard driving pattern, and a driving route is formed by combining these patterns. By making the correction, it is possible to economically realize the layout of a complicated traveling route, and to flexibly and easily cope with a change in the layout. C. Prior Art Unmanned vehicles are attracting attention as unmanned transport systems because they can provide various functions. For driving control of unmanned vehicles, for example, guidelines such as electromagnetic induction wires and light reflective tape are placed on the floor along the traveling path, and the detection unit on the unmanned vehicle detects the guidelines and based on the detection signal. This is done by steering. D. Problems to be Solved by the Invention However, according to the conventional method, when laying out a complicated traveling route, guidelines must be set along the traveling route, which is troublesome and requires high construction costs. In addition, when the layout is changed, there is a drawback that it is difficult to provide a guideline since the installation of the guideline must be performed each time. It is an object of the present invention to economically realize a layout of a complicated traveling route, and to flexibly and easily cope with a layout change. E. Means for Solving the Problems The present invention provides a guideline for correcting misalignment that is intermittently arranged along the traveling path of an unmanned vehicle, and a detecting unit provided on the unmanned vehicle for detecting the guideline. And a storage unit for storing information of a plurality of types of standard traveling patterns constituting elements of the traveling route, which have been previously taught by driving an unmanned vehicle by manned operation, and traveling control based on a detection signal of the detection unit. The traveling mode is switched between the path mode to be switched and the non-path mode that travels in the same pattern as the standard traveling pattern at the time of manned operation based on the information of the standard traveling pattern selected from the information in the storage unit. A mode switching unit for performing the traveling mode selected by the mode switching unit. F. Operation The unmanned vehicle mode is selected when the unmanned vehicle is located between the guidelines, and the unmanned vehicle travels based on the information of the selected standard traveling pattern. When the unmanned vehicle reaches the guideline, the radius mode is selected to correct the displacement. Thereafter, the pathless mode is selected again and the vehicle travels in the same manner. Thus, the unmanned vehicle travels along the traveling route based on the combination of the standard traveling patterns. G. Embodiment FIG. 1 is a diagram showing a control device for an unmanned vehicle used in an embodiment of the present invention. In the figure, reference numeral 1 denotes a traveling control unit provided in an unmanned vehicle, and the traveling control unit 1 performs one of a route mode using a guide line made of, for example, a light reflecting tape and a non-path mode using no guide line. It has a function to execute. Reference numeral 2 denotes a mode switching unit that switches a traveling mode between the above-described path mode and the non-path mode. A description will be given of the above-mentioned diameter path mode. As shown in FIG. An optical sensor unit 3 is provided on the vehicle side. The traveling control unit 1 supplies a steering control signal to a motor drive unit 5 based on a detection signal from the optical sensor unit 3 when the path mode with a radius is selected. Control the motor. As a result, the unmanned vehicle travels along the light reflection tape T. Next, a description will be given of the unmanned road mode. A storage unit 4 is provided on the unmanned vehicle side. Information on the types of standard traveling patterns is stored. Here, since the traveling route of the unmanned vehicle is usually composed of a combination of several typical traveling patterns, in the present invention, such traveling patterns are stored in the storage unit 6 as standard traveling patterns, and will be described later. In this way, a driving route is obtained by combining these. As the standard traveling pattern, a straight line pattern as shown in FIG. 3A, a turning pattern as shown in FIG. 3B, a parallel transfer pattern as shown in FIG.
The diagonal branch pattern as shown in FIG.
And the like. In FIG. 1, reference numeral 6 denotes a rotation speed detection unit for detecting the rotation speed of the wheels of the unmanned vehicle. The information on the standard traveling pattern is obtained by detecting the rotation speed detection signal and the steering amount from the rotation speed detection unit 6 corresponding to the traveling distance. Includes the combination with the corresponding angle signal. When the pathless mode is selected, the traveling control unit 1
A steering control signal corresponding to the traveling distance at that time is provided to the motor drive unit 5 based on the information of the standard traveling pattern selected from the information in the above. As a result, the unmanned vehicle travels in the same pattern as the standard traveling pattern during manned operation. Next, the operation of the above embodiment will be described. Now, the unmanned vehicle is running at the front end of the light reflection tape T (T ₁ ) on the traveling route shown in FIG.
If the vehicle reaches the point, the driving mode is switched to the no-path mode and the straight line pattern P ₁
Information of the standard running pattern corresponding to is selected from the information in the storage unit 4 travels in the same pattern as the pattern P _1. Then, when it reaches the rear end of the light reflection tape T (T ₂ ),
The traveling mode is switched to the path mode with a radius, and the optical sensor unit 3
The steering is controlled based on the detection signal. Here, the path mode has a role of correcting a positional deviation caused by the traveling in the pathless mode in order to allow the unmanned vehicle to travel while maintaining high positional accuracy with respect to the light reflection tape T. Thereafter, when the front end of the light reflecting tape T (T ₂ ) is reached, the mode is switched to the non-path mode and the turning pattern P ₂ as shown by the arrow.
The standard driving pattern corresponding to
It travels in the same pattern and P _2. Thus, the unmanned vehicle travels along the planned traveling route. Here, the switching of the traveling mode is performed, for example, by a command from the host computer on the ground or by detecting a mark arranged on the traveling route. Regarding the selection of information on the standard driving pattern, for example, the order of taking out each information is specified in advance in the program, or a mark corresponding to each standard driving pattern is arranged on the driving route and the mark is detected. It is done by doing. In the present invention, a mode in which an electromagnetic induction wire is used instead of using the light reflecting tape and the vehicle travels while detecting the magnetic flux may be used as the path mode with a radius. H. Effects of the Invention The present invention preliminarily teaches a plurality of types of standard driving patterns to unmanned vehicles, sequentially takes out standard driving patterns from among them, and drives the unmanned vehicles in the non-road mode according to each pattern. The travel route is formed by combining these patterns, and the positional deviation is corrected between the patterns by the radial path mode using the guide line. Therefore, according to the present invention, it is possible to economically realize the layout of a complicated traveling route because it is not necessary to set guidelines along the traveling route. Since only the combination needs to be changed, it can be flexibly and easily dealt with. In addition, even if a position shift occurs due to a slip of a wheel or the like while traveling in the non-path mode, the position shift is corrected by the path mode with the radius, so that the vehicle can travel on a planned traveling route.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is an explanatory diagram showing a traveling route, and FIGS. 3 (A) to (E) are explanatory diagrams showing a standard traveling pattern. It is. 1, a traveling control unit, 2, a mode switching unit, 3, an optical sensor unit, a storage unit, a motor drive unit, a rotation speed detection unit.

Claims (1)

(57) [Claims] Guidelines for correcting misalignment intermittently arranged along the traveling path of unmanned vehicles, detectors provided on unmanned vehicles to detect these guidelines, and teaching by running unmanned vehicles in advance by manned operation In addition, a storage unit that stores information of a plurality of types of standard traveling patterns that constitute elements of the traveling route, a path mode for controlling traveling based on a detection signal of the detection unit, and information selected from the information in the storage unit. A mode switching unit that switches and selects a traveling mode between a standard traveling pattern at the time of manned operation and a non-path mode that travels in the same pattern based on the information of the standard traveling pattern, and a mode switching unit that is selected by the mode switching unit. A driving control unit for executing a driving mode, wherein the mode switching unit switches the driving mode to the non-path mode when the unmanned vehicle is positioned between the guide lines. A driving control device for an unmanned vehicle, wherein when the vehicle reaches a guideline, the driving mode is switched to a radial path mode.