JP2682915B2 - Automated guided vehicle multi-frequency guidance system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-frequency guiding device for an unmanned guided vehicle, and more particularly, in an unmanned guided vehicle utilizing an electromagnetic wave induction method, when the unmanned guided vehicle travels at a single frequency, a branch point or a confluence occurs. The present invention relates to a multi-frequency guiding device for an automated guided vehicle that uses multiple frequencies in order to prevent running errors of the automated guided vehicle in a room.

[0002]

2. Description of the Related Art Conventionally, a method for operating an automated guided vehicle is such that all human powers of various frequencies are processed as hardware, and the deviation is directly applied to a steering motor of the automated guided vehicle so as to be controlled. By doing so, the hardware becomes considerably complicated, and the number of adjustment points increases, which is extremely inconvenient.In addition, when a single frequency is used, the electromagnetic waves increase or decrease at the branch point or the confluence part, which causes a running error. There is a problem that is likely to occur. As a specific conventional example, there is a steering apparatus for an automated guided vehicle disclosed in Japanese Patent Publication No. 1-297707. However, the steering apparatus for the automated guided vehicle uses a guide wire through which an induced current of a predetermined frequency flows. An unmanned guided vehicle equipped with two pickup coils provided on both sides in the traveling direction, a steering circuit for comparing induced voltages from the pickup coils, and a drive motor driven by a servo control device by the output of the steering circuit. , A separate first frequency induction current and a second frequency induction current are caused to flow in the intersecting induction wires, and the steering circuit has two pickup coils attached to both ends in the traveling direction of the automatic guided vehicle. And a first circuit for comparing induced voltages from the two pickup coils by the first frequency induced current as the first frequency resonance frequency and The frequency as a resonance frequency, and a second circuit for comparing the induced voltage from the pickup coil of the two positions by the second frequency induced current. By the way, when the unmanned guided vehicle steering device as described above is controlled by reacting only the guiding line current in the traveling direction when the unmanned guided vehicle travels on the guiding line, the guidance in the direction intersecting with the traveling guiding line. Unmanned guided vehicles can be run stably by eliminating the influence of electric current and avoiding the interference of other guide wires near the crossing point. There is a problem that it is difficult to accurately hold the traveling route by detecting only the induced current in the direction.

[0003]

SUMMARY OF THE INVENTION Therefore, the present invention has been made in view of the above problems and is simple and easy to adjust.
It is an object of the present invention to provide a multi-frequency guiding device for an automated guided vehicle , which is configured by various hardware and secures traveling stability at a junction or a merging portion when the automated guided vehicle is operated.

[0004]

In order to achieve the above object,
A multi-frequency guiding apparatus for an automated guided vehicle according to the present invention is a left and right pickup coil unit that detects magnetic fluxes of currents of a plurality of frequencies that flow through an induction wire, and a guided vehicle traveling based on signals sensed by the left and right pickup coil units. An automated guided vehicle including a steering control unit that determines a deviation and generates a signal for steering control, and a servo control unit that controls driving of a driving motor and a steering motor according to signals from the steering control unit. in the multi-frequency induction device, and the right and left pickup coil unit coil capacitor
Is composed of a support, the steering control unit, the left and right pick
Directly connected to the output of the up coil, and
A plurality of detection units that each have an analog switch for the force, and the steering control unit extracts a signal for the current position of the automatic guided vehicle in the voltage formed by the magnetic flux detected by the left and right pickup coil units; An amplifier for amplifying the extracted signal by a predetermined level, a digital converter for converting the amplified signal into digital data, a buffer for temporarily storing the digital data, and an automatic guided vehicle.
The corresponding frequency is detected by the preset program
Therefore, select one of the above-mentioned multiple detectors.
Turn on both the analog switches at the input and output of the detector.
In addition to the above selection, a microprocessor that inputs the temporarily stored data through the system bus and compares it with the reference data for normal traveling determination of the automatic guided vehicle, and as a result of the determination, a deviation in the traveling route of the automatic guided vehicle is made. is generated, the characterized in that it is composed of an analog converter which converts the deviation value into an analog signal.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram for an electromagnetic induction system applied to an automated guided vehicle of the present invention. When a current flows through a coil embedded in the bottom (not shown), the Fleming's right-hand rule, that is, the thumb of the right hand, Make your index and middle fingers vertical,
When the index finger is oriented in the direction of the magnetic field and the thumb is oriented in the direction of movement of the conducting wire, a magnetic field (magnetic field) is generated around the coil on the basis of the principle that an induced current is generated in the conducting wire in the direction of the forefinger. When detected using a voltage intensity right pickup coil section 12 and the left pickup coil portion 13 is composed of a coil L and a capacitor C is provided on the unmanned conveyance car induced, the detection unit 1, 1 '
In this case, the respective detection actions of extracting the modulation waveform are performed, and the amplification waveforms obtained by the detection units 1 and 1 ′, that is, the amplification units 2 and 2 ′ so that the analog waveform has a predetermined level.
Amplifies each. The signals amplified to a predetermined level by the amplification units 2 and 2'are digital conversion units 3 and 3 '(ADC: A
nalog-digital Converter) after converted into digital data of each 4-bi Tsu bets, to compare the normal progression determination reference data of the AGV, is input to the microprocessor 6, are previously input to the microprocessor 6 The deviation is compared with the left and right reference signals of the unmanned guided vehicle, and the deviation value is input to the analog converter 7 (DAC) in order to convert it into an analog for operating the unmanned guided vehicle.

The left-right deviation signal of the automated guided vehicle converted into the analog signal is input to the servo control unit 8 and the drive motor or the steering motor is operated as necessary, so that the automated guided vehicle is buried in the bottom. Along the center of the existing guide line, the vehicle keeps traveling accurately while traveling.

FIG. 2 is a block diagram for the input section of the electromagnetic induction device applied to the automatic guided vehicle according to the present invention. First, the right pickup coil section 12 and the left pickup which are composed of the coil L and the capacitor C are shown. The coil unit 13 is used to detect the magnetic flux flowing through the induction wire and perform a detection operation of extracting the signals required by the detection units 1 and 1 ′. The detection operation of the detection units 1 and 1'is performed by comparing the signal waveform input from the frequency selection unit 9 that extracts the signal waveform by identifying the frequency change and making the amplitude change such as the voltage change. , 1 ', the analog signals detected by the amplifiers 2 and 2'are amplified to a predetermined level, and the digital converters 3 and 3'are converted to digital data.
Is input to

[0008] The left and right analog signal inputted to the digital conversion unit 3, 3 ', in order to compare with a reference signal stored in the microprocessor 6 of FIG. 1, is converted into digital data of each 4-bi Tsu preparative buffer 4 is input. The buffer 4 includes a left pickup coil unit 13
8 of the converted left and right digital data of the signal detected by and the signal detected by the right pickup coil unit 12
Complete for combining the digital data of the bi Tsu bets, i.e., data of 8-bi Tsu bets that are combined in the buffer 4 is placed on the system bus 5 is input to the microprocessor 6, the microprocessor 6 The reference signal is set to, and the comparison value allows the automatic guided vehicle to travel accurately.

FIG. 3 is a diagram of a traveling principle using an electromagnetic wave induction system applied to the automated guided vehicle of the present invention. As shown in the figure, power is applied to the induction wire 14 buried in the bottom 15 and current is applied. When flowing, a magnetic field 16 is generated in the surroundings in FIGS. 1 and 2, and the voltage VRI induced by the magnetic field 16 is generated.
And the voltage VLE is the right pickup coil connecting portion RI.
The right side pickup coil section 12 connected to the left side pickup coil section 13 and the left side pickup coil section 13 connected to the left side pickup coil connecting section LE are detected, and the voltage signal of each of them is detected, amplified, and converted into a digital signal. After being compared with the reference signal by the processor 6, the left and right deviation values are discriminated and the operation of driving or steering the motor is performed, so that the voltages VLE, V detected by the left and right pickup coil sections 13, 12 are detected.
The RIs are the same, and the automatic guided vehicle can travel accurately along the center of the guide line 14.

FIG. 4 is a detailed circuit diagram of the electromagnetic wave induction device applied to the automatic guided vehicle according to the present invention.
4 is a band pass filter diagram applied to the automated guided vehicle of the present invention, and in FIG. 4 and FIG.
4 is a right pickup coil connecting portion for connecting the right pickup coil portion 12 for detecting an induced voltage due to the magnetic field 16 generated around the right side of 4, and 18 is for detecting an induced voltage due to the magnetic field 16 generated around the induction wire 14. Is a left pickup coil connecting portion for connecting the left pickup coil portion 13 of FIG.
In order to select the frequency with respect to the induced voltage VRI detected in 2, the detectors Rf1, Rf2, Rf3, Rf4, the left detector switches SW1, SW2, SW3, SW4, and the right detector switches SW9, SW10, SW11, SW1.
A right-side detection section composed of 2 and 1'indicates an induced voltage VLE detected by the left-side pickup coil section 13.
For frequency selection for the detectors Lf1, Lf2,
Lf3, Lf4 and detector left side switches SW5, SW6
SW7, SW8 and right detector switch SW13, SW
This is a left-side detection unit composed of 14, SW15, and SW16.

Reference numeral 2 denotes a right side amplification section for amplifying the signal detected by the right side detection section 1 to a predetermined level, converting it into a direct current and inputting it to the digital conversion section 3.
P1 and resistors R3, R5, R7, R9, R11, VRI
And a capacitor C3, C5, C7, and a diode DI. 2'amplifies the signal detected by the left-side detector 1'to a predetermined level, converts it into a direct current, and inputs it to a digital converter 3 '. A left-side amplification section for operating the operational amplifier OP2 and resistors R4, R6, R8, R10, R12,
Compared to VR2, a capacitor C4, C6, C8, it is composed of a diode D2 Prefecture, 3 from the reference signal by the comparator the signal DC conversion is amplified to a predetermined level by the right amplifier unit 2, 4-bi Tsu A right side digital conversion unit for converting into digital data of a resistor R 1 3, R 1 4,
R 1 5, R 1 6, RC1, RC2, RC3, RC4, R
f1, Rf2, Rf3, Rf4, VR3, photocouplers PC1, PC2, PC3, PC4, inverter a,
b, c, d and comparators COM1, COM2, COM3
Consists COM4 Prefecture, 3 'is the left amplifying section 2' with is amplified to a predetermined level in comparison with the reference signal by the comparator DC converted signal, the left digital converting unit for converting the digital data of 4 bi Tsu DOO Yes, resistors R17, R18,
R19, R20, RC5, RC6, RC7, RC8, R
f5, Rf6, Rf7, Rf8, VR 4 , photocouplers PC5, PC6, PC7, PC8, inverter e,
f, g, h and comparators COM5, COM6, COM7,
It is composed of COM8.

Further, reference numeral 4 8 bi four bi tree Todeta of people each input from the right and left side digital converter unit 3, 3 '
After combining the tree Todeta, to determine the lateral deviation of AGVs is a buffer for performing a role of input to the microprocessor 6 via the system bus 5. The left and right detectors 1, 1'left and right amplifiers 2, 2'left and right digital converters 3, 3'and the buffer 4 are a microprocessor 6
And an analog conversion unit 7 to form a steering control unit 10 for generating an accurate steering signal of the automatic guided vehicle.

The operation of the electromagnetic wave input circuit diagram of the automatic guided vehicle according to the present invention constructed as described above will be described below. Generally, in the electromagnetic induction method,
3-20 KHz (kilohertz (KHz) = 10H) on the guide wire 14 buried in the bottom 15 for traveling of the automatic guided vehicle.
z) and a current of 100 to 300 mA (milliampere (mA) = 10 ⁻³ A) are allowed to flow, and in the multiple induction system, an appropriate frequency is selected in the low frequency range of 3 to 20 KHz.

Since the main purpose of the automatic guided vehicle in the present invention is to process the frequency selection, which was conventionally processed as hardware, as software, the software, that is, the program for running the automatic guided vehicle, is All the signals are input to the microprocessor 6, and the method of selecting a detector for selecting the corresponding frequency is obviously programmed. Therefore, for the traveling of the automatic guided vehicle, the microprocessor 6 selects the detection unit of the corresponding frequency, that is, the right detection unit 1 and the left detection unit 1 ′ according to the program previously input to the microprocessor 6, Detector R of the right detector 1
f1 is the detector Lf1 of the left detector 1'and the detector Rf2
Are selected together with the wave detector Lf2, the wave detector Rf3 and the wave detector Lf3, and the wave detector Lf4 and the wave detector Lf4 are selected together, and are adjusted by the variable resistors VR1 and VR2 so that the selected frequencies are different.

In order to be selected as described above, the switches SW1 and SW9 located on the right and left sides of the right detector 1 detector Rf1, and the left detector 1'detector Lf1.
Both the switch SW5 and the switch SW3 located on the left and right sides of the switch SW1 should be turned on.
Switches other than SW9, SW5 and SW13 should be turned on in the same manner.

The switches SW1 to SW16 are analog switches, and the frequency detection circuit is composed of resistors R1, R2 and R3, capacitors C1 and C2, and an operational amplifier OP3, as shown in FIG. 5, and serves as a kind of bandpass filter. The above applicable frequency is Here, the selectivity Q of the ability to selectively separate desired frequencies is Q = WCR = 2πfCR, which is about 8 to 10.

In FIG. 5, the variable resistor R2 is used to adjust so that a voltage of at least 50 mV is input to the point A when the automatic guided vehicle is located on the traveling path, that is, in the center of the guide wire. When the waveform oscillates at B, a larger current is allowed to flow through the guide wire 14 of the traveling path so that the oscillation does not occur. By the way, according to the experiment, 5 at point A
It was revealed that the output voltage at point B is 300 mV when a 0 mV sinusoidal voltage is input.

On the other hand, the right side detector 1 and the left side detector 1 '
Detectors Rf1 and Rf selected for the corresponding frequency from
2, Rf3, Rf4 or detectors Lf1, Lf2, Lf
Among the signals detected by Lf4 and 3, Lf4, the signal detected by the right-side detector 1 repeats charging and discharging due to the change with respect to the alternating current, and passes through the capacitor C3 which performs a kind of resistance function to the operational amplifier OP1. The signal which is input to the non-inverting input terminal (+) of the input terminal, is changed by the voltage variable resistance VR1, is input via the resistance R3, and is detected by the left-hand side transformer detection unit 1 ′. Is input to the non-inverting input terminal (+) of the input terminal, but is changed by the voltage variable resistance VR2 and input via the resistance R4.

Next, the signal from the right-side detector 1 input to the non-inverting input terminal + of the operational amplifier OP1 has a signal value determined by the resistors R5 and R7 and the capacitor C5, and the inverting input terminal ( -) Causes an amplification effect, and as a result of the amplification effect,
The output waveform signal of 4 to 6V output from the operational amplifier OP1 is converted into direct current by the diode D1, and the alternating current component included in the signal converted into direct current is smoothed by the resistor R9 and the capacitor C7 = WCR. After being removed, the comparators COM1, COM2, C are connected via the resistor R11.
Input to the non-inverting input terminal (+) of OM3 and COM4,
The signal from the left-side detector 1'input to the non-inverting input terminal (+) of the operational amplifier OP2 has a signal value determined by the resistors R6 and R8 and the capacitor C6 at the inverting input terminal (-) of the operational amplifier. When input, it causes an amplifying action, and as a result of the amplifying action, the output waveform signal of 4 to 6 V output from the operational amplifier OP2 is also converted into direct current by the diode D2, and is included in the signal converted into the direct current. After the included AC component is removed by the smoothing action (τ = WCR) of the resistor R10 and the capacitor C8, the comparators COM5, COM6, COM are connected via the resistor R12.
7, COM8 is input to the non-inverting input terminal (+).

On the other hand, the diodes D1 and D
If the values of the resistors R9 and R10 for removing the AC component included in the DC signal converted by 2 are too large,
The time constant τ = RC causes the time constant to increase and delays the discharge delay time, which eventually results in a delay in response characteristics. On the other hand, when the values of the resistors R9 and R10 are too small, the time constant τ = RC causes Since the time constant value becomes considerably small, the discharge time becomes short, and the comparison voltages of the comparators COM1 to COM8 change abruptly, which adversely affects the accurate running of the automated guided vehicle. And the resistance R10 value should be selected accordingly.

Next, the comparators COM1, COM2, C
The output signal converted into direct current by the diode D1 input to the non-inverting input terminals (+) of the OM3 and COM4 is the voltage variable resistor VR3 and the resistors R13, R14, R1.
5, R16, the comparators COM1, COM2,
The comparison result comparator COM1 is compared with the reference signal input to the inverting input terminals (-) of COM3 and COM4.
When the output signal of COM4 is a (+) signal, the (+) signal is applied to the photocouplers PC1, PC2, PC3, PC4 combined with the diode and the transistor via the resistors RC1, RC2, RC3, RC4. The photocouplers PC1 to PC4 are operated to operate the photocoupler PC1.
~ The signal generated by the operation of PC4 is converted into a TTL voltage level much faster than the speed of DTL, and the resistance Rf
1, Rf2, Rf3, Rf4 and inverters a, b,
A high signal having an inverter circuit composed of c and d is input to the buffer 4 while the comparator COM
5, the output signal converted into direct current by the diode D2 input to the non-inverting input terminals (+) of COM6, COM7, and COM8 is the voltage variable resistor VR4 and the resistor R1.
7, R18, R19, R20 through the comparator CO
When the output signals of the comparison result comparators COM5 to COM8 are (+) signals, the (+) signals are compared with the reference signals input to the inverting input terminals (-) of M5, COM6, COM7, and COM8. Signal is resistance RC5, RC6, R
It is applied to the photocouplers PC5, PC6, PC7, PC8 combined with the diode and the transistor via C7, R8 to operate the photocouplers PC5 to PC8, and the signals generated by the operations of the photocouplers PC5 to PC8 are converted into the TTL voltage level, and the resistance is changed. Rf5, Rf6, Rf7, Rf
A high signal having an inverter circuit composed of 8 and inverters e, f, g and h is input to the buffer 4.

[0022] That is, the left and right respectively of 4 bi Tsu Todeta inputted to the buffer 4 is combined in 8 bicycloalkyl Tsu Todeta by the buffer 4, has been previously inputted to the microprocessor 6 by utilizing the 8 bi tool Todeta Compared with the reference signal, the unmanned guided vehicle deviates to the left or right of the guide line 14 which is the traveling path, so that it can be read that the unmanned guided vehicle has left the traveling path, and the left / right deviation signal thereof is converted into the analog conversion unit 7.
By converting an analog signal, and drives the drive motor or the steering motor by the servo control unit 8 according to the control signal for controlling so as to perform accurate travel.

[0023]

As described above, according to the multi-frequency guiding device for the automatic guided vehicle of the present invention, the left and right pickups are provided.
The coil section consists of a coil and a capacitor, and the steering control section is directly connected to the outputs of the left and right pickup coil sections.
And has analog switches for each input and output.
Then, in the voltage formed by the magnetic flux detected by the left and right pickup coil units, a plurality of detection units that extract signals for the current position of the automated guided vehicle, an amplification unit that amplifies the extracted signals by a predetermined level, and the amplified signals are amplified. A digital converter that converts signals into digital data, a buffer that temporarily stores digital data, and a preset for an automated guided vehicle
Since the program detects the relevant frequency, multiple detection
Select one of the wave detectors as the input / output of the detector to be selected.
Select by turning on both analog switches
At the same time, since it has a microprocessor for inputting the temporarily stored data through the system bus and comparing it with the reference data for normal traveling determination of the automatic guided vehicle,
It can be configured easily and easily, it can ensure the running stability at the junction and the junction when the automatic guided vehicle is running, and it can be used for all industrial railcars that are driven by the electromagnetic induction method. It has an economic effect.

[Brief description of the drawings]

FIG. 1 is a block diagram of an electromagnetic induction system applied to an automated guided vehicle according to the present invention.

FIG. 2 is a block diagram of an input unit of an electromagnetic wave induction device applied to an automated guided vehicle according to the present invention.

FIG. 3 is a traveling principle diagram using an electromagnetic wave induction method applied to the automatic guided vehicle according to the present invention.

FIG. 4 is a detailed circuit diagram of an input unit of the electromagnetic wave induction device applied to the automated guided vehicle of the present invention.

FIG. 5 is a bandpass filter circuit diagram applied to an automated guided vehicle according to the present invention.

[Explanation of symbols]

 1 detection section 1'detection section 2 amplification section 2'amplification section 3 digital conversion section 3'digital conversion section 4 buffer 5 system bus 6 microprocessor 7 analog conversion section 8 servo control section 9 frequency selection section 12 right pick-up coil section 13 left side Pickup coil part 14 Guiding wire 15 Bottom 16 Magnetic field 17 Right pickup coil connecting part 18 Left pickup coil connecting part

Claims (3)

(57) [Claims] 1. A left and right pickup coil section for detecting magnetic fluxes of currents of a plurality of frequencies flowing through an induction wire, and a running deviation of an automated guided vehicle based on a signal sensed by the left and right pickup coil section, for steering control. in multi-frequency induction apparatus AGV comprising a servo control section for controlling the driving of the driving motor and the steering motor in response to signals and steering control unit, a steering control unit for generating a signal for said Left and right pick-up coil part is coil and capacitor
And the steering control section is directly connected to the outputs of the left and right pick-up coil sections.
And also has analog switches for input and output,
A plurality of detectors for extracting a signal for the current position of the automatic guided vehicle in the voltage formed by the magnetic flux detected by the left and right pick-up coil parts; an amplifier for amplifying the extracted signals by a predetermined level; The digital conversion unit for converting the generated signal into digital data, the buffer unit for temporarily storing the digital data, and the corresponding frequency by the program preset in the automatic guided vehicle.
Any one of the above detectors to detect the number
Is an analog switch at the input / output of the detector to be selected.
When the both are turned on, a microprocessor that inputs the temporarily stored data through the system bus and compares it with the reference data for determining whether the automatic guided vehicle is normally driven, and as a result of the determination, the automatic guided vehicle travels If the deviation occurs in the path, multi-frequency induction device of the automatic guided vehicle, characterized in that it is composed of an analog converter which converts the deviation value into an analog signal. Wherein said plurality of detection portions, it pairs with left and right AGV is provided so that it can determine that it has left the roadway by deviating to the left or right side of the guiding line to roadway 2. A plurality of wave detectors, wherein the microprocessor selects paired left and right wave detectors in order to detect a corresponding frequency according to a program preset in the automatic guided vehicle. Multi-frequency guidance system for automated guided vehicles. 3. The digital data is composed of left and right 4-bit data, and a microprocessor judges the left-right deviation of the traveling path of the automatic guided vehicle by comparing with the previously input reference data,
The left-right deviation is converted into an analog signal by the analog conversion unit, and the buffer is input from the digital conversion unit so that the servo control unit controls the drive motor or the steering motor by the control signal to perform accurate traveling. 2. The multi-frequency guiding device for an automatic guided vehicle according to claim 1, wherein 4-bit data for each of the left and right sides is combined with 8-bit data.