JP2696866B2 - Driving system for unmanned vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Industrial Field of the Invention The present invention relates to a traveling system for an unmanned vehicle that drives an unmanned guided vehicle along a taxiway. B. Summary of the Invention The present invention relates to a traveling system for an unmanned vehicle that drives an unmanned vehicle along a track or a taxiway provided on the ground, and detects a magnetic field from an electromagnetic induction wire provided along a first traveling path. An unmanned vehicle is equipped with an electromagnetic sensor unit for detecting the reflected light from a light reflecting tape provided along the second traveling path on the unmanned vehicle, and the detection signals of the two sensor units are first and second. By switching based on the signal from the signal generator provided at the branch point of the traveling path, the driverless vehicle can easily change the course regardless of the traveling path provided with the electromagnetic induction wire or the light reflecting tape. It is possible to make the vehicle run, so that the electromagnetic induction wire and the light reflection tape can be freely used as a guideway for unmanned vehicles. C. Prior Art Unmanned transport systems change the travel route and travel route, which are programmed or set in advance, by controlling the steering of an unmanned vehicle along a track or a taxiway installed on the ground side, and the travel position and the loading The adjustable range and the stop position are changed by drive control according to the weight, and are used for unmanned operation control of cargo handling and various controls. In addition, the guideway system includes a light reflection tape guideway system and an electromagnetic guideway system. As shown in FIG. 4 (b), the light-reflecting tape guideway method employs a light-reflecting tape, for example, an aluminum tape 1 on the ground side (floor) to form a guideway, and an unmanned vehicle (AG
FIG. 4 (a) and FIG. 4 (b) show a light traveling as a pair of a light emitting device (light emitting source) and a light receiving device for receiving the light from the light emitting device reflected by the aluminum tape 1 as shown in FIGS. A guide sensor 2 is provided, and the steering direction is determined based on the presence or absence of a light receiving signal of the optical travel guide sensor 2. still,
FIG. 4 (a) shows an example of an unmanned vehicle (AGV), in which 3 is a bumper, 4 is a drive motor, 5 is an obstacle sensor,
Reference numeral 6 denotes a steering motor, 7 denotes an optical transmission sensor, 8 denotes a standby light receiver, and 9 denotes an optical proximity sensor. FIG. 4 (b) shows the relationship between the optical travel guide sensor 2 and the aluminum tape 1 during unmanned vehicle travel, where 10 _L and 10 _R indicate left and right projectors, respectively.
1 _L and 11 _R are the left and right receivers. On the other hand, in the electromagnetic induction path method, as shown in FIG. 5, an alternating current or a direct current having a constant frequency is applied to a guide wire 12 buried on the ground side, and an induced magnetic field caused by the current is changed to a right and left direction orthogonal to the front-rear direction of an unmanned vehicle (AGV). The steering control along the guide wire 12 is performed by detection by a pair of pickup coils PUC _L and PUC _R provided in the controller. The front-rear steering control is, for example, the sixth
This is performed by the steering control unit as shown in the figure. That is, of the voltage signals detected by the pickup coils PUC _L and PUC _R , the voltage signals tuned to a specific frequency are taken out by the tuning circuits 13 _L and 13 _R , and then rectified and amplified by the rectification amplification circuits 14 _L and 14 _R. The output voltages of the circuits 14 _L and 14 _R are applied to the differential amplifier 15.
And supplies a deviation signal as shown in FIG. 7 to a CPU (central processing unit) 16. The CPU 16 sends a command signal to a steering servo 17 based on the deviation signal, and the steering servo 17 drives a steering motor 18 to control the steered wheels in the left-right direction. Thus the pickup coil PUC _L, output deviation zero PUC _R, i.e. the guide wire 1
2 is located at the center of the vehicle body so as to travel along the guide wire 12. D. Problems to be Solved by the Invention The light-reflective tape guideway method requires only a light-reflective tape to be adhered to the floor, so that the work for the light-reflecting tape is small, but the tape is easily stained and has a problem in durability. In addition, the electromagnetic induction path method has no problem regarding dirt and durability, but requires much labor and cost for installation. In the case of the electromagnetic induction path method, a part of the floor is a metal plate (manholes, ducts, elevators, etc.)
However, there is a drawback that the magnetic field cannot be detected and the vehicle cannot travel along the taxiway. The present invention has been made in view of the above points, and an object of the present invention is to make it easy to travel along a taxiway regardless of a type of an electromagnetic guideway type or a light reflection tape guideway type. It is an object of the present invention to provide a driving system for an unmanned vehicle that can be operated. E. Means for Solving the Problems The present invention provides an electromagnetic induction wire to which an electric current is supplied on a track or on the ground along a first traveling path of an unmanned vehicle,
A light reflecting tape is provided on the ground along a second traveling path different from the first traveling path, and the electromagnetic induction line and the light are provided at a branch point and a junction of the first traveling path and the second traveling path. An electromagnetic sensor provided with a reflective tape and a signal generator provided at the juxtaposed point, wherein the unmanned vehicle detects a magnetic field from the electromagnetic induction wire by a pair of pickup coils having right and left sides orthogonal to the front-rear direction of the unmanned vehicle And a light sensor unit for projecting light from the pair of light projectors on the left and right orthogonal to the front-rear direction of the unmanned vehicle to the light reflecting tape, and receiving reflected light from the light reflecting tape by a pair of light receivers, A selection unit that receives a signal from a signal generator and selects a detection signal of the electromagnetic sensor unit or a detection signal of the optical sensor unit at the time of the reception, and a deviation of the detection signal selected by the selection unit becomes zero. One And a control unit for controlling the steering angle of the unmanned vehicle is provided, and wherein the unmanned vehicle be traveling along the first or second travel path to. F. Operation First, when the unmanned vehicle travels along the first traveling route, the selection unit selects a signal obtained by detecting a magnetic field from the electromagnetic induction wire by the electromagnetic sensor unit. Therefore, the control unit controls the steering angle of the unmanned vehicle in a direction in which the deviation of the detection signals of the pair of pickup coils of the electromagnetic sensor unit becomes zero. As a result, the unmanned vehicle travels along the first traveling route while maintaining the state where the electromagnetic induction wire is located at the center of the vehicle body. Next, when the unmanned vehicle arrives at a branch point between the first travel path and the second travel path, the selection unit receives a signal from a signal generator provided at the branch point, and detects a detection signal of the electromagnetic sensor unit. Instead, the detection signal of the optical sensor unit is selected. For this reason, the control unit controls the steering angle of the unmanned vehicle in a direction in which the deviation of the signal obtained by receiving the reflected light reflected from the light reflecting tape attached to the branch point by the pair of light receivers becomes zero. .
Thereby, the guide path of the unmanned vehicle is switched from the electromagnetic guide wire to the light reflecting tape side. Therefore, the unmanned vehicle travels along the second traveling route while maintaining the state where the light reflecting tape is located at the center of the vehicle body. Also, when switching from the second traveling route to the first traveling route, the selection unit receives a signal from the signal generator provided at the route merging point, so that the guidance route of the unmanned vehicle is operated by the same operation as described above. Is switched from the light reflecting tape to the electromagnetic induction wire side. G. Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a system configuration diagram showing one embodiment of the present invention, and a guide wire 12 through which a current of a constant frequency flows is provided along a first traveling path as a taxiway on the ground side. Reference numeral 1 denotes a light reflection tape, for example, an aluminum tape, which is disposed along a second traveling path for guiding the unmanned vehicle AGV to the station S side. The guide wire 12
And the aluminum tape 1 are provided side by side at a path branch point and a path junction point, and signal generators, for example, mark pointers CPL ₁ and CPL ₃ are provided at the connection points. The mark pointer CPL ₂ is disposed on the installation position of the station S along the aluminum tape 1. The unmanned vehicle AGV, detecting the optical sensor unit mark pointer CPL _1, CPL _2, CPL ₃ for detecting the reflected light from the electromagnetic sensor section and the aluminum tape 1 for detecting a magnetic field from the guide wire 12 in the pointer position A sensor (not shown) such as a pointer sensor is provided.
The configuration of the pointer sensor and the mark pointers CPL ₁ , CPL ₂ , and CPL ₃ is, for example, an optical mark pointer that emits a light output such as infrared rays vertically, and a light-receiving element that generates an ON signal when light is received at the pointer position. It is realized as a pointer sensor including an element and an amplifier. It is also realized by a known position detection sensor such as the optical type proximity sensor system. The electromagnetic sensor unit and the optical sensor unit are shown in FIG.
As shown in (b), it is provided integrally in the unmanned vehicle AGV. That is, a pair of pickup coils PU provided on the left and right orthogonal to the front-rear direction of the AGV
C _L, consists of PUC _R, to detect the magnetic field from the guide wire 12 as shown by the dashed line in FIG. 2 (a). The optical sensor section is composed of a pair of light emitting and receiving devices 20 _L and 20 _R provided on the left and right orthogonal to the front-rear direction of the unmanned vehicle AGV, and is attached to the aluminum tape 1 as shown by a solid arrow in FIG. It emits light and receives light reflected from the aluminum tape 1. The steering unit of the AGV is configured as shown in FIG. In a third view, the guide magnetic field pickup coil PUC _L from the wire 12, the voltage signals obtained by detecting at PUC _R, tunes the voltage signal to a particular frequency tuning circuit
After being taken out by 13 _L , 13 _R , the rectification amplification circuit 14 _L , 14 _R
Is rectified and amplified. The output voltages of the rectifying and amplifying circuits 14 _L and 14 _R are introduced into a comparator 21 via a differential amplifier 15 and are compared with a reference voltage. The comparator 21 is composed of, for example, operational amplifiers 22 _L and 22 _R and reference voltage applying resistors 23 _L and 23 _R. Left deviation signal _Li and right deviation signal of comparator 21
R _i is connected to the CPU 16 via the analog switches 25 _a and 25 _b of the selection unit 24.
Supplied to 26 _L and 26 _R are light receiving elements of the front and rear light emitting / receiving devices 20 _L and 20 _R , and are composed of phototransistors, for example. The collectors of the phototransistors 26 _L and 26 _R are connected to a reference voltage source (not shown) via resistors 27 _L and 27 _R , respectively, and become conductive when the light reflected from the aluminum tape 1 is received. The collector is set to the ground level, and a predetermined reference voltage appears at the collector when the collector is not conducting. The voltages appearing at the collectors of the phototransistors 26 _L and 26 _R are supplied to the CPU 16 via the analog switches 25 _c and 25 _d of the selector 24 as a left deviation signal Ll and a right deviation signal Rl. Analog switch selection unit 24 25 _a ~25 _d is unmanned vehicle AG
On / off control is performed by a detection signal of a pointer sensor (not shown) provided in V. That is, while the unmanned vehicle AGV is traveling in the direction of the arrow in FIG. 1, when the pointer sensor detects the position of the mark pointer CPU ₁ , the analog switch 25
_a, 25 analog scan Position with _d is turned off 25 _c, 25 _d are turned on. Also when the pointer sensor detects the position of the mark pointer CPL ₃ is an analog switch 25 _a, 25 _b are turned on together with the analog switches 25 _c, 25 _d are turned off. CPU16, when the analog switch 25 _a, 25 _b is controlled to be turned on on the basis left of the comparator 21, the right deviation signal L _i, the R _i, also phototransistor when the analog switch 25 _c, 25 _d are on-controlled 26 _L, 26 left derived from the collector of the _R, right deviation signal Ll, based on the Rl, steering the steering command signals such as the deviation signal zero servo 17
Send to The steering servo 17 drives a steering motor 18 based on a command signal from the CPU 16 to control the steered wheels in the left-right direction. Next, the operation of the traveling system configured as described above will be described. First, when the unmanned vehicle AGV travels on the position on the guide wire 12 in the direction of the arrow as shown in FIG. 1, the analog switches _25a and _25b are on and the analog switches _25c and _25c are turned on.
_5d is off. It left magnetic field from this guide wire 12, the right of the pick-up coil PUC _L, left based on the voltage detected by PUC _R, right deviation signal L _i, R _i is supplied to the CPU 16. Therefore, the steering angle of the unmanned vehicle AGV is equal to the left / right deviation signal L.
_i, is controlled in the direction in which R _i is zero. This allows unmanned vehicles
The AGV travels along the first travel path (guide wire 12) while maintaining the state where the guide wire 12 is located at the center of the vehicle body. Next, when the unmanned vehicle AGV reaches a branch point between the first traveling path and the second traveling path, the pointer sensor moves the mark pointer.
Detect the position of CPL ₁ . This allows analog switches
25 _a and 25 _b are turned off and the analog switch 2
5 _c and 25 _d are turned on. Then the left light reflected from the aluminum tape 1, left obtained by receiving the right of the phototransistor 26 _L, 26 _R, the right deviation signal Ll, Rl is supplied to the CPU 16. Therefore, the steering angle of the unmanned vehicle AGV is equal to the left / right deviation signal L.
Control is performed so that l and Rl become zero. This allows unmanned vehicles
The AGV travels along the second traveling path (aluminum tape 1) while maintaining the state where the aluminum tape 1 is located at the center of the vehicle body. Next, the pointer sensor of the unmanned vehicle AGV traveling along the second traveling path (the aluminum tape 1) is moved to the mark pointer CPL _2.
Is detected. In this case mark pointer CPL ₂
Indicates the location of the station S,
For example, when the position of the CPU ₂ is detected, the unmanned vehicle AGV is stopped to perform cargo handling and the like. Then unmanned vehicle AGV travels along the aluminum tape 1, the pointer sensor and detects the position of the mark pointer CPL ₃ of course confluence. Then, the analog switches 25 _c and 25 _d are turned off and the analog switches 25 _a and 25 _b are turned on. Therefore left to be supplied to the CPU 16, I switch the right deviation signal Ll, from Rl L _i, the R _i, again the first traveling path by unmanned vehicle AGV is the same operation (the guide wire 1
Drive along 2). As described above, according to the embodiment, although the electromagnetic sensor unit and the optical sensor unit are both provided, it is only necessary to provide the CPU 16, the steering servo 17, and the steering motor 18 one by one, which is very economically advantageous. . The first and second traveling paths are not limited to the paths shown in FIG. 1, but may be determined in any other traveling directions.
Further, the branch point and the junction of the traveling route may be arbitrarily increased. Further, the light reflecting tape is not limited to the aluminum tape 1, and other optical tapes may be used. H. Effects of the Invention As described above, according to the present invention, it is possible to easily change the course of an unmanned vehicle and run on any traveling course provided with an electromagnetic induction wire or a light reflecting tape. For this reason, the electromagnetic induction wire and the light reflection tape can be freely used as an unmanned vehicle guidance path. In other words, for example, when there is a problem in terms of durability and dirt when light reflecting tape is used because there is almost no change in the traveling course and there is no problem in terms of durability and dirt when passing light through the trunk line or outdoors, or other vehicles, guide the unmanned vehicle by the electromagnetic induction wire,
It is possible to use light reflecting tape in places where the floor is made of iron plate and there is a problem with electromagnetic induction wires (manholes, ducts, elevators, etc.).

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1, FIG. 2 (a), (b) and FIG. 3 all show one embodiment of the present invention, FIG. 1 is a system configuration diagram, FIG.
FIG. 5A is an operation explanatory view showing the operation of the electromagnetic sensor unit, and FIG.
FIG. 4B is an operation explanatory view showing the operation of the optical sensor unit, FIG. 4 is a block diagram of a steering unit of the unmanned vehicle, and FIG. 5A is a schematic diagram showing an example of a conventional optical tape detection guided unmanned vehicle. Diagram,
FIG. 4 (b) is an operation explanatory view showing the operation of the optical traveling guide sensor of FIG. 4 (a), FIG. 5 is an operational explanatory view showing the operation of the electromagnetic induction sensor in the conventional electromagnetic induction type unmanned vehicle, FIG. 6 is a block diagram showing an example of a steering control unit in a conventional electromagnetic induction type unmanned vehicle, and FIG. 7 is a voltage waveform diagram of the differential amplifier in FIG. 1 ... aluminum tape, 2 ... sensor for optical traveling guide, 10
_L , 10 _R …… Emitter, 11 _L , 11 _R …… Receiver, 12 …… Guide wire, 13 _L , 13 _R …… Tuning circuit, 14 _L , 14 _R … Rectifying amplifier circuit, 15 …… Differential Amplifier, 16 CPU, 17 Steering servo, 18 Steering motor, 20 _L , 20 _R … Emitter / receiver, 21… Comparator, 24… Selector, 25a-2
5d ...... analog switch, 26 _L, 26 _R ...... phototransistor, AGV ...... unmanned _{vehicle, CPL 1, CPL 2, CPL} 3 ...... mark pointer, S ...... stations, PUC _L, PUC _R ...... pickup coil.

Claims (1)

(57) [Claims] An electromagnetic induction wire to which an electric current is supplied is provided on a track or on the ground along a first traveling path of the unmanned vehicle, and the first
A light reflecting tape is provided on the ground along a second traveling path different from the traveling path of the above, and the electromagnetic induction wire and the light reflecting tape are provided at a branch point and a junction of the first traveling path and the second traveling path. Attached, and provided a signal generator at the joint point, in the unmanned vehicle, an electromagnetic sensor unit that detects a magnetic field from the electromagnetic induction wire by a pair of pickup coils having left and right orthogonal to the front and rear direction of the unmanned vehicle, An optical sensor unit that emits light to the light reflecting tape from a pair of left and right light projectors having right and left directions perpendicular to the front-rear direction of the unmanned vehicle, and receives light reflected from the light reflecting tape by a pair of light receivers; And a selector for selecting a detection signal of the electromagnetic sensor unit or a detection signal of the optical sensor unit at the time of the reception, and an unmanned direction in which a deviation of the detection signal selected by the selection unit becomes zero. Travel system of the unmanned vehicle, characterized in that the a control unit for controlling the steering angle is provided, it is caused to travel the unmanned vehicle along said first or second travel path.