JP2902057B2 - Path control method for self-propelled trolley - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a travel route control method applied to an automatic guided vehicle guidance device.

[Conventional technology]

As a conventional self-propelled bogie guidance system for an unmanned forklift or the like, as shown in FIG. 4, a traveling route is changed from a starting point (O) to an end point (Q) by a guide wire, a light reflecting tape, a magnetic tape, or the like through which an alternating current is applied. The self-propelled trolley detects these path indicators in real time,
In general, the deviation between the position of the carriage and the index is controlled so as to always approach zero.

[Problems to be solved by the invention]

In the guidance system in which the current traveling position of the self-propelled bogie is detected by the traveling plane X, Y coordinate values, in order to continuously provide the target traveling route as in the conventional method, countless X, Y coordinate groups are required. Since it is necessary to instruct the traveling route, the capacity of the storage device becomes large to store these data, and a command is given to give these X, Y coordinate groups as commands to the self-propelled vehicle. For this reason, the communication time for the self-propelled trolley becomes longer, which causes problems such as a decrease in the operating rate of the self-propelled trolley.

[Means for solving the problem]

The present invention provides a target travel route discretely at the coordinates of one or more turning points between the start point and the end point of travel and one or more turning points therebetween, thereby reducing the storage device capacity for storing travel route data. The command communication time can be shortened.

At the turning point, a circular deceleration zone is provided around the turning point, and a concentric turning zone is provided inside the deceleration zone. And the turning point and the straight line connecting the next target coordinate of the turning point, the turning path does not need to be given as a continuous coordinate group, and the storage device capacity and the command communication time can be reduced.

[Action]

In Fig. 1, the starting point of the self-propelled bogie is O, the ending point is Q, O
The turning point between -Q is indicated by P. A portion surrounded by a circle R2 having a radius r2 around the turning point P is defined as a deceleration zone, and a radius r1
A portion surrounded by a circle R1 is provided as a direction change zone.
(The size of r2 and r1 is determined according to the required deceleration distance and required turning radius of the self-propelled bogie.) The self-propelled bogie starts at the traveling start point O, runs on the straight line OP as a target route, and decelerates. When the vehicle reaches the reaching point O 'to the zone, the speed is reduced to a speed suitable for turning, and when the vehicle reaches the reaching point O "to the turning zone, the turning zone outer circumferential circle R1 is reached.
Travels with a point P ', which intersects a straight line connecting the turning point P and the next target point Q, as a turning travel target coordinate, and O "-P' as a target route.

Next, when the self-propelled vehicle goes out of the deceleration zone, the vehicle travels at high speed with P'-Q as a target route, using the next travel target coordinate as Q.

Note that the actual traveling route may be, for example, O-
If shifted like the O _t1 and target route the O _t1 -P, also O _t3 when the point reaching the turnaround zone is displaced as O _t3
A straight line connecting the current position of the truck and the target coordinates is always used as the target route, for example, -P 'is used as the target route for turning.

〔Example〕

 FIG. 2 shows an embodiment.

The self-propelled trolley host CPU 1 uses the X, Y coordinate data sequence of the start point, the end point, and the turning point as a travel route command for the self-propelled trolley,
The data is transmitted wirelessly to the self-propelled vehicle via the wireless device 2, the repeater 3, and the antenna 4.

The self-propelled trolley receives this command signal via the antenna 5 and the wireless device 6 and stores it in the trolley control CPU 8. Bogie control CP
A guidance device 8 (for example, a device as described in JP-A-59-67476) which detects the current position of the cart as X, Y coordinates in the travel plane is sent to U8 from the guidance device 8 at present time coordinate data and cart progress. Direction angle data is transmitted.

The truck control CPU 8 performs logic and arithmetic processing as shown in FIG. 3, and outputs a speed command and a steering command to the motor 10 via the driver 9.

〔The invention's effect〕

According to the present invention, the X, Y coordinates in the travel plane of one or more turning points between the start point, the end point, and the start point / end point are defined as the target travel path of the self-propelled vehicle which should be given continuously. By discretely giving the values, the memory for travel route information can be saved, and at the same time, the signal transmission time for giving a travel route command can be shortened.

Further, by providing a deceleration zone and a direction change zone and setting the traveling target coordinates during the turning operation in the direction change zone to one point, the same effect as described above is produced.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a traveling route for explaining the operation of the present invention. FIG. 2 is an overall configuration block diagram of a system for implementing the method of the present invention. Fig. 3 shows the bogie control CP
It is a logic flow figure in U. FIG. 4 is an explanatory view showing a conventional self-propelled bogie guidance system. 1 ... Host CPU, 2,6 ... Wireless device, 3 ... Repeater, 4,5
…… antenna, 8… cart control CPU, 9 …… driver, 1
0 ... Motor.

Claims (1)

(57) [Claims] 1. A guidance route control method including a device for detecting a current position of a self-propelled vehicle as a coordinate value on a traveling plane, wherein coordinates of a starting point, an ending point of a traveling on a target traveling route, and a turning point therebetween are determined. At the turning point, a circular deceleration zone centered on the turning point and a concentric turning zone provided inside the deceleration zone are provided. A route control method characterized in that a straight line connecting the target coordinates intersects the outer circumferential circle of the direction change zone.