JP3194543B2 - Unmanned traveling system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned traveling system in which an unmanned traveling vehicle detects a guidance line and travels along the guidance line.

[0002]

2. Description of the Related Art In such an unmanned traveling system, conventionally, a guide line forms a single closed loop, and an unmanned vehicle travels along a predetermined single traveling route along the guide line. I was running myself.

[0003]

However, there is a case where it is desired to select an arbitrary route from a plurality of traveling routes and cause the unmanned traveling vehicle to travel along the route, and the conventional system meets such a demand. I couldn't do that.

Therefore, it is conceivable to form a plurality of traveling routes by connecting a plurality of induction wires in parallel to form a plurality of loops. However, if the induction wires are connected in parallel, the current flowing through the branching induction wire is reduced. The values differ, and particularly the value of the current flowing through the long and high-resistance guide wire becomes small, and a situation occurs in which the guide wire cannot be detected by the unmanned vehicle.

[0005] The present invention has been made in view of the above problems, and an object thereof is to enable an unmanned traveling vehicle to select an arbitrary route from a plurality of traveling routes and to travel along the route. It is an object of the present invention to provide an unmanned traveling system that can perform the operation.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention does not detect a magnetic field generated in an induction wire through which a current flows.
In unmanned system allowed to self the unmanned vehicle along a reluctant dielectric conductor, a plurality of loops formed by a single guide wire, with flow in the same direction current to each induction line portion at the branch point and the merging point Keeping electrical non-contact state
Invitation to be parallel to each other for a predetermined distance and overlap
A conductor portion is provided near the junction and the junction, and the
The feature is that a continuous magnetic field is generated in the loop .

[0007]

According to the present invention, since a plurality of loops constitute one induction wire, the value of the current flowing through the one induction wire becomes constant, and a continuous magnetic field is generated in each loop.
To maintain electrical non-contact so that
Divide parallel and overlapping guide lines
Because it is provided near the point and the junction, no matter what route the unmanned traveling vehicle is traveling , the unmanned traveling vehicle can always reliably detect the guidance line along the route and travel along the guidance line. it can.

Therefore, the unmanned traveling vehicle can select an arbitrary route from a plurality of traveling routes and travel along the route.

[0009]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a diagram showing a loop configuration of a guide line in an unmanned traveling system according to the present invention, FIG. 2 is a perspective view showing a basic configuration of the unmanned traveling vehicle, and FIG. 3 is a diagram showing a configuration of a steering control system of the unmanned traveling vehicle. FIG. 4 is a flowchart showing a steering system control procedure.

First, the basic structure of the unmanned traveling vehicle 1 will be described with reference to FIG. 2. The unmanned traveling vehicle 1 has a pair of left and right front wheels 3, which are steering wheels, and driving wheels at the front and rear of the vehicle body 2. Each pair is supported by a pair of right and left rear wheels 4 so as to be able to travel freely.

A steering shaft 5 is erected diagonally upward toward the rear at a substantially central portion in the vehicle width direction at the front of the vehicle body 2, and a steering wheel 6 is provided at an upper end thereof, and a steering wheel 6 is provided at a lower end thereof. A pair of left and right tie rods 7 for steering the front wheel 3 are connected to each other. A steering motor 8 is provided near the steering shaft 5.
The pulley 9 connected to the output shaft end of the steering motor 8 is connected via a belt 11 to a pulley 10 connected to the steering shaft 5.

Further, three guide line sensors 13L, 13C and 13R for detecting the guide line 12 buried in the ground are arranged side by side at an appropriate interval in the vehicle width direction in the lower front part of the vehicle body 2. I have. These guidance line sensors 13L, 13C, 1
3R is a sensor for detecting a magnetic field generated when a current flows through the induction wire 12, and the induction wire sensor 13C
Is installed at the center in the vehicle width direction, and the guide line sensors 13L and 13R are installed to the left and right of the vehicle. Each of the guide wire sensors 13L, 13C, 13R is electrically connected via an amplifier 14 to a main controller 15 which is a control means. The main motor 15 is electrically connected to the steering motor 8 via a steering controller 16.

On the other hand, an engine 17 which is a driving source is mounted at a substantially central portion of the vehicle body 2, and a carburetor 18 and a throttle motor 19 are connected to an intake system of the engine 17. Pulley 20 at the shaft end
Is bound.

A cell dynamo 21 and a differential device 22 are provided before and after the engine 17, respectively. Between the pulleys 23 and 24 connected to these input shafts and the pulley 20, respectively. Belts 25 and 26 are wound respectively. The throttle motor 19 and the cell dynamo 21 are electrically connected to the main controller 15 as shown.

By the way, rear axles 27 extend from both sides of the differential device 22, and the rear wheel 4 is connected to an outer end of each rear axle 27. And one rear axle 2
7, an electromagnetic brake 28 is interposed. An encoder 29 is provided below the differential device 22, and the encoder 29 and the electromagnetic brake 28 are electrically connected to the main controller 15, respectively. The electromagnetic brake 28 may be attached to the input shaft of the differential device 22.

Further, a fixed point sensor 30 for detecting a fixed point (not shown) installed near the junction A and the junction B (see FIG. 1) of the traveling route is mounted substantially at the lower center of the vehicle body 2. The fixed point sensor 30 is electrically connected to the main controller 15.

An operation panel 31 is provided behind the steering wheel 6.
A traveling direction switch 33 (see FIG. 3) is provided above. By operating the traveling direction switch 33, the occupant can select the direction in which the unmanned traveling vehicle 1 should travel at the junction. The traveling direction switch 33 is electrically connected to the main controller 15.

FIG. 3 shows the structure of the steering control system. In the main controller 15, a deviation calculating section 34 for calculating a deviation x of the vehicle body 2 from the guide line 12 and the guide line sensor are provided. An A / D converter 35 for converting an analog signal input from 13L, 13C, 13R via the amplifier 14 into a digital signal, to the steering motor 8 according to the deviation x calculated by the deviation calculator 34. A steering motor current command value calculation unit 36 for calculating the current command value of the motor, a memory 37, an interface 3 between the fixed point sensor 30 and the traveling direction switch 33.
8, 39, a fixed point determination unit 40 and a traveling distance (time) calculation unit 41 are incorporated.

In this embodiment, as shown in FIG. 1, the number of the guide wires 12 is one.
2 form two loops L1 and L2. That is,
The induction wire 12 derived from the AC power supply 42 is provided with an a portion forming a short side of a rectangle, a b portion bent at a right angle from the a portion to form a long side of the rectangle, and a certain large R from the b portion. A part c which is bent at an angle of about 90 ° and extends in parallel with the part a, and which is bent at an angle of about 90 ° from the part c to form a part of the long side of the rectangle Part, an e part which is bent at a substantially right angle from the d part and extends toward the b part, and which is bent 180 ° from the e part and branches off from the b part toward the d part substantially in parallel with the e part An extending f portion, the f
And a g portion connected to the AC power supply 42 extending along an extension of the d portion and being bent by changing a direction of approximately 90 ° to provide a certain large R from the portion and merging with the d portion. I have.

In the present embodiment, two routes along the loops L1 and L2 formed by the guide lines 12 are formed as the travel routes of the unmanned traveling vehicle 1. An alternating current flows in the direction of the arrow. At this time, at the junction A where the f portion of the guide wire 12 branches from the b portion and at the junction B where the d portion joins,
A current flows in the same direction in each of the portions b and f and the portions d and f.

Further, in this embodiment, the portion e of the guide line 12 does not fulfill the original function of leading the unmanned vehicle 1, and one guide line 12 forms two loops L1 and L2. Is the extra line needed for
A predetermined distance t from the junction B (in this embodiment, t =
At a position separated by 30 cm), they are substantially perpendicular to the b and d portions. This utilizes the property that when the guide line sensors 13L, 13C, 13R move across the guide line 12 at right angles, the guide line sensors 13L, 13C, 13R are hard to detect the magnetic field of the guide line 12. This is to prevent erroneous detection of the portion e of the guide line 12 as a traveling road. At the predetermined distance t in FIG. 1, the b and f portions and the d and g portions of the guide wire 12 are parallel to each other.
And overlap (however, electrically non-contact state is maintained). Therefore, each of the loops L1, L
2, a continuous magnetic field is generated.

When the cell dynamo 21 is driven and the engine 17 is started based on a command from the main controller 15, a part of the output of the engine 17 is
0, a belt 26 and a pulley 24, which are input to a differential device 22, further transmitted to a rear wheel 4 via a rear axle 27, and the rear wheel 4 is driven to drive the unmanned traveling vehicle 1.
In addition, while the unmanned traveling vehicle 1 is traveling, the encoder 2
9 is input to the travel distance (time) calculation section 41 of the main controller 15 (see FIG. 3). The travel distance, time, and the like of the vehicle 1 are calculated, and the result is output to the deviation amount calculation unit 34. Further, the throttle motor 19 receives a command from the main controller 15 and adjusts the opening of a throttle valve (not shown) to set the rotation speed of the engine 17, that is, the traveling speed of the unmanned traveling vehicle 1 to a predetermined value.

Here, the unmanned traveling vehicle 1 in the present embodiment.
The control of the steering system will be described with reference to the flowchart shown in FIG.

The control modes of the steering system in this embodiment include a normal mode selected when traveling at a point other than the junction A and the junction B in the traveling route shown in FIG. A branch / merge mode selected when passing through the point B is prepared. Although not shown, fixed points for notifying them are provided at the branch point A and the junction B. The memory 37 of the main controller 15 stores, in addition to the type and meaning of the fixed points, a traveling direction switch. 33, a coefficient for calculating the deviation x,
The timing for returning from the branching / merging mode to the normal mode (the traveling distance and traveling time from the branching point A or the merging point B of the unmanned traveling vehicle 1) and the like are input in advance.

During the travel of the unmanned traveling vehicle 1, the presence or absence of a fixed point is detected by the fixed point sensor 30 provided on the vehicle 1 (STEP 1 in FIG. 4), and the point where the fixed point is not detected (that is, STEP 1). When the unmanned traveling vehicle 1 is traveling at a point other than the junction A and the junction B), the normal mode is selected as the control mode of the steering system. Signals V _L , V _C , V from inductive sensors 13L, 13C, 13R digitized by converter 35
_The deviation x is calculated by the following equation using all of _R (STEP 2 in FIG. 3).

[0027]

X = f1 (V _L , V _C , V _R ) (1) The deviation amount x calculated by the above equation (1) is input to the steering motor current command value calculation unit 36, and the calculation unit 3
In step 6, a current command value to the steering motor 8 corresponding to the deviation amount x (current command value corresponding to the deviation amount x = 0) is calculated (STEP 3 in FIG. 4), and the result is output to the steering controller 16. (STE in FIG. 4)
P4). Then, the steering controller 16 controls the driving of the steering motor 8, whereby the steering shaft 5 shown in FIG. 2 is rotated by a predetermined angle in a predetermined direction, and the front wheel 3 is steered by a predetermined amount in the same direction. As a result, the unmanned traveling vehicle 1 travels along the guide line 12 by itself.

Next, for example, when the unmanned vehicle is traveling in the direction of the arrow shown in FIG. 1 along the portion b of the guide line 12, a fixed point sensor 30 is installed near the branch point A (not shown). Is detected, the detection signal is input to the fixed point determination unit 40 via the interface 38 of the main controller 15 shown in FIG. In the fixed point determination unit 40, the memory 37
Based on the type and meaning of the fixed point input in advance, the direction (right or left) in which the unmanned traveling vehicle 1 should travel is determined based on the detected fixed point (STEP 5 in FIG. 4), and the result is used as the deviation amount calculation unit 34. To enter. Alternatively, when the occupant selects the traveling direction switch 33 on the operation panel 31 to select the traveling direction of the unmanned traveling vehicle 1, the signal of the traveling direction switch 33 is directly transmitted to the deviation amount calculation unit 34 via the interface 39. Is input to

If the direction in which the unmanned traveling vehicle 1 should travel at the branch point A is left, the left branch mode is selected as the control mode (STEPs 6 and 7 in FIG. 4). And the central guidance line sensors 13L, 13
Using the signals V _L and V _C from _C , the deviation x is calculated by the following equation (STEP 8 in FIG. 4).

[0030]

X = f2 (V _L , V _C ) (2) The deviation calculated by the above equation (2) (the deviation of the vehicle body 2 from the portion b of the guide line 12) is the steering motor current command. The calculated value is input to the value calculator 36, which calculates a current command value for the steering motor 8 corresponding to the deviation x (STEP 9 in FIG. 4), and outputs the result to the steering controller 16. (STEP 10 in FIG. 4). Then, the steering controller 1
6 controls the driving of a steering motor 8, whereby the steering shaft 5 is turned in a predetermined direction by a predetermined angle, and the front wheels 3 are steered by a predetermined amount in the same direction. It is made to go straight on along part b of 12. In this case, the signal V
With _L and V _R, it becomes impossible is normal judgment in the traveling direction, the signal V _R is ignored.

On the other hand, when the traveling direction of the unmanned traveling vehicle 1 is right, the right branch mode is selected as the control mode (STEPs 6 and 11 in FIG. 4), and signals from the center and right guidance sensors 13C and 13R. V _C, the deviation amount by using the V _R (deviation of the vehicle body 2 from f portion of the guide wire 12) x is calculated by the following equation (STEP 12 in Fig. 4).

[0032]

X = f3 (V _C , V _R ) (3) The deviation x (the deviation of the vehicle body 2 from the f portion of the guide line 12) calculated by the above equation (3) is the same as above. The current command value is input to the steering motor current command calculator 36, which calculates a current command value to the steering motor 8 based on the deviation x (STEP 9 in FIG. 4). (Step 10 in FIG. 4). Then, similarly to the above, the steering controller 16 controls the driving of the steering motor 8, whereby the steering shaft 5 is rotated by a predetermined angle in a predetermined direction, and the front wheel 3 is moved by a predetermined amount in the same direction (right direction). Steering is performed, whereby the unmanned traveling vehicle 1 travels along the f portion (branch portion) of the guide line 12. In this case, by using the signal V _L and V _R,
The signal _VL is ignored because the normal determination of the traveling direction cannot be made.

After the control mode is switched from the normal mode to the branching / merging mode, the traveling distance or traveling time from the branch point A of the unmanned traveling vehicle 1 traveling on the portion b or the portion f of the guide line 12 is as described above. As described above, the traveling distance (time) computing unit 41 of the main controller 15 computes (step 13 in FIG. 4), and if the value exceeds a predetermined value,
The control mode is returned from the branching / merging mode to the normal mode (STEPs 14 and 15 in FIG. 4), and thereafter, the signals V _L and _VL from all the induction line sensors 13L, 13C and 13R are used.
Control of the steering system using V _C and V _R is performed (STEPs 1 to 4 in FIG. 4), and the unmanned vehicle 1 travels along the b, c, or f portion of the guide line 12. In the present embodiment, the return of the control mode to the normal mode is performed based on the traveling distance or time of the unmanned traveling vehicle 1. However, in order to inform that the return to the normal mode is possible during the traveling route. May be provided, and when this fixed point is detected, the control mode is returned to the normal mode.

When the fixed point sensor 30 installed on the unmanned traveling vehicle 1 detects a fixed point (not shown) installed near the junction B, the direction in which the unmanned traveling vehicle 1 should proceed is determined again (FIG. 4). STEP1, 5). In this case, the direction in which the unmanned traveling vehicle 1 should travel is automatically determined according to the type of the fixed point, that is, whether the unmanned traveling vehicle 1 is traveling along the c portion or the f portion of the guide line 12.

That is, when the unmanned traveling vehicle 1 is traveling along the portion c of the guide line 12, the traveling direction at the junction B is determined to be left, and the left junction mode is selected (FIG. 4). The unmanned traveling vehicle 1 travels along the g portion of the guide line 12 under the same control as described above (STEPs 6 and 7) (STEPs 8 to 10 in FIG. 4).

When the unmanned traveling vehicle 1 is traveling along the portion f of the guide line 12, it is determined that the traveling direction at the junction B is right, and the right junction mode is selected (FIG. 4). The unmanned traveling vehicle 1 travels along the g portion of the guide line 12 under the same control as described above (STEPs 6 and 11) and STEPS 12, 9 and 10 in FIG.

When it is confirmed that the unmanned traveling vehicle 1 has traveled a predetermined distance or time from the junction B in the same manner as described above (STEPs 13 and 14 in FIG. 4), the control mode is returned to the normal mode again. (STEP 1 in FIG. 4)
5), and thereafter, all the guide line sensors 13L, 13C, 13
The steering system is controlled using the signals V _L , V _C , and V _R from _R (STEPs 1 to 4 in FIG. 4), and the unmanned vehicle 1 travels along the g portion of the guide line 12 by itself.

Thus, the unmanned traveling vehicle 1 has one guide line 1
2 along two loops L1, L2 formed by
It is possible to select an arbitrary route from among the traveling routes, but the current value flowing through one guide line 12 is constant. However, it is possible to always reliably detect the guide line 12 along the route and travel along the guide line 12.

Next, another example in which a plurality of loops are formed by one guide wire is shown in FIGS. 5 and 6, respectively.

In the example shown in FIGS. 5 and 6, three loops L1, L2 and L3 are formed by one guide wire 12, but as shown in FIG. At the intersection E where they cross each other, these c and i portions are made orthogonal to each other as shown in the drawing so that the magnetic field generated at each intersection is not adversely affected and the detection is not performed (however, both are electrically non-contacting). ).

Further, in the example shown in FIG.
(See FIG. 2) can be branched at intersection F,
For example, the unmanned traveling vehicle 1 that travels in the portion i of the guide line 12 in the direction of the arrow shown in the figure can branch at the intersection F and travel along the portion c.

[0042]

As is apparent from the above description, according to the present invention, it is possible to detect a magnetic field generated in an induction wire through which a current flows.
In unmanned system allowed to self the unmanned vehicle along Luo dielectric conductor, a plurality of loops formed by a single guide wire, with flow in the same direction current to each induction line portion at the branch point and the merging point Place that is electrically non-contact
Guidance parallel to each other for a fixed distance and overlapping
A line portion is provided near the branch point and the junction, and the
Since the continuous magnetic field is generated in the loop, an effect is obtained that the unmanned traveling vehicle can select an arbitrary route from a plurality of traveling routes and travel along the route.

[Brief description of the drawings]

FIG. 1 is a diagram showing a loop configuration of a guide line in an unmanned traveling system according to the present invention.

FIG. 2 is a perspective view showing a basic configuration of an unmanned traveling vehicle.

FIG. 3 is a block diagram illustrating a configuration of a steering control system of the unmanned traveling vehicle.

FIG. 4 is a flowchart showing a control procedure of a steering system.

FIG. 5 is a diagram showing another embodiment of the loop configuration of the guide wire.

FIG. 6 is a diagram showing another embodiment of the loop configuration of the guide wire.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned traveling vehicle 12 Guidance line 13L, 13C, 13R Guidance line sensor A Branch point B Junction point L1-L3 Loop

Continuation of the front page (56) References JP-A-3-294910 (JP, A) JP-B-53-37627 (JP, B2) JP-B-54-34117 (JP, B2) Jiko-sho 46-33283 (JP) , Y1) (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (1)

(57) [Claims] 1. A magnetic field generated in an induction wire through which a current flows is detected.
Self-driving unmanned vehicle along the guide line
Together in unmanned systems, a plurality of loops formed by a single guide wire, is flowed in the same direction current to each induction line portion at the branch point and the joining point that
At a predetermined distance while maintaining electrical non-contact.
Guidance lines that form a line and overlap
And a magnetic field continuous in each of the loops provided near the junction.
An unmanned traveling system characterized by being generated .