JP3281758B2 - Guidance control device for mobile vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic field detection system in which a guide wire of a set length to which a current is supplied is installed on the ground side, and the strength of a magnetic field formed by the current is detected on a moving vehicle side. and means, based on the information detected by the magnetic field detection means, in a given induction area, provided a traveling control means for guided travel of the moving vehicle, the running control means, viewed
At a position where the moving vehicle deviates from the guidance line
A plurality of traveling paths along which the distances from the guidance line are different from each other, and the strengths of the magnetic fields detected by the magnetic field detecting means are substantially the same in each of the plurality of traveling paths. The present invention relates to a guidance control device for a mobile vehicle configured to perform guidance traveling while maintaining a state of, and to make a turning traveling from an end position of each traveling path toward an adjacent next traveling path.

[0002]

2. Description of the Related Art A guidance control device for a mobile vehicle having the above-mentioned configuration is for automatically guiding a mobile vehicle such as a work vehicle in a limited guidance area such as a field, for example. For example, if the length is infinite, theoretically, the strength of the magnetic field formed by supplying a current to the induction wire is the same or almost the same at the same distance from the induction wire. Focusing on the point, while detecting the strength of the magnetic field by the magnetic field detecting means, the mobile vehicle is controlled to guide the traveling vehicle so that the detected magnetic field strength maintains the same or almost the same state. It is like that.

When the above-mentioned guide wire is actually installed on the ground side, it is impossible to make the length of the guide wire infinite, and it is inevitable that the length of the guide wire is finite. If the guide wire has a finite length, at both ends in the longitudinal direction, for example, as shown in FIG. 1, even if the distance from the guide wire is the same, the strength of the magnetic field becomes a different value. In such a region, effective guidance control based on the detection information of the magnetic field detection means cannot be performed. still,
In FIG. 1, each line has the same distance from the guide line 3a, and shows the change in the magnetic field strength at each point along the longitudinal direction of the guide line, and each line LN1, LN2,
LN3 indicates a change characteristic of each of three states having different distances from each other.

Therefore, in order to avoid such inconveniences, conventionally, it has been conceived to install a guide line over a distance much longer than the width of the guide area along the traveling route.

[0005]

As described above, if a guide line that is significantly longer than the width of the guide area along the travel route is provided, the distance from the guide line is the same over almost the entire width of the guide area. At the point, a state where the strength of the magnetic field is the same or almost the same is obtained, and effective guidance control based on the detection information of the magnetic field detection means can be performed. However, there is a disadvantage in that the guide wire protrudes greatly, and the installation distance is long and the configuration becomes large.

The present invention has been made in view of such a point, and an object of the present invention is to enable a mobile vehicle to be effectively guided along each traveling route in a guidance area. An object of the present invention is to provide a guidance control device for a mobile vehicle that can minimize the installation length of a guide wire and minimize the configuration as much as possible.

[0007]

The features of the first invention are as follows.
On the ground side, a guide wire of a set length to which a current is supplied is installed, and on the moving vehicle side, a magnetic field detecting means for detecting the strength of a magnetic field formed by the current, and information detected by the magnetic field detecting means is provided. Traveling control means for guiding the traveling vehicle in a predetermined guidance area based on the guidance line.
A traveling route for traveling at a position deviating from
Guidance traveling while maintaining a state in which the strengths of the magnetic fields detected by the magnetic field detecting means are successively substantially the same in each of a plurality of traveling paths having different distances from the guidance line and along the guidance line. In addition, in the guidance control device for a mobile vehicle configured to make the vehicle turn around from the end position of each of the traveling paths to the next traveling path adjacent thereto, the guidance line extends along a predetermined direction in the guidance area. It is installed so as to be almost the same length as the width, has the same distance from the guide wire, and has the same or almost the same magnetic field strength formed by the current supplied to the guide wire. The point is that the travel route is formed in the region.

The characteristic structure of the second invention specifies a structure suitable for implementing the first invention, and intersects with the guide line at both end portions in the guide area in the direction along the traveling route. In this state, another induction wire is installed, and the magnetic field detecting means changes the strength of the magnetic field formed by the current supplied to the another induction wire to the magnetic field formed by the current supplied to the induction wire. The traveling control means is configured to determine whether the traveling vehicle is at the end of each traveling path based on the strength of the magnetic field formed by the current supplied to the another guide line. That is, it is configured to determine whether or not the copy has been reached.

A feature of the third aspect of the present invention is to specify a configuration suitable for implementing the first or second aspect of the present invention, wherein the traveling control means determines that the traveling vehicle has reached a terminal end of each traveling route. Then, it is configured to control the mobile vehicle to travel autonomously along the predetermined turning travel route toward the start end of the next travel route.

A characteristic feature of a fourth aspect of the present invention is to specify a preferred configuration for implementing the first, second, or third aspect of the present invention. The moving vehicle is provided with direction detecting means for detecting the direction of the vehicle body. When the traveling vehicle reaches the end of each traveling route, the traveling control unit causes the traveling vehicle to turn toward the beginning of the next traveling route based on the detection information of the azimuth detecting unit. The point is that it is configured to control as much as possible.

[0011]

According to the characteristic structure of the first aspect of the present invention, since the guide line is installed so as to have a length substantially equal to the width of the guide area along the predetermined direction, the guide line is extended outside the guide area. There is no extension protrusion.

Further, as a result of the provision of the guide wire as described above, the strength of the magnetic field is different at both ends in the longitudinal direction of the guide wire in the guide area even if the distance from the guide wire is the same. However, in the region on the center side in the longitudinal direction of the guide line, if the distance from the guide line is the same, the strength of the magnetic field is the same or almost the same, and in this region, the traveling path is formed. In addition, the traveling control means can effectively guide the traveling vehicle.

According to the characteristic configuration of the second invention, the following operation is obtained in addition to the operation of the characteristic configuration of the first invention. When a moving vehicle is guided along one of the traveling routes and reaches the end of the traveling route, the current supplied to another guidance line installed at both ends of the guidance area in the direction along the traveling route. Is detected by the magnetic field detection means in a state in which it is distinguished from the strength of the magnetic field formed by the current supplied to the guide wire installed along the traveling path, and the detected information Based on this, it is determined whether or not the mobile vehicle has reached the end of the travel route.

According to the characteristic configuration of the third invention, the following operation is obtained in addition to the operation of the characteristic configuration of the first or second invention.
When the mobile vehicle is guided along one of the travel routes and reaches the end of the travel route, the travel control means controls the mobile vehicle to autonomously travel along a predetermined turning travel route. Then, it moves toward the start end of the next traveling route.

According to a fourth feature of the invention, the first and second features are provided.
Alternatively, there is the following effect in addition to the effect of the characteristic configuration of the third invention. Since the vehicle is turned while the azimuth detecting means detects the azimuth of the vehicle body, the vehicle can be surely turned until the vehicle azimuth becomes along the next traveling route even when the traveling device slips.

[0016]

According to the characteristic structure of the first aspect of the invention, the installation length of the guide wire is reduced to the required minimum by a rational structure, and the length can be shortened. The construction can be simplified accordingly, and the structure is simple. In addition, it is possible to provide a guidance control device for a mobile vehicle that can effectively guide the mobile vehicle along each travel route in the guidance area.

According to the feature configuration of the second invention, the following effect is obtained in addition to the effect of the feature configuration of the first invention. It is effectively determined that the moving vehicle has reached the end of the traveling route, and the traveling control means stops the traveling of the moving vehicle at the end of the traveling route or makes the traveling traveling around the next traveling route. It is possible to shift to the processing of FIG.

According to the feature configuration of the third invention, the following effect is obtained in addition to the effect of the feature configuration of the first or second invention.
Not only in each traveling route but also in each turning traveling route, the mobile vehicle can be effectively guided and guided, and by sequentially guiding each traveling route in a continuous state,
Continuous guidance driving control in the guidance area became possible.

According to the characteristic configuration of the fourth invention, the first and the second.
Alternatively, the following effect is obtained in addition to the effect of the characteristic configuration of the third invention. Regardless of the occurrence of slippage of the traveling device, the vehicle can be turned so that the azimuth of the vehicle body is in a state along the next traveling route, and the accurate turning is performed irrespective of the difference in the state of the traveling surface. It became possible.

[0020]

Embodiments will be described below with reference to the drawings. FIG.
As shown in FIG. 3, a guide line 3 is installed over substantially the entire length of each side in a rectangular field 1 as a guide area.
a, 3b, 3c, and 3d are supplied with an alternating current to form a magnetic field, and the vehicle automatically travels in a straight-line state along a plurality of traveling paths k along the longitudinal direction by an electromagnetic induction method. A guided traveling control system is configured to automatically control a traveling vehicle V such as an agricultural tractor so as to make a round traveling from the end position of the vehicle to the next traveling route.

FIG. 2 shows each of the guide wires 3a, 3b, 3c, 3
The installation state of d is shown. Note that the installation configuration of each guide wire is the same, and the guide wire 3a is shown as a representative.
One end of the guide wire 3a has a metal pile 4 driven into the ground G
The other end is supported by a support 5 formed of an insulator, and is supported by the metal pile 4 and the support 5. Further, another metal pile 6 driven into the underground G is provided on the other end side of the guide wire 3a, and a pair of connection terminals in a current supply device 7 as a current source provided corresponding to each guide wire. One of the connection terminals 8 is connected to the other end of the guide wire 3 a, and the other connection terminal 9 is connected to the another metal pile 6. As described above, the current supplied from the current supply device 7 flows through the induction wire 3a and the underground G.

As shown in FIG. 2, the current flowing in the ground is not the surface layer G1 having a relatively high electric resistance, but the clay layer which is located below and has a lower electric resistance than the surface layer G1. Through G2, it flows through a place several meters to 10 meters below the ground.

The current supply device 7 provided for each induction wire has a frequency of several hundred hertz to about 10 kilohertz,
It is configured to supply an alternating current having a current value of about 1 to several amps to each of the induction wires 3a, 3b, 3c, 3d, and the current supply devices 7 supply currents having different frequencies. cage, and the frequency f _a of the current supplied to the induction line 3a along the longitudinal direction of one side, so that the different frequencies from the frequency f _c of the current supplied to the induction line 3c in the longitudinal direction of the other side The automatic steering control (straight running) along each travel path k is performed by the magnetic field formed by the set guide lines 3a and 3c set along the longitudinal direction. In addition, each guide wire 3a, 3
c is installed in parallel state, and each guiding line 3a, the frequency f _a of the current supplied to 3c, f _c
Is set to an appropriate frequency so that harmonics do not occur.

The frequencies f _b , f _{b of} the current supplied to the induction wires 3b, 3d installed along the short side of the field
_d is different from each other, and is set to a frequency different from the current frequency of the guide wire along the longitudinal direction. The magnetic field formed by the current supplied to the guide wires 3b and 3d installed along the transverse direction is: It is used for control such as detecting that the moving vehicle has reached the end position of each traveling route k, and each frequency f _b , f _{d of the} current supplied to each of the guide lines 3b, 3d.
Is also set to an appropriate frequency so as not to generate harmonics.

By supplying the current to the induction wire in this way, a magnetic field is formed outside the induction wire, and the strength of the magnetic field is large as shown in FIG. It becomes smaller in proportion to the square of the separation distance L,
At the points where the separation distance L is equal, that is, at each point in the direction along the guide line, the magnetic field strengths are almost equal.

However, each of the guide lines 3a and 3c along the longitudinal direction of the field is installed at a finite length which is substantially the same as the length of the long side of the field (corresponding to the width of the guide area along the predetermined direction). For this reason, there is a region where the magnetic field strength is not the same at each point where the distance from the guide line is the same. That is, as shown in FIG.
In the region extending from the both end positions in the longitudinal direction to the center side at a set distance, the strength of the magnetic field is smaller than that in the center side region even if the separation distance from the guide lines 3a and 3c is the same. The value changes so as to become smaller toward the outer end.

The moving vehicle V is provided so as to be able to run by an engine mounted thereon, and is configured so that the direction of the steered wheels 10 can be changed by an actuator 30 such as a hydraulic cylinder or an electric motor as steering control means. ing. Then, as shown in FIG. 4, as described above, a pair of left and right coil-type magnetic field detection means serving as magnetic field strength detection means for detecting magnetic field strength that varies according to the distance L from the guide line as distance information. Sensors 11R and 11L are provided at set intervals on the left and right sides of the moving vehicle V, and serve as travel control means for controlling the electromagnetic control valve 12 for the actuator 30 based on the detection information of these detection sensors 11R and 11L. Control device 13 is provided. The control device 13 includes a microcomputer. The detection signals of the respective magnetic field detection sensors 11R and 11L are configured to be converted into a DC signal by a signal processing unit 14, amplified, and then input to the control device 13.

The magnetic field detection sensors 11R and 11L are:
As shown in FIG. 5, different frequencies f
_a, f _c pair of guiding line 3a which alternating current is disposed along the longitudinal direction is formed by the supply of, 3c, and a pair of guiding line 3a installed along the short side direction, 3c each By generating an induced electromotive force based on electromagnetic induction due to the magnetic field by, a detection coil 15 as a magnetic field detection unit that detects the magnetic field and outputs them all, and an output from the detection coil 15 is input, Among the outputs of the detection coil 15, four band-pass filters 16a, 16b, as frequency selection means for individually selecting and outputting outputs corresponding to the strength of the magnetic field corresponding to the respective frequencies (variation frequencies). 16c and 16d.

The first band pass filter 16a is
With frequency characteristics of passing only a signal of corresponding frequency band to the frequency f _a of the current supplied to one of the guiding line 3a in the longitudinal direction, the third band-pass filter 16c
It is configured to include a frequency characteristic to pass only the signals of the corresponding frequency band to the frequency f _c of the current supplied to the other guide wire 3c of the longitudinal side. Further, the second band-pass filter 16b is provided with a frequency characteristic to pass only the frequency band of the signal corresponding to the frequency f _b of the current supplied to one of the guiding line 3b in the widthwise direction, the third
Th band-pass filter 16d is configured to include a frequency characteristic to pass only the frequency band of the signal corresponding to the frequency f _d of the current supplied to the other guide wire 3d of the lateral direction side.

The decrease in gain due to the absence of a resonance circuit in the detection coil 15 is compensated for by an amplifier 17 having a wide frequency band including the above-mentioned fluctuation frequencies, and each band-pass filter 16a, 16b, 16c, 1
The outputs of 6d are amplifiers 18a, 18b, 18c, 18 respectively.
The signal is amplified at d and output to the signal processing unit 14 separately.

The configuration of the signal processing unit 14 will be described. As shown in FIG. 6, two outputs from the first and third band-pass filters in the respective magnetic field detection sensors are converted into DC components of an effective value by DC conversion circuits 20 and 21, respectively. The output (corresponding to the strength of the magnetic field) is selected from the larger output and input to the amplifier circuit 22 at the subsequent stage.
That is, two DC outputs are given to the control device 13, the control device 13 determines which output is larger, and outputs a selection command signal to the analog switch 23. The selected output is output to the amplifier circuit 22.

The amplifier circuit 22 includes four amplifiers 23a, 24b, 24c, and 24d having different amplification gains.
And the outputs of the magnetic field detection sensors 11R and 11L,
An analog switch 25 as an amplifier selecting means for selecting an amplifier having an appropriate amplification gain among the plurality of amplifiers.

As shown in FIG. 3, the detection values of the magnetic field detection sensors 11R and 11L have a large variation width with respect to the change of the separation distance L. When the separation distance L increases, the change of the detection value with respect to the change of the distance increases. If the entire variation range is processed with a constant amplification gain, the distance cannot be detected with high accuracy when the separation distance L increases. Therefore, the amplification gain is automatically adjusted in accordance with the detection values of the magnetic field detection sensors 11R and 11L, and the input value to the control device 13 falls within the appropriate setting range in each state where the moving vehicle V is located on each traveling route. It is adjusted so that it becomes. That is, as the detection values of the magnetic field detection sensors 11R and 11L become smaller, the amplifier is switched to an amplifier having a larger amplification gain, so that a sufficient resolution with respect to the fluctuation of the separation distance L can be secured.

More specifically, each of the amplifiers 24a, 24b, 2
All outputs of 4c and 24d are input to the control device 13,
The amplifier within the proper setting range is selected by the analog switch 25 based on a selection signal given from the control device 13, and is input to the control input terminal. FIG. 7 shows a control device 13 when the amplifier is switched.
, That is, a change in the output value of the amplifier circuit 22. In the figure, points a, b, and c indicate switching points of the amplifier. In FIG. 7, the right side (the separation distance L
Is larger), the amplifier is switched to an amplifier having a larger amplification gain. In this way, the input value to the control device 13 is in the appropriate setting range while being located on each traveling route.

In each of the magnetic field detection sensors,
2 from the fourth band-pass filters 16b and 16d
The two outputs are converted to DC components of the effective value by DC conversion circuits 26 and 27, respectively, and the DC-converted outputs are input to the control device 13, respectively.

The moving vehicle is provided with an azimuth sensor 28 as azimuth detecting means for detecting the running direction (azimuth) of the vehicle body, such as an optical fiber gyro sensor, based on information detected by the azimuth sensor 28. In addition, turning control for turning while automatically guiding the vehicle from the end of each traveling route to the starting end of the next traveling route is performed.

Next, the control operation of the control device 13 will be described. After moving the moving vehicle V to the start end (work start position ST) of the traveling route k located at the end by radio control or manual control, the moving vehicle V moves straight along the guide line 3 along the longitudinal direction of the ridge. The steering control is executed so that the vehicle runs automatically. As shown in FIG. 8, the transport vehicle V in a state of being moved to the working start position ST, the magnetic field detection sensors 11R, the variation frequency f _a, as described above in 11L, output a corresponding to f _c, the output c Is selected, and the output selection control for instructing the analog switch 23 to issue a selection signal is executed (step 1). Next, the amplifier having an appropriate amplification level with respect to the selected sensor output is output. And executes the amplification level selection control for instructing the analog switch 25 to issue a selection signal (step 2).

Then, the distance L from one of the guide lines 3 is calculated based on the average value information of the detection values of the respective magnetic field detection sensors 11R and 11L input in an appropriate state and the theoretical formula. (Step 3). Then, as shown in FIG. 10, the left and right in a state (reference state) in which the moving vehicle V is in a normal traveling posture along the traveling path k, based on the separation distance L and the installation interval d of the magnetic field detection sensors 11R and 11L. The information is converted to information of equidistant lines (collective lines at the same magnetic field intensity) with respect to the guide line 3 corresponding to the positions of the magnetic field detection sensors 11R and 11L (step 4). That is, the separation distance information for each equidistant line from the guide line 3 is obtained, and the difference value ΔH of the magnetic field strength on each of the equidistant lines X1 and X2, that is, the normal traveling posture of the moving vehicle V along the traveling route k Is calculated (step 5).

Then, the traveling of the mobile vehicle V is started by radio control or manual control (step 6). When the magnetic field generated by the guide wire 3b installed on the short ridge exceeds the set value, the mobile vehicle V runs. Until the end of the path k is detected, the left and right magnetic field detection sensors 11R, 11R
If the difference between the detected difference value and the control target value exceeds a set amount while detecting the difference value between the detection values of L, the detection values of the magnetic field detection sensors 11R and 11L are both set to the control target value. It is determined whether the moving vehicle V is displaced in the left or right direction with respect to the travel route k depending on whether the value is larger or smaller than the value (the magnetic field strength on each equidistant line) in the reference state used in the above. The operation of the actuator 30 is controlled so as to return to the appropriate traveling route k (steps 7-1).
2). In this way, it is possible to control the traveling vehicle V to travel straight along the traveling route k.

In step 7, the moving vehicle V travels to the end of the travel route k, and the magnetic field detection sensors 11R, 11R
Guide lines 2b and 2d along the lateral direction detected by L
Based on the strength of the magnetic field formed by the above, that is, based on the output values of the second and fourth bandpass filters 16b and 16d, whether any of the output values exceeds the set value is detected. It is determined whether or not the moving vehicle V has reached the terminal end of the traveling route k based on whether or not it is determined. Here, as shown in FIG. 1, the set value of the strength of the magnetic field, which serves as a criterion at the end portion, enters the set distance from both ends in the longitudinal direction of each guide wire along the longitudinal direction toward the center. It is set to be the strength of the magnetic field corresponding to the position p _1. That is, in the region where the distance from each of the guide lines along the longitudinal direction is the same and the strength of the magnetic field formed by the current supplied to the guide lines is the same or almost the same, k will be formed. Then, the vehicle body is caused to make a turning movement by using the regions where the strengths of the magnetic fields are not the same (both ends in the longitudinal direction).

If it is determined that the moving vehicle has reached the terminal end, the count value N of the number of travel routes on which the work travel has been completed is counted up (+1) (step 13), and the count value N is set in advance. When the count value Na is reached, that is, when it is determined that the work in the field has been completed,
The control ends (step 14). If the end of the work has not been determined, the turning control is executed (step 1).
5).

The turning control is executed as follows. As shown in FIG. 9, the detection direction of the direction sensor 28 when the moving vehicle reaches the end of the traveling route is set as the reference direction (step 16), and the traveling vehicle travels along the preset turning traveling route s. As described above, the actuator 30 is driven and operated to execute the turning travel (step 17). Then, the transport vehicle V reaches the terminal end p ₂ of the turning path s, When it is determined based on the detection information of the direction sensor 28 that the direction of the moving vehicle has reached the reverse direction, which is the direction 180 degrees reversed from the reference direction, the turning traveling is terminated,
Returning to step 1, guidance driving along the next traveling route k is started (steps 18 and 19).

In the vicinity of the center of the field, the magnetic fields generated by the guide lines 3a and 3c along the opposing longitudinal ridges coexist, but in the step 1, the magnetic field having the larger magnetic field strength is automatically selected. Then, the control is continued based on the magnetic field. As is clear from the above explanation
In addition, the control device 13 invites the mobile vehicle V in plan view.
This is a traveling route for traveling at a position outside the conductor.
The distance from the guide wire is different from the
In each of a plurality of traveling paths along the magnetic field detection sensor 1
The strength of the magnetic field detected by 1R, 11L is the same or
When the vehicle is guided while maintaining almost the same state,
Next, the next run from the end position of each of the running routes
The vehicle is configured to make a round running toward a route.

[Other Embodiments] (1) In the above embodiment, as the magnetic field strength detecting means, a detection coil 15 for detecting all the magnetic fields of each variation frequency, and of the output of this detection coil 15, A plurality of bandpass filters 16a, 16b, 16c, which individually select and output outputs corresponding to the corresponding magnetic field strengths, respectively.
16d, the configuration is exemplified, but the configuration may be as follows.

As shown in FIG. 11, the magnetic field detecting coils 40a, 40b, 40c, 40d and the capacitor 41
a, 41b, 41c, 41d, and a plurality of tuning circuits 42a, 42b, 42c, 42d. Each of the tuning circuits 42a, 42b, 42c, 42d includes the plurality of variable frequencies f _a , f _b , f _c, the magnetic field of each corresponding to f _d, is configured to detect each other, the respective outputs of the detector circuits 43a, 43 b, 43c, is detected by 43d in each of the respective fluctuation frequency f _a, f _b, f _c, as an output corresponding to the intensity of the magnetic field corresponding to f _d, or may be configured to output to the signal processing unit 14 to each other.

(2) In the above-described embodiment, the azimuth detecting means is provided in the moving vehicle, and the azimuth detecting means executes the turning traveling control based on the detected information. However, the azimuth detecting means is not provided. The driving operation of the steering operation actuator is performed so that the moving vehicle travels along the predetermined turning traveling path, and the traveling distance is detected based on the number of rotations of the wheels, and reaches the set turning distance. For example, a configuration may be employed in which the vehicle is controlled so as to make a turn by autonomous running, such as by making a turn.

(3) In the above embodiment, each guide line (guide line along the short direction) intersects with the direction along the traveling route.
Although the case where the vehicle is installed is exemplified, without providing such a guide line, for example, the traveling vehicle is provided with a traveling distance detection sensor that detects an actual traveling distance, and the traveling distance detected is set in advance. When the distance corresponding to the length of the route is reached, control may be performed so as to stop the guided travel, and when reaching the end of the travel route, for example, a turning control may be performed based on a manual operation.

(4) In the above embodiment, the case where the guided traveling area of the mobile vehicle is a field having a rectangular shape is exemplified. However, the present invention is not limited to such a configuration, and the following configuration may be employed. . For example, in a deformed field where the outer periphery is bent,
The present invention can be applied to various configurations such as a case where a direction in which a mobile vehicle is to be guided is bent halfway and different currents are supplied to guide wires corresponding to each of the bending paths.

(5) In the above-described embodiment, the case of an agricultural tractor running on a field is exemplified as a moving vehicle. In addition, various moving vehicles such as an unmanned transport vehicle in a factory and a golf cart may be used. It can be applied to guidance.

In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a diagram showing a guidance traveling control system;

FIG. 2 is a diagram showing an installation state of a guide wire;

FIG. 3 is a graph showing a change in magnetic field strength with a change in separation distance.

FIG. 4 is a control block diagram.

FIG. 5 is a block diagram of a magnetic field detection sensor.

FIG. 6 is a block diagram of a signal processing unit.

FIG. 7 is a graph showing an output value in an amplifier switching state.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is an explanatory diagram of a control operation.

FIG. 11 is a block diagram showing a magnetic field strength detecting means according to another embodiment.

[Explanation of symbols]

 3a, 3b, 3c, 3d Guidance lines 11R, 11L Magnetic field detecting means 13 Running control means 28 Direction detecting means V Moving vehicle

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Yukio Yokoyama 64 Ishizukita-cho, Sakai-shi, Osaka Kubota Sakai Works Co., Ltd. (56) References JP-A-3-136110 (JP, A) JP-A-51- 69778 (JP, A) JP-A-6-335547 (JP, A) JP-A-6-285196 (JP, A) JP-A-63-163607 (JP, A) JP-A-2-287708 (JP, A) JP-A-3-46009 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (4)

(57) [Claims] 1. A guide wire (3a), (3c) of a set length to which a current is supplied is installed on the ground side, and the strength of a magnetic field formed by the current is set on a moving vehicle (V) side. Traveling control for guiding the mobile vehicle (V) in a predetermined guidance area based on information detected by the magnetic field detecting means (11R) and (11L) detected by the magnetic field detecting means (11R) and (11L); Means (13), wherein the traveling control means (13) is provided so that the moving vehicle (V) deviates from the guide line in plan view.
In which the distance from the guide lines (3a) and (3c) is different from each other, and in each of the plurality of travel routes along the guide lines (3a) and (3c). , Sequentially, the magnetic field detecting means (11R),
(11L) is configured to guide the vehicle while maintaining the state where the strength of the magnetic field detected is substantially the same, and to make a turn from the end position of each of the traveling paths to the next traveling path adjacent thereto. A guidance control device for a moving vehicle, wherein the guidance lines (3a) and (3c) are installed so as to have a length substantially equal to a width along a predetermined direction in the guidance area; ), (3c), and in the region where the strength of the magnetic field formed by the current supplied to the induction wires (3a), (3c) is the same or almost the same, A guidance control device for a mobile vehicle configured to form a traveling route. 2. The guide lines (3a) and (3c) are provided at both ends of the guide area in a direction along the traveling route.
In the state of intersecting, the other guide lines (3b) and (3d) are installed, and the magnetic field detecting means (11R) and (11L) are supplied to the other guide lines (3b) and (3d). The travel control means (13) is configured so that the strength of the magnetic field formed by the current can be distinguished from the strength of the magnetic field formed by the current supplied to the induction wires (3a) and (3c). Is the other guide wire (3
b) and (3d) are configured to determine whether or not the moving vehicle (V) has reached the end of each of the traveling paths based on the strength of the magnetic field formed by the current supplied to (3d). The guidance control device for a mobile vehicle according to claim 1. 3. The traveling control means (13), when the moving vehicle (V) reaches the vicinity of the end of each traveling route, starts along a predetermined turning traveling route and starts the next traveling route. 3. The vehicle according to claim 1, wherein the vehicle is controlled so as to autonomously travel toward the vehicle.
A guidance control device for a mobile vehicle according to claim 1. 4. The vehicle (V) is provided with an azimuth detecting means (28) for detecting an azimuth of a vehicle body. The traveling control means (13) comprises: When reaching the vicinity of the end, based on the detection information of the azimuth detecting means (28),
The mobile vehicle guidance control device according to claim 1, 2 or 3, wherein the mobile vehicle (V) is controlled so as to make a round running toward a starting end of a next travel route.