JP4051420B2 - Travel control mechanism of automatic guided vehicle - Google Patents

Description

  The present invention relates to a traveling control mechanism of an automatic guided vehicle that detects a magnet embedded in the ground and changes an operation mode of traveling speed, such as a golf cart.

Conventionally, in golf carts and the like, a technique for detecting a magnet buried in the ground and changing an operation mode of traveling speed has been known. For example, this is the technique described in JP-A-4-367007.
The present invention solves such problems of the prior art.
JP-A-4-367007

  According to the present invention, in an automated guided vehicle that travels with the vehicle speed set to a high speed mode by means of a magnet signal embedded in the ground, a means for increasing the vehicle speed by an external signal and a vehicle speed are detected on a traveling road that does not require much steering capability Means and a mechanism for releasing the high-speed mode when the vehicle speed exceeds a certain vehicle speed.

  The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

  In claim 1, in the automatic guided vehicle having an automatic steering mechanism constituted by a guide line and a guidance sensor, two magnets are arranged in order in the basement of a traveling path on which the automatic guided vehicle travels, A sensor arranged on the lower surface of the automatic guided vehicle detects the magnet) and draws a waveform due to an electromotive force. The electromotive force waveform is a combination of two magnets so that a negative → positive is an S pole, and a positive → Assuming that the negative is the N pole, in addition to the four types of S → S, N → N, S → N, and N → S, the waveforms of the two magnets are overlap-coupled, and the positive waveform is superimposed S → N It is possible to detect two modes of N → S, in which negative waveforms overlap, and the six modes can be used to start high-speed mode, stop high-speed mode, etc. in addition to speed reduction, stop, acceleration, automatic manual switching, etc. It can be transmitted as an external signal, and the amount of deviation between the induction wire and the induction sensor When the deviation amount range exceeds a certain fixed value (a), the high-speed mode is automatically canceled immediately, and the certain amount of deviation (a) and another fixed value are released. (B), when the state continues for a certain period of time, the high-speed mode is automatically canceled, and when the amount of deviation is within a certain value (b), the high-speed mode Is something that lasts.

In claim 2, in the automatic guided vehicle having an automatic steering mechanism constituted by the guide wire (7) and the induction sensor (9), two magnets (1 , 2) are arranged in order, and the sensor (3) arranged on the lower surface of the automatic guided vehicle detects the magnets (1, 2), draws a waveform due to an electromotive force, With the combination of two magnets (1, 2), if negative → positive is S pole and positive → negative is N pole, there are four other types: S → S, N → N, S → N, N → S. In addition, it is possible to detect two modes of S → N, in which the waveforms of two magnets are overlapped and the positive waveform is superimposed, and N → S, in which the negative waveform is superimposed, and the six modes are reduced in speed. , Stop, acceleration, automatic manual switching, etc., as well as external signals such as high-speed mode start and high-speed mode stop Possible and to means for detecting the inclination angle of the traveling path, a mechanism for setting a target vehicle speed by the inclination angle, the margin of the steering capabilities in inclination angles each detection provided certain value inclination angle the detected (A) When the above is reached, the high-speed mode is immediately canceled, and when the inclination angle is between a certain value (a) and another certain value (b), the high-speed mode is continued if the state continues for a certain time or more. The mode is automatically canceled.

  In claim 3, in the automatic guided vehicle having an automatic steering mechanism constituted by a guide line and a guidance sensor, two magnets are arranged in order in the basement of the traveling path on which the automatic guided vehicle travels, A sensor arranged on the lower surface of the automatic guided vehicle detects the magnet and draws a waveform due to an electromotive force. The electromotive force waveform is changed from a negative to a positive S pole by a combination of two magnets. Is N pole, S → N, S → N, S → N, S → N, and N → S, in addition to S → N in which the waveforms of two magnets are overlapped and a positive waveform is superimposed, It is possible to detect N → S 2 modes with overlapping negative waveforms, and the 6 modes can be externally operated such as high speed mode start, high speed mode stop, etc. in addition to speed deceleration, stop, speed increase, automatic manual switching, etc. It can be transmitted as a signal, has a means to detect the vehicle speed, and the vehicle speed is constant It becomes equal to or larger than the vehicle speed, in which automatically releases the high-speed mode.

Since the present invention is configured as described above, the following effects can be obtained.
In the first, second, and third aspects of the invention, the amount of steering deviation is detected from the induction sensors 9L and 9R and the induction line 7, and the high-speed mode is canceled. Even if there is no signal for canceling, it is possible to automatically cancel the high-speed mode and avoid derailment.

  Next, examples will be described. 1 is a front sectional view of a traveling control mechanism of an automatic guided vehicle, FIG. 2 is a diagram showing waveforms generated by two magnets, FIG. 3 is a diagram showing six types of waveforms generated by the present invention, and FIG. 4 is a magnet. FIG. 5 is a diagram showing an embodiment in which an overlap waveform is configured by shortening the interval and an overlap waveform is configured by increasing the amplitude of the magnet waveform, and FIG. FIG. 6 shows a block diagram of magnet signal processing, FIG. 7 shows a flowchart of signal processing in six modes of the present invention, and FIG. 8 overlaps with a single magnet. FIG. 9 is a diagram showing a difference in the case of using a waveform, FIG. 9 is a diagram showing a control configuration when automatic steering is performed from the relationship between the guide wire 7 and the induction sensors 9L and 9R, and FIG. 10 is a system diagram of the automatic steering mechanism. In the drawing That.

  FIG. 11 is a block diagram of speed control in manual and automatic modes, FIG. 12 is a block diagram showing an automatic steering mechanism, and FIG. 13 shows a standard of a deviation amount when canceling the vehicle speed control according to the magnitude of the deviation amount. FIG. 14 is a flowchart of vehicle speed control based on the amount of deviation, FIG. 15 is a diagram illustrating setting of the range of the tilt angle when the vehicle speed control is canceled based on the tilt angle, and FIG. 16 is a block diagram of vehicle speed control based on the tilt angle. FIG. 17 is a flowchart showing the same, FIG. 18 is a drawing showing manual and automatic calculation of the target vehicle speed, FIG. 19 is a block diagram when the vehicle speed is controlled by an external signal, and FIG. It is a flowchart figure in the case.

  In FIG. 1, a front sectional view of a traveling control mechanism of an automatic guided vehicle is shown. A guide wire 7 is embedded in the ground, and magnets 1 and 2 are embedded in the middle of the guide wire 7. Left and right induction sensors 9L and 9R are arranged on the abdomen of the automatic guided vehicle. The automatic guided vehicle travels on the left and right traveling paths 8L and 8R. 2. Description of the Related Art Conventionally, there is a method as shown in FIG. 2 as a method for detecting a positive / negative waveform of an electromotive force by passing a sensor in a state where a magnet having two opposite poles is buried in the ground. That is, as shown in FIG. 2A, when negative → positive is changed to the S-pole waveform. In this system, there are only two combinations of negative → positive S and positive → negative N.

  Next, as shown in FIG. 2B, a method of changing negative → positive to the S pole and positive → negative to the N pole. Thus, considering the combination of magnets as shown in (b), there are four possible combinations as in the conventional magnet combination of FIG. That is, there are four ways of S → S, N → N, S → N, and N → S. In the present invention, as shown in the lower side of FIG. 3, the waveform is superposed to form S → N in which the positive waveform is superposed and N → S in which the negative waveform is superposed. Accordingly, the four combinations in the case of (b) and the two combinations in the present scheme can be constituted by two conflicting magnets.

As a method of combining the waveforms of two opposite magnets, there are the following methods. There are (3) to (7) in the method of (2).
(1). Method of shortening the magnet spacing (2). Method of increasing the amplitude of the magnet waveform (3). Method to increase the signal from the sensor on the circuit (4). Method to increase sensor sensitivity (5). Method of increasing the magnetic force of the magnet (6). Increase the relative speed between the sensor and the magnet.
(7). Reduce the distance between the sensor and the magnet.
In other words, the above method is expressed in the following table.

(1). A method of shortening the magnet interval is illustrated on the upper side of FIG. That is, the conventional interval A of the electromotive force waveform for switching between positive and negative is set to a narrow interval B, and an overlapping portion is created in the electromotive force waveform of the negative portion. A relationship of A> B is established between the intervals of the magnets.

(2). A method of increasing the amplitude of the magnet waveform is illustrated on the lower side of FIG. In this case, the gaps A and B between the magnets do not change, but there is a relationship of α <β between the amplitude α of the electromotive force waveform in the conventional case and the electromotive force waveform β of the present invention. This is true, and as the amplitude increases, the negative waveform overlaps.

(3). The method of increasing the signal from the sensor on the circuit is to increase the signal from the sensor on the circuit only at a certain time by an external signal, and it can be set to 6 modes, but the cost is high. There are difficulties.
(4). The method for increasing the sensitivity of the sensor is a method that can be performed by increasing the number of windings of the embedded coil. However, this also has a disadvantage that the cost increases.

(5). The method for increasing the magnetic force of the magnet is a method using a magnet having a strong magnetic force only in the two modes (a) and (b), and is an effective method.
(6). The method of increasing the relative speed between the sensor and the magnet is a change in waveform as shown in FIG. 5, and the width of the waveform is also narrowed.
(7). Similarly, the method of reducing the distance between the sensor and the magnet increases the positive and negative amplitude of the electromotive force.

  As described above, in the methods (1) to (7), although the number of modes can be increased while the number of magnets is two, (1). A method of shortening the magnet spacing (2). This is a method of increasing the amplitude of the magnet waveform. By adopting the methods (1) and (2), there is no circuit change, and only the ROM can be replaced. The current magnet can also be used. The distance between the sensor and the magnet varies depending on the suspension mechanism of this machine and the overlay for repairing the running path. In addition, the reason why it is closer than the present is because it is impossible for the magnet to appear on the ground. Conventionally, such a concept has not been made, because it has been dedicated to signal processing so that waveforms are not combined in this way.

  In FIG. 6, a signal processing block diagram is shown. Two magnets 1 and 2 are arranged in order in the basement of a road on which an automated guided vehicle such as a golf cart travels. And the sensor 3 arrange | positioned on the lower surface of an automatic guided vehicle detects this magnet 1 * 2, and draws the waveform by an electromotive force. The electromotive force waveform is amplified by the amplifier 4, detected by the waveform detector 5, and transmitted to the microcomputer 6 for determination.

  The combination of two magnets allows detection of 6 modes from the conventional 4 mode detection, so the vehicle control range can be expanded without adding parts to conventional equipment and sensors. is there. That is, in addition to the conventional speed deceleration, stop, speed increase, automatic manual switching, etc., it is possible to issue external signals such as high speed mode start and high speed mode stop. In particular, when the waveforms of two magnets are overlapped, such a signal can be distinguished from other signals by shortening the distance between the two magnets to ensure that the sensor is differentiated. It can be done.

  Further, in order to overlap and combine the waveforms of two magnets, the waveform amplitude is increased. In this case as well, no additional parts are required for the conventional equipment or sensor, and it can be constructed at a low cost.

  FIG. 7 shows a flowchart of the traveling control mechanism of the automatic guided vehicle. For detection of the high speed mode, six modes are obtained by the arrangement of the magnets 1 and 2, and the switching operation is performed. In the high-speed mode, the vehicle speed is changed from 6.2 to 9.0 km / h. Therefore, the vehicle speed control / steering control becomes insufficient when climbing, descending or turning sharply. Therefore, the mode 6 which is the high speed mode is a flowchart for canceling if there is even one magnet input. If it is not desired to cancel the high-speed mode, as shown in FIG. 7, the part * 2 may be deleted, and an item that is continuous for T time or more may be added to the part * 1. The T time may be about 1.5 times that when one magnet is detected.

  As described above, the automatic mode of the automatic guided vehicle is normally canceled by an external signal such as a magnet. However, if the release external signal cannot be detected for some reason, the steering ability is lower than the design target value due to the high speed mode remaining or due to individual differences of this machine, such as changes over time, adjustment accuracy, and variations. A case occurs. In such a case, the vehicle speed itself in the high speed mode with respect to the curve at a sharp curve is too fast, the steering ability is insufficient, and derailment occurs. In addition, the speed cannot be controlled on a steep downhill, the speed is too high, and there is no curve on the road, but the steering ability is insufficient and derailment occurs. Derailment due to lack of ability. The present invention of claim 3 detects the limit of the steering ability of the machine from the traveling locus, and automatically cancels the high speed mode even if there is no external signal for cancellation or no detection is possible. Thus, the vehicle can be run without derailing.

  10 to 13, a system diagram, a control block diagram, a flowchart, and a drawing showing a setting range are shown. The amount of deviation is calculated from the signals from the left and right induction sensors 9L and 9R. When this amount of deviation exceeds a certain value a, the high-speed mode is immediately canceled. When the amount of deviation is between a certain value a and another constant value b, the high-speed mode is canceled when the state continues for a certain time. When the amount of deviation is within a certain value b, the high speed mode is maintained.

  Conventionally, the improvement of the overall steering performance has been studied together with the improvement of the frequency characteristics, etc., so in the case where the steering performance is not so necessary on the course, that is, in the case of flat and straight roads, this machine I couldn't think of raising the vehicle speed to the extent that the steering performance of the vehicle could be fully used. It took time, cost, and technology to improve the overall performance, and it was necessary to review the entire system. The present invention improves such a conventional situation.

  Next, FIGS. 15 to 18 show control block diagrams and flowcharts. The automatic steering control capability of electromagnetic induction is calculated by the product of the vehicle speed and the S-shaped size of the travel path. The higher the vehicle speed or the smaller the S-shape, the more severe it becomes. Generally expressed as frequency characteristics. The actual evaluation measures how many km / h the vehicle can follow on an S-shaped road made of any size. Therefore, if the speed increases or the curve of the travel path becomes steep, the steering ability is exceeded and derailment occurs. On the other hand, high speed running is required from the operator to use in order to speed up the progress. In particular, in the case of flat and straight roads, there is a strong demand for increasing the vehicle speed to the limit of the steering capability of this machine.

  In an automatic guided vehicle that detects a signal from the outside, that is, a magnet buried in the ground, and travels in a high-speed mode, on a traveling path that does not require much steering capability, that is, a flat straight line, means for increasing the vehicle speed by an external signal; The means for detecting the inclination angle of the road, the means for setting the target vehicle speed according to the inclination angle, and the maximum speed determined by the vehicle speed control ability of the machine from the inclination angle, that is, the actually measured value, the steering ability at each inclination angle is determined. In the evaluation, a plurality of ranges are set with respect to the inclination angle obtained by means of utilizing the margin obtained by actual measurement, and continuously for a set time according to each inclination angle range, The high-speed mode is canceled when the tilt angle is within the range. That is, the set time is long when the tilt angle is small, and the set time is short when the tilt angle is large.

  By configuring in this way, it is possible to estimate the maximum speed of the machine from the inclination angle of the road and detect the limit of the steering ability, so that even if an external signal for canceling the high speed mode cannot be detected, high speed By automatically releasing the mode, it is possible to travel safely without derailing.

  In the actual configuration, in the system diagram, the margin of the steering ability is calculated from the predicted maximum speed in each inclination range by a signal from the inclination sensor. Then, when the tilt angle exceeds a certain value a, the high speed mode is immediately canceled. Next, when the inclination angle is between a certain value a and b, the high-speed mode is canceled when the state continues for a certain time or more. When the tilt angle is within a certain value b, the high-speed mode is maintained.

  Next, in FIG. 19 and FIG. 20, its control block diagram and flowchart are shown. In the case of a road where the steering ability is not so much required, a means for increasing the vehicle speed by means of an external signal, a means for detecting the vehicle speed, and the high-speed mode is canceled when the vehicle speed exceeds an arbitrary vehicle speed. Is. The arbitrary vehicle speed is T + ekm / h. T is a vehicle speed set in the high speed mode, and e is a margin of 1 to 2 km / h.

  By configuring in this way, the high speed mode can be automatically canceled even if there is no external signal for canceling the high speed mode by detecting the limit of the steering ability based on the actual vehicle speed.

Front sectional drawing of the traveling control mechanism of an automatic guided vehicle. The figure which shows the waveform which generate | occur | produces with two magnets. 6 is a diagram showing six types of waveforms generated by this configuration. The figure which shows the structure at the time of shortening a magnet space | interval and comprising a duplication waveform and enlarging the amplitude of a magnet waveform and comprising a duplication waveform. Drawing which shows the waveform which raised the relative speed between a sensor and a magnet, and the width of the waveform became narrow. The figure which shows the block diagram of a magnet signal process. The figure which shows the flowchart of the signal processing of the mode of this structure. The figure which shows the difference in the case of making it a duplication waveform with the case where there is one magnet. The figure which shows the control structure in the case of performing automatic steering from the relationship between the guide wire 7 and the guidance sensors 9L and 9R. The figure which shows the system diagram of an automatic steering mechanism. Block diagram of speed control for manual and automatic. The block diagram which shows an automatic steering mechanism. Drawing which shows the standard of the amount of deviation at the time of canceling vehicle speed control by the size of the amount of deviation. The flowchart of the vehicle speed control by deviation | shift amount. The drawing which shows the setting of the range of an inclination angle when canceling vehicle speed control by an inclination angle. The block diagram of the vehicle speed control by an inclination angle. Similarly flowchart drawing. Drawing which shows the case of manual and automatic case of target vehicle speed calculation. The block diagram in the case of controlling vehicle speed by an external signal. The flowchart figure in the case of vehicle speed control similarly by an external signal.

Explanation of symbols

1, 2 Magnet 3 Sensor 4 Amplifier 5 Waveform detector 6 Microcomputer 7 Guide wire 8 Travel path 9 Guide sensor

Claims (3)

  In an automatic guided vehicle having an automatic steering mechanism constituted by a guide wire and a guidance sensor, two magnets are arranged in order in the basement of a traveling path on which the automatic guided vehicle travels, and the lower surface of the automatic guided vehicle The sensor arranged in FIG. 6 detects the magnet and draws a waveform due to an electromotive force. The electromotive force waveform is a combination of two magnets, where negative → positive is an S pole and positive → negative is an N pole. In addition to S → S, N → N, S → N, and N → S, the waveforms of two magnets are overlapped and combined, and S → N, in which positive waveforms are superimposed, and negative waveforms are superimposed. , N → S 2 modes can be detected, and the 6 modes can be transmitted as external signals such as high speed mode start, high speed mode stop, etc. in addition to speed deceleration, stop, speed increase, automatic manual switching, etc. Means for detecting the amount of deviation between the induction wire and the induction sensor; When the deviation amount range exceeds a certain fixed value (a), the high-speed mode is automatically canceled immediately, and the deviation amount is between a certain fixed value (a) and another fixed value (b). In some cases, when the state continues for a certain period of time, the high-speed mode is automatically canceled, and when the amount of deviation is within a certain value (b), the high-speed mode is maintained. A drive control mechanism for automated guided vehicles. In an automatic guided vehicle having an automatic steering mechanism constituted by a guide wire (7) and a guidance sensor (9), two magnets (1, 2) are arranged in the basement of a traveling path on which the automatic guided vehicle travels. A sensor (3) placed and placed on the lower surface of the automatic guided vehicle detects the magnets (1, 2), draws a waveform due to an electromotive force, and the electromotive force waveform includes two magnets (1 , 2), if negative → positive is the S pole and positive → negative is the N pole, there are two magnets in addition to S → S, N → N, S → N, N → S. The two waveforms of S → N in which the positive waveform is superimposed and N → S in which the negative waveform is superimposed can be detected, and the six modes are decelerated, stopped, increased, In addition to automatic manual switching etc., it can be transmitted as an external signal such as high speed mode start, high speed mode stop, etc. Means for detecting an oblique angle, a mechanism for setting a target vehicle speed by the inclination angle, the margin of the steering capabilities in inclination angles each detection provided, at a certain value or more (a) there is a tilt angle the detected The high-speed mode is canceled immediately, and when the tilt angle is between a certain value (a) and another constant value (b), the high-speed mode is automatically canceled when the state continues for a certain period of time. A traveling control mechanism for an automated guided vehicle.   In an automatic guided vehicle having an automatic steering mechanism constituted by a guide wire and a guidance sensor, two magnets are arranged in order in the basement of a traveling path on which the automatic guided vehicle travels, and the lower surface of the automatic guided vehicle The sensor arranged in FIG. 6 detects the magnet and draws a waveform due to an electromotive force. The electromotive force waveform is a combination of two magnets, where negative → positive is an S pole and positive → negative is an N pole. In addition to S → S, N → N, S → N, and N → S, the waveforms of two magnets are overlapped and combined, and S → N, in which positive waveforms are superimposed, and negative waveforms are superimposed. , N → S 2 modes can be detected, and the 6 modes can be transmitted as external signals such as high speed mode start, high speed mode stop, etc. in addition to speed deceleration, stop, speed increase, automatic manual switching, etc. A means for detecting the vehicle speed is provided, and when the vehicle speed exceeds a certain vehicle speed, Serial automatic guided vehicle of the cruise control mechanism, characterized in that to release the high-speed mode automatically.

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