JPH01128103A - Control method for unmanned vehicle - Google Patents

Abstract

PURPOSE:To ensure the safe control when an unmanned vehicle is transferred onto a guide line by starting the scan of the guide line by a guide line scan signal right before the end of a teaching play-back run based on the teaching data stored previously in a memory of a control part and the scan start signal data and starting the normal run of the guide line at the time point when the guide line is detected. CONSTITUTION:The signals transmitted from a guide line 1 of a system are detected by the left and right pickup coils 2 and 3. The difference of output signals is supplied to a CPU 61 of a control part 6 after the A/D conversion 5. At the same time, the traveling direction received from the part 6 is sent to the CPU 61 via a potentiometer 8 after the A/D conversion 10. While the distance traveled is converted into the pulse signals by a pulse oscillator 11 and supplied to the CPU 61. Then the scan of the line 1 is started right before the end of a teaching play-back run based on the teaching data stored in the memory 62 and a scan start signal. The normal scan of the line 1 is started at the time point when the line 1 is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a control method when transitioning from teaching playback running to guided line running.

B. Summary of the Invention In the present invention, when changing from teaching 7-ray pack running to guiding line running, a guiding line scan is performed in advance, and the switch is made to guiding line running from the moment a 1m lead is found.

C. Conventional technology Conventionally, when an unmanned vehicle is driven to a destination location, a guide wire is laid on the floor leading to the destination location, and a current of a certain frequency is passed through the guide wire to generate magnetism and drive the vehicle unmanned. There are methods to run the vehicle while detecting magnetism using a pickup coil installed on the vehicle side, or methods to guide the vehicle using optical means, but with these methods, once the guide line is determined, If you want to change the target position, the change becomes difficult, so an unmanned vehicle is used that can easily change the target position by using teaching playback driving.

FIG. 2 shows the configuration of a combined control method for MMa line travel and teaching 7 back travel. Reference numeral 1 denotes an inductive wire, and a power source for supplying a current of a certain frequency is connected to this inductive wire.

2 is a pickup coil on the right side, and 3 is a pickup coil on the left side. These coils are placed on the head of the unmanned vehicle and detect magnetism from the guide wire. The signal detected by the pickup coil 2.3 is sent to the differential amplifier 4 as the left and right signal difference.
After being amplified by the A y'' D converter 5, the signal is input as a digital signal to the micro 70 setter 61 in the control section 6.

In this microprocessor 61, this signal difference is outputted as a left/right shift amount to a control means (not shown) for running the vehicle. Here, the pick-up coil detects a signal oscillated from a teaching playback travel command signal oscillator installed at a certain point on the guide line, and the teaching brake is activated based on the teaching data stored in advance in the memory 62 in the control section 6. Switch to reverse run 11 and start running. When teaching playback starts, the control unit 6
Detection signals from a pulse oscillator 11 for detecting traveling distance and a potentiometer 8 for detecting traveling direction, which are directly connected to a drive unit (not shown), are sent to amplifiers 9, 12 and A7.
The actual running data fed back to the micro 70 setter 61 via the D converter 10 and the memory 62
The microprocessor 61 compares the teaching data stored in the unmanned vehicle and if there is an error, issues a correction command to the control means, and the unmanned vehicle travels while correcting its trajectory. Since the end point of teaching breakback travel is set on the guide line, the vehicle switches to guide line travel from this end point.

D. Problems that the invention aims to solve By using both guide line running and teaching playback running, it has become possible to freely change the running route, but when changing to the guide line from teaching 7 back running, the problem is stored in memory. The vehicle travels by correcting the difference between the teaching data provided and the actual travel distance and direction during teaching playback travel, but due to wear of the drive mechanical transmission parts, wheels, etc., and the condition of the travel path, the difference between the actual travel and teaching data may vary. The difference accumulates and becomes an error at the end of the teaching playback run, and after the teaching playback run is over, when moving onto the guide line, the driver turns the steering wheel suddenly to compensate for the accumulated error, and in the worst case scenario, the vehicle goes off course. There is a problem. Furthermore, when inputting teaching data, if the end point of the teaching playback run is not set directly above the guide line, there is a problem in that, as described above, it is dangerous to suddenly turn the steering wheel at the end of the teaching playback run.

Therefore, the purpose of the present invention is to prevent sudden steering when moving to the guide line during teaching playback driving.
The aim is to provide a safe control method for unmanned vehicles that will not run off the course.

E. Means for Solving the Problems The unmanned vehicle control method of the present invention stores a guide line scan command in the memory in the control unit that stores teaching data 2 to 3 seconds before the end of the teaching playback run. Based on this stored command, a pickup coil installed in the unmanned vehicle scans the guide wire.

F Effect When a certain distance is reached just before the end of the teaching playback run, the pickup coil starts scanning the guide line, and when the guide line is found, the teaching playback run is stopped and normal guide line run is started. It was designed to replace the

G. Examples Examples of the present invention will now be described in detail based on the drawings. FIG. 1 is a flowchart of a control method showing an embodiment of the present invention.

Immediately before the end of the playback run while the unmanned vehicle is running the teaching play hack (in the example, the unmanned vehicle is running during the playback run 2)
Although it is set to about 3 seconds, this time is not limited depending on conditions such as the distance of the traveling route. ) The xsm scan is started according to the guide line scan command stored in advance in the memory 62 in the 1ilJ control section c. This scanning method will be explained with reference to the flowchart of FIG.

When a scan command is issued from the memory 62, the pickup coil 2.3 starts scanning the signal oscillated from the guide wire. If there is no guide line, continue scanning while continuing teaching playback running, and if there is a guide line, immediately switch to guide line running and enter guide line running.

Effects of the Invention According to the present invention, the guide line is scanned immediately before the end of the teaching playback run, and the guide line running is started with the guide line present, so even if an error is accumulated during running to the teaching brake, the guide line running is started. When teaching, you can move smoothly without suddenly turning the steering wheel, and if you store teaching data in memory, you can perform teaching playback without bringing the teaching end point to the soldier on the guide line. This has the effect of making teaching much easier because the robot is moving.

[Brief explanation of the drawing]

FIG. 1 is a flowchart of a guide line scanning method according to the present invention, and FIG. 2 is a diagram showing the main part configuration of an unmanned vehicle that uses guide line running and playback running. 1 is a guide wire, 2.3 is a heat square 7 coil, 4 is a differential amplifier, 5.10 is an A-D converter, 6 is a control unit, 61 is a microprocessor, 162 is a memory, 8 is a potentiometer, 9.12 is an amplifier, and 11 is a pulse oscillator.

Claims (1)

[Claims] Pickup coils are installed on the left and right sides of the unmanned vehicle that detect signals oscillated from the guide wire, and the difference between the output signals of these pickup coils is amplified and output, and then input to the control unit via the A/D converter. Then, the outputs of the control unit that controls the running of the unmanned vehicle, the pulse oscillator that detects the distance traveled by the unmanned vehicle, and the potentiometer that detects the running direction are returned to the control unit to correct the traveling trajectory. In a control method for an unmanned vehicle comprising a means and a memory for storing data in advance in the control unit, and having a combination method of guide line running and teaching playback running, the teaching data stored in advance in the memory in the control unit and A control method for an unmanned vehicle characterized by starting a guide line scan using a guide line scan signal immediately before the end of teaching playback travel based on scan start signal data, and starting normal guide line travel from the time the guide line is found. .