JPH02183813A - Direction control system for low-speed traveling object - Google Patents

Abstract

PURPOSE:To control the direction of a traveling object in real time even with a radio circuit that does not have so much high quality of transmission by correcting the change of a target azimuth caused by the advance of a traveling object at the side of the traveling object in a remote control system for traveling object which is carried out with transmission of the radio data. CONSTITUTION:At the side of a fixed station controller 1, an entire traveling area of a traveling object is divided into meshes and all target azimuths showing the traveling directions of a traveling object are calculated in the form of a table. A coordinate conversion part 4 converts the position information on the object 15 detected by a position detecting part 9 into the XY coordinates to produce the coordinate data. A control part 3 sends the correcting value of the target azimuth obtained when the object 15 shifts by a unit time to a traveling object controller 10 together with the target azimuth. Thus transmitting radio wave is demodulated by a radio MODEM 14 of the controller 10, and a control part 11 corrects the target azimuth for each unit time based on the correction value received together with the present target azimuth before input of the next target azimuth. Thus it is possible to control the object 15 in real time even with a radio circuit that does not have so much high quality of transmission.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an azimuth control system for a low-speed working body provided with a position detector.

(Prior art) Conventionally, in this type of device, a method of controlling a moving object such as running on rails, or a method of controlling movement using a guide such as a line provided on the road surface or floor as a landmark has been often adopted. .

(Problem to be solved by the invention) However, on road surfaces where it is difficult to provide such guides, it is extremely difficult to arbitrarily define a running line and drive the vehicle along the defined running line with high precision. .

Particularly when controlling a mobile object using a wireless line, there is a problem in that control accuracy cannot be improved due to delay in feedback of control signals due to instability or disconnection of the line.

(Means for Solving the Problems) The present invention has been made to solve these problems, and is intended to reduce the dependence of mobile objects on control signals from fixed stations that manage the positions of mobile objects. , the target azimuth angle accompanying the progress of the moving object is corrected on the side of the hypermoving object. That is, on the fixed station side, a table is created in advance in which the traveling line of the moving body is meshed with XY coordinates, and a target azimuth angle is assigned to each mesh. Based on the traveling position of the moving object, the target azimuth angle on the corresponding XY coordinate is read from the table, and this is compared in real time with the detected azimuth angle that indicates the direction of the moving object itself to control the azimuth of the moving object. Embodiments will be described in detail below with reference to the drawings.

(Example) FIG. 1 is a configuration diagram of an example, and FIG. 2 is an explanatory diagram of a target azimuth angle. In FIG. 1, 1 is a control device on the command control side, 2 is a controller, 3 is a control section, 4 is a coordinate conversion section, 5 is a target azimuth angle table calculation section, 6 is a data management section, 7 is an operation panel, and 8 9 is a wireless modem, and 9 is a fixed station of a position detecting unit, which detects the position of a mobile object. 10 is a control device for a moving body; 11
1 is a control unit, and 12 is a mobile station, which is a position detection unit, which detects an azimuth indicating the direction of a mobile object. 13 is an operation panel, and 14 is a wireless modem. In addition, in FIG. 2, 15 is a moving body, 1
Reference numerals 6 to 24 indicate target azimuth angles indicating the traveling direction of the moving body at each position, and reference numerals 25 to 30 indicate travel lines.

In this control system, the tracking function attached to the precision position detection device is used to calculate the tracking angle generated by the fixed station 9 of the position detection unit and the mobile station 12 of the position detection unit of the moving body, so that the tracking angle is determined from the target direction of the moving direction of the moving body. As an angle,
A created table is used to associate this with a mesh of X-Y coordinates of the area in which the moving/rib travels.

Next, referring to FIG. 2, the operation of the configuration shown in FIG. 1 will be explained. On the control device 1 side of the fixed station, first, a travel area is set in the target azimuth angle table calculation section 5 in the controller 2 through the operation panel 7 and the controller 11 section 3. The target azimuth angle table calculating section 5 divides the entire travel area of the moving body into mesh shapes, calculates all the target azimuth angles indicating the moving direction of the moving body from 16 to 24 in FIG. 2, and creates a table.

Therefore, the target azimuth angle (tracking angle) to be assigned is the initial setting when determining the driving area.
- It is calculated based on the Y coordinate and the tracking angle of that point.

The coordinate conversion unit 4 converts the position information of the moving body 15 detected by the position detection unit 9 into xy coordinates to create coordinate data. The control unit 3 reads the target azimuth angle corresponding to the coordinate data sent from the coordinate conversion unit 4 from the target azimuth angle data table calculation unit 5, and calculates the position information detection time point and the moving body control unit 1.
1, the time delay up to the time when the target azimuth information arrives is corrected.

Furthermore, the control unit 3 sends the value to be corrected for the target azimuth angle when the mobile body 15 moves for a unit time to the wireless modem 8 together with the target azimuth angle, and through this, the value to be corrected for the target azimuth angle is transmitted to the mobile body control device 10.
Send to.

This transmitted radio wave is transmitted to the wireless modem 14 of the mobile control device 10.
The target azimuth angle data is demodulated and sent to the control unit 11. In the control unit 11, the target azimuth angle is corrected every unit time with a positive m value until the next target azimuth angle is manually input. Real-time control is possible even if target azimuth information indicating the moving direction of a moving object is not constantly sent over a wireless link whose quality is not very good.

The control unit 11 compares the azimuth angle indicating the orientation of the moving body detected by the angle detector directly connected to the tracking device of the position detection unit 12 with the target azimuth angle, and controls the azimuth of the moving body based on the result. I am trying to do this. The target azimuth angle serving as this comparison value is successively updated by the correction value of the target azimuth angle sent from the fixed station control device 1.

In this way, since the position and orientation information is quickly fed as a control signal, it is possible to reduce the meandering of the moving object on the travel line.

Further, the operation panel 7.13 mainly provides manually the data necessary for control and driving, and the data management section 6 manages and stores data necessary for control such as position, azimuth angle, etc. data is exchanged with each department.

To add an explanation to the above-mentioned correction of the target azimuth angle in a moving body, the fineness of the stepwise change in the angle of the target azimuth angle is determined by the method of creating a mesh of X-Y coordinates. By correcting the angle change between the given target azimuth angle value and the given target azimuth angle value so that the change in the target azimuth angle becomes smooth even if the mesh of the X-Y coordinates is coarsened, the change in the target azimuth angle is By approaching a straight line, the control signal can be made linear in response to continuous positional changes of the moving object, allowing smooth control.

(Effects of the Invention) As explained above, the first effect is that by correcting the target azimuth angle on the moving body side, even a wireless line whose transmission quality is not very good can be controlled in real time. Second, since the azimuth control loop is formed only on the moving body side, corrective control is performed quickly when the traveling azimuth deviates from the travel line, and meandering can be suppressed to a small level. Thirdly, the dead zone for azimuth control (the point at which azimuth control is performed at what degree the difference between the target azimuth and the azimuth of the moving object must be) can be easily set from the outside, making it possible to deal with various road surface conditions.

[Brief explanation of the drawing]

FIG. 1 is a functional block diagram of an embodiment of the present invention, and FIG. 2 is an explanatory diagram of a target azimuth. DESCRIPTION OF SYMBOLS 1... Fixed station control device, 2... Controller, 3... Control unit, 4... Coordinate conversion unit, 5... Coordinate azimuth angle table calculation unit, 6... Data management unit, 7...Operation panel, 8...Wireless modem, 9...Fixed station of position detection unit,
10... Mobile object control device, 11... Control unit, 12.
...Mobile station of position detection unit, 13...Operation panel, 14
...Wireless modem, 15...Mobile object, 16-24...
- Target azimuth angle at each position, 25 to 30...each travel line.

Claims (2)

[Claims] (1) In a remote control system for a mobile body using wireless data transmission, the area in which the mobile body travels is meshed into X-Y coordinates, and targets generated by the fixed station of the position detection device and the mobile station of the position detection device are added to this mesh. A table is created by assigning a tracking angle as an azimuth angle, the position of a moving object moving within a traveling area is detected using X-Y coordinates, and a target azimuth is read out from the table in accordance with this detected value. A low-speed controller that remotely controls the mobile object using an azimuth control signal based on the result by comparing the angle and the azimuth angle of the mobile object with respect to the travel line obtained from the angle detection device installed in the mobile station of the position detection device. Direction control method for moving objects. (2) A claim that provides means for correcting an angular change between a given target azimuth angle value and a given target azimuth angle value over time so that the change in the target azimuth angle of the moving object is smoothed. A direction control method for a low-speed moving object according to item 1.