JPH03286314A - Traveling error detector for unmanned carrier in unmanned carrier driving device - Google Patents

Abstract

PURPOSE:To improve the driving accuracy of an unmanned carrier by providing two detection subjects at the places near the driving course of the carrier with a prescribed space secured between both subjects, at the same time providing plural detection subject detectors to the carrier in its width direction. CONSTITUTION:The detection subjects 10a are buried at the bending points P1 - P4 on a driving course A of an unmanned carrier 1. At the same time, the detection subjects 10b are buried at the position preceding the points P1 - P4 by a prescribed distance respectively. Then the detection subject detectors 8a - 8d are attached at the front edge part on the lower surface of the carrier 1 in the width direction of the carrier 1 and at a fixed interval secured respectively. A controller 7 can know a deviation angle theta1 formed between the course A and an actual driving locus B and a distance L1 between the carrier 1 and the course A from a specific detection subject detector that detected both subjects 10a and 10b. Then the controller 7 corrects the stored steering angle at the point P1 based on the distance L1 and the angle theta1, then controls a steering device 4 based on the corrected steering angle. Thus the driving accuracy of the carrier 1 is improved.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a traveling error detection device for detecting an error between an actual traveling trajectory of an unmanned vehicle and a preset traveling route in an unmanned traveling device. It is.

[Prior Art] As an example of an unmanned vehicle, there is no guide line provided, and the relationship between the travel distance on the travel route and the steering angle is determined in advance by the unmanned vehicle.
There is a configuration in which an unmanned vehicle runs on its own based on the memory by setting the time to tH. Although this type of unmanned driving device has many advantages, such as not having to spend the time and expense of installing a guide line because it does not have a guide line, in reality, the running accuracy is insufficient. However, this prevents its use.

Therefore, conventional automatic driving devices have a configuration in which a straight guideline part is provided at an appropriate location on a straight part of the driving route, and the unmanned vehicle detects the guideline part (and corrects deviations from the driving route). In Part 1, the guideline section had a large number of objects to be detected, such as metal rods, lined up along the travel route (for example, Japanese Patent Application Laid-Open No. 51-1442), 4.
(Refer to Japanese Patent Application Laid-open No. 1983-3146.)

[Problems to be Solved by the Invention] In the above-mentioned conventional configuration, it was necessary to install a large number of objects to be detected in the guide and line sections, and the installation work required a lot of time and expense. In particular, in order to improve the driving accuracy of unmanned vehicles, it is necessary to provide guide lines along almost the entire length of the driving route, which is not practical.

[Means for Solving the Three Problems] In order to solve the three problems mentioned above, the driving error detection device of the unmanned driving vehicle in the unmanned driving device of the present invention detects two detected objects near the driving route of the unmanned driving vehicle. are installed at predetermined intervals, and the unmanned vehicle is equipped with a plurality of object detectors arranged along the width direction of the unmanned vehicle to detect objects to be detected.

[Action] Depending on which object detector detects the two detected objects, the deviation angle, that is, the angle between the preset travel route and the actual travel trajectory, and the travel route of the unmanned vehicle. You can know the distance between

[Example 1] Hereinafter, an example of the present invention will be described in detail based on FIGS. 1 to 4.

FIG. 2 is a bottom view of an unmanned vehicle that employs a traveling error detection device according to an embodiment of the present invention. 3a
, 3b, a steering device 4 that adjusts the steering angle of, for example, the front wheels 2a, 2b, a drive device 5 that rotationally drives, for example, the rear wheels 3a, 3b, and A lawn mower 6 is installed to cut the grass, and inside the unmanned vehicle l there are a steering device 4, a drive device 5, and a lawn mower 6.
A control device 7 is installed to control the. Control unit Wt7
is constituted by a microcomputer, and the steering device 4, drive device 5, and lawn mowing device 6 are of well-known construction. Furthermore, a plurality (four in this embodiment) of detection object detectors 8a to 8d are installed at regular intervals along the width direction of the unmanned vehicle 1 on the front edge of the lower surface of the unmanned vehicle. . The detected object detectors 8a to 8d are constituted by, for example, metal sensors, and detect objects to be detected, which will be described later. Detection signals from the detection object detectors 88 to 8d are supplied to the control device 7.

FIG. 3 is an explanatory diagram of the detection range of the detection object detectors 88 to 8d, and shows the tentative t! ! As shown by the lines, the detection object detectors 8a to 8
Adjacent detection ranges of d are slightly different from each other. Note that the distances between the detected object detectors 8a to 8d are the same, and the detected object detectors W8b and 8c are located at symmetrical positions with respect to the center line C passing through the center of the unmanned vehicle 1. The detected object detectors 8 a and 8 d are also located at very symmetrical positions with respect to the center line CI passing through the center of the unmanned vehicle 1 in the width direction.

FIG. 4 is an explanatory diagram of the traveling route A of the unmanned vehicle 1, in which a starting point S, a plurality of (four in this embodiment) bending points P]~P4, and a destination point E are set at predetermined positions. and there are straight lines between them. Note that the starting point S and the ending point E may be set at the same position.

FIG. 1 is an explanatory diagram of the detection principle of the traveling error detection device in one embodiment of the present invention, and shows each bending point P1 to P4 on the traveling route A.
A detected object IQa is buried in each of the areas (in FIG. 1, P is visible). Further, on the traveling route A, the detected objects 10b are buried at positions a predetermined distance from each of the bending points P1 to P4. Detected object 10
A10b is made up of a short metal rod, such as a nail, and is inserted deep into the ground to the extent that the whole can be seen.

Next, the operation will be explained. Currently, unmanned vehicle 1 or the first Ji
ff It is approaching the turning point P1, and the travel path is either B or A.
It is assumed that the When the unmanned vehicle goes further in this state, it first detects either the detected object detector 8a or the detected object 10b as shown by the broken line in FIG. 1, and then detects the detected object as shown by the solid line. Device 8d or object to be detected 1.0
Detect a. At this time, the control device 7, since the second detection was made by the detected object detector 8d,
It is determined that the center of the unmanned vehicle 1 in the width direction is shifted to the left from the bending point P1 by a distance MLI. Furthermore, the control device 7 determines the distance L2 between the detected object detectors 8a, 8a and the detected object 1.
From the distance ML3 between 0a and 10b, the deviation angle θ1, that is, the angle formed by the travel route A and the travel trajectory B is calculated. Here, the detected object detector 8a.

Distance L2 between 8a and distance M between detected objects 10a and 10b
L3 is a constant value of 1,000 yen, the control device 7 stores these values, and the traveling trajectory B of the unmanned vehicle is always orthogonal to the direction in which the detection object detectors 8a to 8d are arranged. , distance ML2. The deviation angle θ1 can be easily calculated from L3. Then, the control device 7 corrects the steering angle at the bending point P1 stored in advance from the distance L1 and the deviation angle θ1, and controls the steering device 4 based on the corrected steering angle. Thereby, the unmanned vehicle 1 accurately travels toward the bending point P2. Thereafter, the same operation is repeated at each Jti1 curve point P2 to P4,
The unmanned vehicle 1 travels to the terminal point E, and during this time the lawn mowing device 6 performs lawn mowing work. In addition, the detected object detector 8
When the detected object 1 (lb) is simultaneously detected by the detected object 1 (lb), the control device 7 determines that the detected object Job is located at the center of the detected object detectors 8a and 8b.

In this way, the two detected objects 10a and 10b are installed at a predetermined interval near the travel route A of the unmanned vehicle 1, and are placed on the unmanned vehicle 1 along the width direction of the unmanned vehicle th1. Since a plurality of detected object detectors 83 to 8d are installed to detect the detected objects 10a and 10b, the angle between the preset traveling route A and the actual traveling trajectory B, that is, the deviation angle θ
l, and the distance ML1 from the traveling route A of the unmanned vehicle 1 at the time when the detected object detector 8d detects the detected object 10a.
can be easily known. Therefore, the steering angle can be corrected accurately based on these detection results, and the driverless vehicle 1
It is possible to improve the running accuracy of the vehicle. Furthermore, if the two detected objects 10a and 10b are placed on the travel route A of the unmanned vehicle 1 as in this embodiment, it is easy to calculate the deviation angle θl and the distance MLl from the travel route A. Since the time required for calculation can be shortened, the responsiveness of control can be improved.

[Another Embodiment] FIG. 5 is a smaller version of another embodiment, in which the two detected objects 10a and 10b are placed on a straight line perpendicular to the traveling route A at the hlJ curve point Pt. It may be installed. The detected objects 10a and 10b are arranged at positions equidistant from each other from the intersection of the traveling route A and the straight line, that is, the I+t1 curve point PI.

In this embodiment, if the detected object detector 8a first detects the detected object 10a, and then the detected object detector 8C detects the detected object 8b, the control device 7 Since the detection was made by the detected object detector 8C, the unmanned vehicle 1
The center in the width direction is a distance ML5 to the left from the detected object 10b.
It is determined that the position is . Further, the control device 7 determines the distance L6 between the detected object detectors 3a Sc and the detected object 10a1.
The deviation angle θ2 from the forceps ML7 between 0b, that is, the traveling route A
The angle between this and the travel trajectory B is calculated. Here, the distance L6 between the detected object detectors 8a, 8a and the detected objects 10a, 10
The distance L7 between b is always constant, the control device 7 stores these values, and the traveling trajectory B of the unmanned vehicle 1 and the arrangement direction of the detection object detectors 8a to 8d are always orthogonal. Therefore, distance #L6. The deviation angle θ2 can be easily calculated from L7. Then, the control device 7 corrects the steering angle at the bending point PI stored in advance from the distance L5 and the deviation angle θ2, and controls the steering device 4 based on the corrected steering angle.

In this way, two detected objects 10a1. (-)
b are placed on a straight line orthogonal to the traveling route A of the unmanned vehicle 1 and at positions equidistant from the traveling route A.
Since the calculations can be performed on the container and the time used for the calculations is shortened, the responsiveness of the control can be improved. In addition, by installing the detected object 1.0a and the IC 1b at the starting point E in the arrangement as in this embodiment, the detected objects 8a to 8
Based on the detection situation of d, it can be known whether the unmanned vehicle] is accurately facing in the direction h'' of the first bending point PI.

In each of the above embodiments, the bending point Pi of the traveling route A
- Although the detected objects 10a and 10b were installed near P4,
The present invention is not limited to such a configuration, but detecting objects 10a and 10b are provided near the straight portion of the traveling route A to detect a traveling error of the unmanned vehicle 1 and correct the traveling trajectory B. You can do it like this.

Further, in each of the above embodiments, the detection object detectors 8a to 8
Although the pitches d are arranged at equal pitches, the present invention is not limited to such a configuration; for example, the pitches may be arranged so that the pitch increases as the distance from the center in the width direction of the unmanned vehicle 1 increases.

[Effects of the Invention] As explained above, according to the present invention, two detection objects are installed at a predetermined interval near the travel route of an unmanned vehicle, and the width of the unmanned vehicle is Since we installed multiple object detectors arranged at equal intervals along the direction to detect objects, the angle between the preset travel route and the actual travel trajectory, that is, the deviation angle, and the travel route You can easily find out the distance from Therefore, the steering angle can be accurately corrected based on these detection results, and the driving accuracy of the unmanned i7 vehicle can be improved.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the detection principle of a running error detection device according to an embodiment of the present invention, Fig. 2 is a bottom view of an unmanned vehicle adopting the same running error detection device, and Fig. 3 is a diagram illustrating the detection principle of the running error detection device according to an embodiment of the present invention. An explanatory diagram of the detection range of the detected object detector, FIG. 4 is an explanatory diagram of the traveling route of an unmanned vehicle using the same traveling error detection device, and FIG. 5 is a detection principle of the traveling error detection device in another embodiment. It is an explanatory diagram. 1... Unmanned vehicle, 8a to 8d... Detected object detector, 10a, 10b... Detected object

Claims (1)

[Claims] 1. Two detection objects are installed at a predetermined interval near the travel route of the unmanned vehicle, and are arranged along the width direction of the unmanned vehicle. A running error detection device for an unmanned vehicle in an unmanned traveling device, characterized in that a plurality of detected object detectors for detecting the detected object are installed. A running error detection device for an unmanned vehicle in an unmanned traveling system according to claim 1, wherein two or more detected objects are arranged on a traveling route of the unmanned vehicle. 3. The unmanned vehicle according to claim 1, wherein the two detected objects are arranged on a straight line orthogonal to the traveling route of the unmanned vehicle and at positions equidistant from the traveling route. Running error detection device for running vehicles.