JPH0330883Y2 - - Google Patents

Description

[Detailed explanation of the idea]

Industrial Application Fields This invention detects the induced magnetic field generated by a guiding wire laid on a running road with branching roads using pick-up coils L and R installed on the left and right sides of the vehicle body, and detects the induced magnetic field by detecting the induced magnetic field generated by the guiding wire laid on a running road with branching roads. The present invention relates to an out-of-course detection device for an unmanned vehicle that moves a steering device and maintains its own travel path so that the output difference between the coils is equalized. Prior Art A conventional course-out detection device consists of an adder into which the outputs of the left and right pick-up coils L and R are input, and a comparator that outputs a course-out signal when the output of the adder falls below a certain reference level. Or, a pick-up coil dedicated to course-out detection is installed in the center of the left and right pick-up coils L and R, and a comparator that outputs a course-out signal when the output of the coil falls below a certain reference level. It is designed to stop the unmanned vehicle when there is an output. Problems to be Solved by the Invention The route selection control at branch points for unmanned vehicles can be roughly divided into two parts: as shown in Figure 8-a, a current of the same frequency is passed through route A and route B, and a changeover switch is activated. As shown in Fig. 8-b, different currents are applied to the driving path A with a frequency of 1 and that of the driving path B with a frequency of 2. There is a frequency switching method in which a driving route is selected by giving a receiving frequency switching command to the vehicle. However, in the case of the conventional course-out detection device, in the case of the guide line switching method, even if the changeover switch 22 does not operate for some reason and an unmanned vehicle scheduled to go to travel route B mistakenly enters travel route A, it cannot be determined that the vehicle is off course. In the case of the frequency switching method, there is also a problem in that an unmanned vehicle overlooks the command to switch from reception frequency 1 to f2, and even if an unmanned vehicle scheduled to go to route B mistakenly enters route A, it cannot be determined that it is off course. . The present invention aims to provide an out-of-course detection device that immediately determines that an unmanned vehicle has gone off course when it enters a wrong driving path, and stops the unmanned vehicle from traveling. Means to solve the problem: An induction wire carrying an alternating current is laid on a running road with a branch road, and the induced magnetic field generated by the induction wire is detected by pick-up coils installed on the left and right sides of the vehicle body. In an unmanned vehicle that moves a steering device based on the output difference and maintains its own traveling route so that the output difference of the coils is equal, distance data from the starting point of the unmanned vehicle to the branch point and the a memory that stores in advance data on the traveling direction of the unmanned vehicle at the branch point; a distance detection device that measures the distance that the unmanned vehicle has actually traveled from the starting point; and a steering direction that outputs the steering direction of the steering device. an output device, a brake device that stops the unmanned vehicle from traveling, and when the distance data from the starting point to the branching point stored in the memory matches the traveling distance measured by the distance detecting device, the distance data stored in the memory; A control means that compares and determines the data on the traveling direction of the unmanned vehicle at the branch point and the output data of the steering direction output device, and outputs a drive control signal to the brake device to stop the traveling of the unmanned vehicle if they do not match. It was composed of. Function: When the distance data from the starting point to the branch point stored in the memory matches the traveling distance measured by the distance detection device, that is, when the unmanned vehicle approaches the branch point, the branch point stored in the memory The system compares and determines the data on the traveling direction of the unmanned vehicle and the output data of the steering direction output device, and if there is a discrepancy, that is, the unmanned vehicle is about to enter the wrong driving route, it is immediately determined that the unmanned vehicle is off course, and the brake system is activated. Stop the unmanned vehicle. Embodiment 1 Hereinafter, embodiments of the present invention will be described in detail based on the drawings. In Fig. 1, A, B, and C indicate the driving path of the unmanned vehicle 1, and also indicate the guide lines, and the guide lines A, B, and C laid on the ground each have a frequency
1, f2, f3 connected to AC power supply. P1～
P4 is a plurality of operation instruction points with different meanings, P1 is the departure point of unmanned vehicle 1, P2 is the branching point of the driving path, P3 is the confluence point from driving path B to driving path A, and P4 is the driving path C. The merging points from the road to the driving route A are shown respectively. FIG. 2 shows a block diagram of the guidance device 2 and off-course detection device of the unmanned vehicle 1. After the output of the pick-up coil L is amplified, the transmission frequency is f1,
It is sent to filters FL1, FL2, and FL3, which are f2 and f3. Similarly, the output of the pick-up coil R is filtered by filters FR1, FR2, whose transmission frequencies are f1, f2, and f3.
Sent to FR3. When the unmanned vehicle 1 runs along the travel path A, only the filters FL1 and FR1 operate, and the other filters only need to stop operating (not passing the signal, that is, prohibiting them). When you reach a branch point, all you have to do is leave a filter that allows the frequencies of the designated travel route to pass through and prohibit other frequencies. The outputs of the pickup coils L and R that have passed through the filter in this manner enter the differential amplifier 3. The differential amplifier 3 outputs an output signal S1 having a negative value when the unmanned vehicle 1 deviates to the right with respect to the traveling road and a positive value when the unmanned vehicle 1 deviates to the left, and whose magnitude is proportional to the amount of deviation. Output signal S1 of differential amplifier 3
Accordingly, the servo motor M operates a steering device (not shown) so that the outputs of the pickup coils L and R are equalized, and the unmanned vehicle 1 is caused to travel along the traveling path. Furthermore, the signal S1 is sent to the steering direction output device 4, and is input to a right turn determination comparator 5 and a left turn determination comparator 6. The right turn judgment comparator 5 compares the right turn judgment signal S2 with the signal S1, and if S1>S2, outputs the right turn signal S4, and the left turn judgment comparator 6 compares the left turn judgment signal S3 with the signal S1. S1 is compared, and if S1<S3, a left turn signal S5 is output. Further, a NOR circuit 7 is connected to the output side of the comparators 5 and 6, and the signal
When both S4 and S5 are not output, that is, when the vehicle is traveling straight, the NOR circuit 7 outputs the straight traveling signal S6. A signal that causes the unmanned vehicle 1 to select a driving route is sent from a ground-side control device (not shown) to guide lines A, B, and C at a frequency of 1.
It is applied superimposed on the alternating currents of f2 and f3. Unlike AC f1, f2, and f3, the running route selection signal is commonly applied to all the guide wires, and is applied to the pick-up coils L and R.

[Table] After the instruction point detection sensor 14 detects the instruction point P1 indicating the starting point, the CPU 17 starts counting the pulses output from the pulse detection sensor 13 when the unmanned vehicle 1 starts traveling from the instruction point. , and stores the count value in a readable and rewritable memory (hereinafter referred to as RAM) 21. That is, the CPU 17 is designed to understand the traveling distance of the unmanned vehicle 1 as the number of pulses. Assume that the unmanned vehicle 1 is now in the position shown in FIG. 1 and is traveling to the left. When a branch point is reached and the instruction point detection sensor 14 detects instruction point P2, if the CPU 17 has received a command to go to route B, it switches the filter from FL1 and FR2.
If a command is received to switch to FL2, FR2 and go to driving route C, the filter is switched from FL1, FR1 to FL3, FR3, and the unmanned vehicle 1 enters the designated driving route. However, at the branch point, for some reason the indication point detection sensor 14 detects the indication point P2.
If the unmanned vehicle 1 fails to detect this, the filter is not switched, and the unmanned vehicle 1 attempts to go straight. However, the CPU 17 compares and determines the traveling direction data at the branching point stored in the ROM 18, that is, the point at the travel distance L1, and the direction in which the unmanned vehicle 1 is actually trying to travel, which is output from the steering direction output device 4, and determines that there is a discrepancy. If this occurs, it is immediately determined that the unmanned vehicle 1 has gone off course, and a control signal is output to the drive motor control circuit 19 and a drive braking signal is output to the brake device 20 to immediately stop the unmanned vehicle 1. Therefore, there is a risk that the unmanned vehicle 1 may enter the wrong road. There isn't. Note that when the filter has been successfully switched and the unmanned vehicle 1 has entered driving route B or driving route C and detects instruction point P3 or P4 at the merging point, it switches the filter to FL1 or FR1 again and runs on driving route A. and return to the starting point. Then, when the instruction point detection sensor 14 detects the instruction point P1,
The traveling distance (pulse count value) stored in the RAM 21 is reset to 0 and the next traveling cycle begins. Note that the route selection signal can be sent by wire or wirelessly as desired; in the above embodiment, this signal is sent to the guide line A,
Although the voltage is applied to B and C in a superimposed manner, the voltage may be stored in the unmanned vehicle 1 in advance. Embodiment 2 Next, a case in which the present invention is applied to an unmanned vehicle 1 that travels on a travel route where route selection control is performed by a guide line switching method will be specifically described. In Figure 6, A,
B and C indicate the travel path of the unmanned vehicle 1 and also refer to guide wires, and the guide wires A, B, and C laid on the ground are connected to an AC power source (not shown) having the same frequency. P1 is an operation instruction point indicating the departure point of the unmanned vehicle 1, SB is a switch for switching between guide lines A and B, and SC is a switch for switching between guide lines A and C. FIG. 7 shows a block diagram of the guidance system and off-course detection system for the unmanned vehicle 1. The structure of the guiding device 2' is the same as that of the first embodiment except that the filters are a set of FL and FR, so the same reference numerals are given and the explanation will be omitted. The ROM 18 contains the distance L1 from the departure point to the branching point of traveling route B, the distance L2 to the branching point of traveling route C, and the progress of the unmanned vehicle 1 according to the designated traveling route at those branching points, as shown in Table 2. The direction is memorized.

[Table] Assume that the unmanned vehicle 1 is now in the position shown in Figure 6 and is traveling to the left. A traveling route selection signal output from a ground-side control device (not shown) specifies traveling route C, and the changeover switches SB and SC are each operated so that the unmanned vehicle 1 can enter traveling route C. When the unmanned vehicle 1 travels a distance L1 from the starting point, the CPU 17 compares and determines the traveling direction data at the L1 point when the designated travel route is C stored in the ROM 18 and the output data of the steering direction output device 4. do. At this time, if the changeover switch SB is malfunctioning for some reason toward the road B, the unmanned vehicle 1 attempts to turn left, but the data in the ROM 18 and the output data from the steering direction output device 4 are different.
The CPU 17 immediately determines that the vehicle has gone off course and outputs a control signal to the drive motor control circuit 19 and a drive braking signal to the brake device 20 to stop the unmanned vehicle 1 immediately. Therefore, there is no risk that the unmanned vehicle 1 will enter the wrong travel route. This operation is similarly performed at the travel distance L2, that is, at the branch point of the travel routes A and C. changeover switch
If SB and SC are operating normally, unmanned vehicle 1
returns to the starting point again. When the designated point detection sensor 14 detects the designated point P1, the traveling distance (pulse count value) stored in the RAM 21 is reset to 0 and the next traveling cycle is started. Effects of the invention As described above, the course-out detection device of the present invention allows the unmanned vehicle to memorize the distance from the starting point to the branch point and the direction of travel at the branch point, and then actually moves the unmanned vehicle at the branch point. It compares the direction in which the driver is trying to proceed with the memorized direction of travel, and if an unmanned vehicle attempts to enter a wrong, undesignated driving route, it immediately determines that the vehicle is off course and stops the vehicle, thereby increasing the safety of the unmanned vehicle. This has the extremely excellent effect of further increasing reliability.

[Brief explanation of the drawing]

FIG. 1 is a traveling route diagram of an unmanned vehicle according to an embodiment of the present invention, and FIG. 2 is a block circuit diagram of an unmanned vehicle guidance system and a course-out detection device according to an embodiment of the present invention.
Fig. 3 is a schematic front view of a distance detection device for an unmanned vehicle, Fig. 4 is a schematic plan view of the distance detection device, Fig. 5 is a schematic front view of a pointing point detection sensor, and Fig. 6 is a schematic front view of the distance detection device of the present invention. Traveling route map for unmanned vehicles according to other embodiments, No. 7
The figure is a block circuit diagram of an unmanned vehicle guidance system and off-course detection system according to another embodiment of the present invention, and FIG. 8 is a traveling route diagram for explaining the prior art. Unmanned vehicle...1, Steering direction output device...4, Drive motor...8, Slit plate...12, Pulse detection sensor...13, Direction point detection sensor...
...14, Microcomputer...15, Interface...16, CPU...17, ROM...
18, RAM...21, Guide wire...A, B, C,
Pick up coil...L, R.

Claims (1)

[Scope of Claim for Utility Model Registration] An induction wire carrying an alternating current is laid on a running road with branching roads, and the induced magnetic field generated by the induction wire is detected by pick-up coils installed on the left and right sides of the vehicle body. In an unmanned vehicle that moves a steering device based on the output difference and maintains its own traveling route so that the output difference of the coils is equal, distance data from the starting point of the unmanned vehicle to the branch point and the a memory that stores in advance data on the traveling direction of the unmanned vehicle at the branch point; a distance detection device that measures the distance that the unmanned vehicle has actually traveled from the starting point; and a steering direction that outputs the steering direction of the steering device. an output device; a brake device that stops the unmanned vehicle from traveling; Comparing and determining the data of the traveling direction of the unmanned vehicle at the branch point and the output data of the steering direction output device,
and a control means for outputting a drive control signal to the brake device to stop the unmanned vehicle from traveling if there is a mismatch.