JPH04135212A - Drive control method for unmanned carrier - Google Patents

Abstract

PURPOSE:To improve the reliability and the safety of an unmanned carrier by comparing the detection data on a track detection sensor with the error data on a control circuit obtained before a steering action for calculation of the estimated error data and inputting these error data to each drive motor for the drive control of the unmanned carrier. CONSTITUTION:When an unmanned carrier runs on a guide track 1 including the rectilinear and curve parts, a track sensor 10 detects the carrier running of the track 1. The detection data (dn) obtained by the sensor 10 are inputted to a control circuit 9 and compared with the error data (dn - 1) on the circuit 9 obtained before a steering action and to be previously inputted. Then the estimated error data (dn + 1) is calculated and inputted to the drive motors 7 and 8 for control of the drive of the carrier. As a result, the control action delay of the circuit 9 caused by the detecting action of the sensor 10 can be eliminated. Thus the reliability nd the safety of the carrier can be improved.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention is directed to detecting magnetic rails laid in a factory or warehouse using a rail detection sensor (magnetic rail detection sensor). The present invention relates to a traveling control method for an unmanned vehicle that freely and automatically travels from a straight section to a curved section while controlling drive motors for each pair of wheels provided on a truck.

(Prior art) This type of driving control means for unmanned vehicles that has already been proposed is as follows:
It is constructed as shown in FIGS. 5 to 9.

That is, in FIGS. 5 to 9, for example, a magnetic rail (magnetic guide line) 1 laid in a factory or warehouse is provided with a bogie 2 for an unmanned vehicle. A pair of wheels 3.4 and 5.6 are mounted on the shaft. Further, each drive motor 7.8 is independently connected to each wheel 3.4 on one side, and a control circuit (MPU) 9 is connected to each drive motor 7.8. . Furthermore, this control circuit 9 includes a rail detection sensor (magnetic rail detection sensor).
10 is connected, and this rail detection sensor 10 is attached to the front end 2a of the bogie 2 so as to detect the magnetic rail 1.

Therefore, the above-described traveling control means for the unmanned vehicle detects the magnetic rail (magnetic induction wire) 1 on the straight and curved portions using the rail detection sensor 10, and detects the detection data d (the deviation of the unmanned vehicle with respect to the magnetic rail 1). ) is sent to the control circuit 9 and compared with the steering input data input to the control circuit 9 in advance to calculate predicted deviation data (deviation width) d', which is then applied to each of the above-mentioned drives. The driving control is performed by inputting the signal to the motor 7.8 (see FIGS. 7 to 9).

(Problem to be Solved by the Invention) However, the above-mentioned driving control means for an unmanned vehicle does not allow the above-mentioned rail detection sensor to move on the magnetic rail (magnetic guide wire) 1 of the curved portion, despite the high running speed of the unmanned vehicle. The detection data d is compared with the steering input data in the control circuit 9, which has been inputted in advance, to calculate predicted deviation data d', which is used for each of the above-mentioned drives. Because the vehicle is controlled by input to the motor 7.8, it is not only difficult to predict in which direction it will travel when traveling on a large curve on the magnetic rail 1 at the above-mentioned curved section. , detection data d of the track detection sensor 10
Due to the delay in the control operation of the control circuit due to the detection by

The present invention has been made in view of the above-mentioned circumstances, and despite the high running speed of an unmanned vehicle, the detection data of the above-mentioned track detection sensor and the control circuit before steering can be used to Predicted deviation data is calculated by comparing and calculating the deviation data, and it is possible to quickly predict in which direction the magnetic rail at the previous curved section will travel, and to delay the control operation of the control circuit described above due to the detection operation. The purpose of the present invention is to provide a driving control method for an unmanned vehicle that solves the problem and improves reliability and safety for stable driving of the unmanned vehicle.

[Structure of the invention]

(Means and effects for solving the problem) The present invention provides a pair of wheels provided on a bogie of an unmanned vehicle, a drive motor connected to one of the wheels, and a drive motor connected to each drive motor. and a rail detection sensor connected to the control circuit and attached to the front end of the bogie to detect the magnetic rail, and detecting data dn of the rail detection sensor and pre-steering deviation data d of the control circuit. This is a driving control method for an unmanned vehicle in which predicted deviation data n+1 is calculated by comparing n-1 with n-1, and this is input to each of the drive motors to control driving.

(Example) Hereinafter, the present invention will be described with reference to an illustrated embodiment.

Note that the present invention includes the same constituent members as those in the above-mentioned specific example.
The same reference numerals will be used to explain.

In FIGS. 1 to 4, reference numeral 1 indicates a magnetic rail (magnetic guide wire) laid in a factory or warehouse, for example.
This magnetic rail (magnetic guide line) 1 is provided with a bogie 2 for an unmanned vehicle, and this bogie 2 has a pair of front and rear wheels 3.
．． 4 and 5.6 are equipped. Further, each drive motor 7.8 is independently connected to each of the wheels 3.4, and a control circuit 9 is connected to each drive motor 7.8. Furthermore, a rail detection sensor (magnetic rail detection sensor) 10 is connected to this control circuit 9, and this rail detection sensor 1o is connected to the front end portion 2 of the bogie 2.
A is attached to detect the magnetic track 1.

Therefore, when the unmanned vehicle of the present invention runs on the magnetic rail (magnetic guide wire) 1 in the straight and curved sections, the track detection sensor 10 detects the magnetic rail (magnetic guide wire) in the straight and curved sections.
1 is detected, the detection data dn by this rail detection sensor 10 is input to the control circuit 9, and the detected data dn (d) of this rail detection sensor and the pre-steering deviation of the control circuit 10 inputted in advance are calculated. data d n-1
Compare and calculate predicted deviation data (difference width d') dn+
1 is calculated and inputted to each of the drive motors 7.8 for driving control (see FIGS. 2 to 4).

[Effects of the Invention] As described above, according to the present invention, each pair of wheels provided on the bogie of an unmanned vehicle, each drive motor connected to one of the wheels, and each drive motor connected to each pair of wheels provided on the bogie of an unmanned vehicle. and a rail detection sensor that is connected to the control circuit and attached to the front end of the bogie to detect the magnetic rail, and detects the detected data dn of the rail detection sensor and the deviation of the control circuit before steering. The predicted deviation data n+1 is calculated by comparing the data d n-1 and is inputted to each of the above drive motors for running control. Not only can it be quickly predicted whether or not the vehicle will move forward, but the detection data from the track detection sensor can also be used to eliminate delays in control operations caused by detection, thereby improving reliability and safety for stable driving of unmanned vehicles. It has excellent effects.

[Brief explanation of the drawing]

FIG. 1 is a plan view of an unmanned vehicle for explaining the driving control method of an unmanned vehicle according to the present invention, FIGS. 2 and 3 are diagrams for explaining the present invention in detail, and FIG. , a flowchart for explaining the present invention in detail, FIG. 5 is a slope view of an unmanned vehicle for explaining the previously proposed driving control method for an unmanned vehicle, and FIG. 6 is a flowchart for explaining the already proposed unmanned vehicle. FIGS. 7 and 8 are front views showing a part of an unmanned vehicle for explaining the driving control method, and FIGS. The figure is a flowchart for explaining the operation of an already proposed method for controlling the running of an unmanned vehicle. 1. Magnetic rail, 2. Bogie, 3.4.5.6. Wheels, 7.8. Drive motor, 9. Control circuit, 10.
・Rail detection sensor. Applicant's Representative Sato - Male Part 1 Figure % 2 Figure 4 Figure 3 Figure 5

Claims (1)

[Claims] Each pair of wheels provided on the bogie of the unmanned vehicle, each drive motor connected to one of the wheels, a control circuit connected to each drive motor, and a front end of the bogie connected to the control circuit. It consists of a rail detection sensor that is attached to the section and detects the magnetic rail, and the detection data dn of this rail detection sensor is
and the deviation data dn-1 of the above control circuit before steering.
A driving control method for an unmanned vehicle, wherein predicted deviation data n+1 is calculated by comparing and calculating the predicted deviation data n+1, and the data is inputted to each of the drive motors to control the driving.