JPH0610772B2 - Direction correction method for self-supporting moving body - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for controlling the direction of a moving body such as an automobile, for example, correcting the direction of a self-supporting moving body programmed to move along a predetermined route. It is related to the technology effectively used for the method.

[Prior Art and Problems] Conventionally, a steering system for an unmanned vehicle has a moving route (course).
There is a method in which an electric wire, an optical tape, or the like is arranged along the line, and the moving body determines the traveling direction while detecting this. Further, as in the invention described in JP-A-57-64818, a method of setting and guiding a path of a moving body using a laser beam has also been proposed.

On the other hand, as a method of moving an unmanned moving body along a predetermined route, there is also a method of mounting a computer on the moving body and controlling the traveling direction by a program.

However, in the control method using a program, there is a possibility that the vehicle deviates from a predetermined moving route due to an error in the steering system of the vehicle and enters a prohibited area where the vehicle should not enter for safety reasons. Therefore, in the direction control method by the program, it is necessary to detect the entry of the moving body into the prohibited area and correct the traveling direction. As a method of correcting the traveling direction, a contact method is generally used in which an obstacle such as a guardrail is provided along the prohibited area and the traveling direction is corrected when the moving body comes into contact with the obstacle.

However, in the method of correcting the traveling direction of the moving body by the contact method as described above, there is a problem that an accident or a breakdown is likely to occur.

[Object of the Invention] An object of the present invention is to provide a highly safe and reliable direction correction system for a self-supporting vehicle that is designed to move along a predetermined route by a program.

The above and other objects and novel features of the present invention will be apparent from the description of this specification and the accompanying drawings.

According to the present invention, a self-supporting moving body equipped with an automatic steering device is moved along a route predetermined by a program, and a signal with high directivity is scanned along the boundary of the prohibited area. The self-supporting mobile unit is provided with a detector capable of detecting the above-mentioned signal so that when the self-supporting mobile unit comes into contact with the screen, the course is changed in the direction away from the screen.

As a result, even if the self-supporting mobile unit enters the prohibited area,
It allows the direction of travel to be corrected without causing any accident or failure.

[Embodiment] FIG. 1 shows an example of a method for setting the prohibited areas 2a, 2b, 2c ... along the route along which the autonomous mobile body travels, that is, the traveling range 1.

In this embodiment, a plurality of columns 3 are planted along both sides of the traveling area 1, and laser projectors 4a, 4b, 4c are provided at the tips thereof.
Etc. Then, each laser projector 4a, 4b,
The laser screen RS is formed by scanning the laser beam projected from 4c along the boundary between the traveling area 1 and the prohibited areas 2a, 2b, 2c, ....

In the above case, the laser projector 4a which forms the laser screen RS on the straight line portion of the boundary between the traveling area 1 and the prohibited area
As shown in FIG. 2 (A), the projector 4a or the lens system or reflecting mirror inside the projector 4a is reciprocally rotated about an axis orthogonal to the projection direction, so that a straight screen is formed along the boundary. Can be formed. Alternatively, by mounting a cylindrical lens on the front surface of the laser projector 4a, it is possible to spread the laser beam in only one direction to form a straight flat screen.

Further, as shown in FIG. 2B, a laser projector 4b forming a screen along a curve of the traveling area 1, that is, an arc-shaped boundary, has a projector 4b obliquely attached to the column 3 as shown in FIG. A curved screen can be formed by reciprocatingly rotating about an axis parallel to.

Further, as in FIG. 2 (B), the light projector attached to the end of the column is rotated around the vertical axis, or as shown in FIG. 2 (C), the laser beam is expanded into a conical shape at an angle. Let it project. As a result, the projector 4 shown in FIG.
It is possible to make a screen that covers the island-shaped prohibited area 2c set inside the traveling area 1 like c.

On the other hand, the moving body traveling along the traveling area 1 sandwiched by the laser screens formed on the laser projectors 4a, 4b and the like as described above is provided with an automatic steering device to enable unmanned operation. Moreover, a computer is mounted on the moving body, and the automatic steering device is controlled so as to travel along a route predetermined by a program.

Further, in this embodiment, as shown in FIG. 3, a detector 5 capable of detecting the laser projected from the laser projectors 4a to 4c is attached to the roof portion of the moving body 6 or the like. In the detector 5, either the left or right side of the moving body 6 is in the prohibited area 2
In order to be able to detect whether it has entered a to 2c, it is composed of at least two laser light receivers and the like.

FIG. 4 shows an embodiment of a control system for the above-mentioned independent moving body.

That is, in this embodiment, detection signals from rotation detectors 11 and 12 such as rotary encoders that detect the rotation speeds of the left and right wheels of the moving body 6 are input to the microcomputer 13. The microcomputer 13
Based on the signals from the rotation detectors 11 and 12, the traveling speed of the moving body is calculated, and the traveling direction is calculated from the difference in the rotational speeds of the left and right wheels to know the current position with respect to the start position. Then, the drive system 15 and the automatic steering device 16 are controlled so that the vehicle travels along a route predetermined by the program 14.

Further, in this embodiment, the signal from the laser receiver 5 is amplified by the amplifier 17 and input to the microcomputer 13. When the moving body 1 deviates from the traveling area 1 and contacts the laser screen RS, the laser light receiver 5 detects the laser light from the laser projectors 4a to 4c,
The detection signal is supplied to the microcomputer 13. Then, the microcomputer 13 causes the speed reducer 1 to
The vehicle 8 is decelerated by controlling 8, and it is checked whether the right or left side of the moving body 6 has entered the prohibited areas 2a to 2c, and automatic steering is performed to change the traveling direction of the moving body in a direction opposite to the approach direction. Control the device 16.

As a result, the moving body 6 quickly returns to the travel area 1 while avoiding the prohibited areas 2a to 2c. In the above case, the microcomputer 13 may calculate the offset amount of the moving body 6 based on the signal from the detector 5 and determine the correction amount in the traveling direction based on the offset amount.

As described above, in this embodiment, the laser screen RS is formed along the boundary of the no-entry area, and when the self-supporting moving body crosses this screen, the traveling direction is corrected. . Therefore, when a moving body makes mechanical contact with a guide rail, etc. around the prohibited area, an accident or failure occurs as compared to the case where the moving direction is changed. Difficult to do and extremely safe.

Moreover, by changing the projection angles of the laser projectors 4a to 4c and the like, it is possible to easily change the entry prohibited area, that is, the traveling area.

Further, in the above embodiment, the laser screens RS for setting the prohibited areas 2a, 2b, 2c ... Along both sides of the traveling area 1 are formed so as to be continuous along the traveling area 1. As described above, according to the present invention, for example, in a traveling area such as a straight line or a very gentle curve, it is not necessary to continuously form the screen for setting the entry prohibition area, and it is intermittent at certain intervals. Will be able to form.

That is, in the conventional electromagnetic induction system, optical tape system, or external induction system using laser light, the electric wire, the optical tape, or the scanning line of the laser beam is not arranged at a continuous or a distance that can be regarded as continuous. Then, the moving body may lose sight of the direction in which it is moving. On the other hand, in the method of the present invention, since the moving body has information about its own traveling route in the form of a program,
Compared to the external guidance system, the deviation of the traveling direction during traveling is originally small. Therefore, in a straight line portion or a very gentle curve, it is possible to reliably move the moving body along the traveling area only by intermittently providing the screen that forms the no-entry area. As a result, it is possible to save the device for setting the prohibited area, that is, the traveling area.

In the above embodiment, the screen for setting the entry prohibition area is formed by the laser beam, but what forms the screen is not limited to the laser beam,
Infrared rays, ultraviolet rays, visible light, ultrasonic waves, and other highly directional signals can be used.

[Usage / Effect] A self-supporting moving body equipped with an automatic steering device is moved along a route predetermined by a program, and a highly directional signal is scanned along the boundary of the prohibited area to form a screen. However, a detector capable of detecting the above signals is provided on the self-supporting mobile body, and when the self-supporting mobile body contacts the screen, the course is changed in the direction away from the screen. By the effect that it is possible to detect that the moving body has entered the prohibited area, even if the self-supporting moving body enters the prohibited area, it is possible to correct the traveling direction without causing any accident or failure.

Further, the screen along the boundary of the no-entry zone can be intermittently formed in a substantially straight portion, which can save a device for setting the traveling zone.

[Brief description of drawings]

FIG. 1 is an explanatory plan view showing an example of a screen forming method for setting a prohibited area according to the present invention, and FIGS. 2 (A) to 2 (C) are perspective views showing a screen forming method by a laser projector. FIGS. 3 (A) and 3 (B) are explanatory views showing the relationship between a moving body and a screen, and FIG. 4 is a block diagram showing a configuration example of a control system of a self-supporting moving body to which the present invention is applied. Is. 1 ... Traveling area, 2a-2c ... Prohibition area, 3 ... Struts, 4a-4c ... Laser projector, 5 ... Detector, 6 ...
… Mobile, RS …… Screen (laser screen).

Claims (3)

[Claims] 1. A plurality of first screen forming means for forming a screen with a signal having high directivity along an outer boundary of a traveling area which constitutes a route along which a moving body should travel, and inside the traveling area. Second screen forming means for forming a screen with a highly directional signal along the outer boundary of the prohibited area, automatic steering device and control means therefor, and detection of the respective rotation speeds of the left and right wheels of the moving body. A pair of rotation detectors, a program set to travel along a predetermined route while calculating the current position with respect to the traveling direction and the start position based on a signal from the rotation detector, and the screen described above. A self-supporting moving body having at least two screen detecting means for detecting a signal forming A direction correcting method for a self-supporting moving body, characterized in that, when one of the screens is detected, the traveling direction of the moving body is changed in a direction away from the screen. 2. The screen formed by the plurality of first screen forming means is intermittently provided at a linear portion of the outer boundary of the traveling area. The method for correcting the direction of a self-supporting moving body described in the item. 3. A method for correcting the direction of a self-supporting moving body according to claim 1, wherein a laser beam is used as the signal having high directivity.