JPH06342306A - Multiplex frequency guiding device of unmanned carrier vehicle - Google Patents

Abstract

PURPOSE: To prevent electromagnetic wave attenuation and increase phenomena at a branching point or a confluence part generated at the time of using a single frequency by securing traveling stability at the branching point and the merging part. CONSTITUTION: A current flowing through a guide line 14 embedded to a bottom 15 is detected by left and right pickup coils 12 and 13, inputted through detectjon parts 1 and 1', amplification parts 2 and 2' and digital conversion parts 3 and 3' to a microprocessor 6 and compared with the left and right reference signals of an unmanned carrier. The left and right deviations are converted to analog signals by an analog conversion part 7 and inputted to an servo control part 8. The servo control part 8 makes the unmanned carrier travel along the center of the guide line 14 by operating a driving motor or a steering motor as needed. Thus, the traveling stability at the branching point and the confluence part is secured and the electromagnetic wave attenuation and augmentation phenomena at the branching point or the confluence part generated at the time of using the single frequency are prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-frequency guiding device for an unmanned guided vehicle, and more particularly, in an unmanned guided vehicle utilizing an electromagnetic wave induction method, when the unmanned guided vehicle travels at a single frequency, a branch point or a confluence occurs. The present invention relates to a multi-frequency guiding device for an automated guided vehicle that uses multiple frequencies in order to prevent running errors of the automated guided vehicle in a room.

[0002]

2. Description of the Related Art Conventionally, a method for operating an automated guided vehicle is such that all human powers of various frequencies are processed as hardware, and the deviation is directly applied to a steering motor of the automated guided vehicle so as to be controlled. By doing so, the hardware becomes considerably complicated, and the number of adjustment points increases, which is extremely inconvenient.In addition, when a single frequency is used, the electromagnetic waves increase or decrease at the branch point or the confluence part, which causes a running error. There is a problem that is likely to occur. As a specific conventional example, there is a steering apparatus for an automated guided vehicle disclosed in Japanese Patent Publication No. 1-297707. However, the steering apparatus for the automated guided vehicle uses a guide wire through which an induced current of a predetermined frequency flows. An unmanned guided vehicle equipped with two pickup coils provided on both sides in the traveling direction, a steering circuit for comparing induced voltages from the pickup coils, and a drive motor driven by a servo control device by the output of the steering circuit. , A separate first frequency induction current and a second frequency induction current are caused to flow in the intersecting induction wires, and the steering circuit has two pickup coils attached to both ends in the traveling direction of the automatic guided vehicle. And a first circuit for comparing induced voltages from the two pickup coils by the first frequency induced current as the first frequency resonance frequency and The frequency as a resonance frequency, and a second circuit for comparing the induced voltage from the pickup coil of the two positions by the second frequency induced current. By the way, when the unmanned guided vehicle steering device as described above is controlled by reacting only the guiding line current in the traveling direction when the unmanned guided vehicle travels on the guiding line, the guidance in the direction intersecting with the traveling guiding line. Unmanned guided vehicles can be run stably by eliminating the influence of electric current and avoiding the interference of other guide wires near the crossing point. There is a problem that it is difficult to accurately hold the traveling route by detecting only the induced current in the direction.

[0003]

SUMMARY OF THE INVENTION Therefore, the present invention has been made in view of the above problems, and digitizes the deviation of the unmanned guided vehicle traveling signal sensed from the left and right pickup coils, and the microprocessor is guided by the unmanned guided vehicle. Multi-frequency guidance of the automated guided vehicle that secures running stability at the junctions and junctions when the automated guided vehicle travels by calculating the left-right deviation of the traveling path and generating a signal that accurately steers the automated guided vehicle. The purpose is to provide a device.

[0004]

[Means for Solving the Problems] To achieve the above object,
A multi-frequency guiding device for an automated guided vehicle according to the present invention digitizes signal deviations sensed by the left and right pickup coil units and the left and right pickup coil units for detecting a magnetic flux flowing through an induction wire, and uses a microprocessor to route the guided vehicle. And a servo control unit that drives a driving motor and a steering motor according to a control signal from the steering control unit.

[0005]

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a block diagram for an electromagnetic induction system applied to an automated guided vehicle of the present invention. When a current flows through a coil embedded in the bottom (not shown), the Fleming's right-hand rule, that is, the thumb of the right hand, When the index finger and the middle finger are made vertical, and the index finger is directed in the direction of the magnetic field and the thumb is directed in the direction of movement of the conductor, an induction current is generated in the conductor in the direction of the index finger. A magnetic field (magnetic field) is generated around the, and a voltage strength induced by this magnetic field is used by using a right pickup coil section 12 and a left pickup coil section 13 which are composed of a coil L and a capacitor C provided in an unmanned vehicle. Upon detection, the detection units 1 and 1'perform the respective detection operations of extracting the modulation waveforms, and the modulation waveforms extracted by the detection units 1 and 1 ', KazuSatoshi, respectively amplified by the amplifier sections 2 and 2 'to a predetermined level with respect to the analog signal. The signals amplified by the amplifiers 2 and 2'to a predetermined level are converted into digital signals by the digital converters 3 and 3 '(ADC: Analog-d).
After being converted into digital data of 4 beats by the igital Converter), when input to the microprocessor 6 for comparison with the reference data for determining the normal progress of the automatic guided vehicle, the automatic guided vehicle previously input to the microprocessor 6 is input. The deviation is compared with the left and right reference signals of 1 to be input to the analog converter 7 (DAC) in order to convert the deviation into an analog for operating the automatic guided vehicle.

The left-right deviation signal of the automated guided vehicle converted into the analog signal is input to the servo control unit 8 and the drive motor or the steering motor is operated as necessary, so that the automated guided vehicle is buried in the bottom. Along the center of the existing guide line, the vehicle keeps traveling accurately while traveling.

FIG. 2 is a block diagram for the input section of the electromagnetic induction device applied to the automatic guided vehicle according to the present invention. First, the right pickup coil section 12 and the left pickup which are composed of the coil L and the capacitor C are shown. The coil unit 13 is used to detect the magnetic flux flowing through the induction wire and perform a detection operation of extracting the signals required by the detection units 1 and 1 ′. The detection operation of the detection units 1 and 1'is performed by comparing the signal waveform input from the frequency selection unit 9 that extracts the signal waveform by identifying the frequency change and making the amplitude change such as the voltage change. , 1 ', the analog signals detected by the amplifiers 2 and 2'are amplified to a predetermined level and converted into digital data.
Entered in.

The left and right analog signals input to the digital converting units 3 and 3'are converted into 4-beat digital data and stored in the buffer 4 for comparison with the reference signal stored in the microprocessor 6 of FIG. Is entered. The buffer 4 includes a left pickup coil unit 13
8 of the converted left and right digital data of the signal detected by and the signal detected by the right pickup coil unit 12
The work for combining with the beat digital data is performed, that is, the 8-beat data combined with the buffer 4 is put on the system bus 5, input to the microprocessor 6, and set in the microprocessor 6. It is compared with a reference signal that is present, and the comparison value allows the automated guided vehicle to travel accurately.

FIG. 3 is a diagram of a traveling principle using an electromagnetic wave induction system applied to the automated guided vehicle of the present invention. As shown in the figure, power is applied to the induction wire 14 buried in the bottom 15 and current is applied. When flowing, a resistance 16 is generated in the surroundings in FIGS. 1 and 2, and a voltage VRI induced by the resistance 16 is generated.
And the voltage VLE is the right pickup coil connecting portion RI.
The right side pickup coil section 12 connected to the left side pickup coil section 13 and the left side pickup coil section 13 connected to the left side pickup coil connecting section LE are detected, and the voltage signal of each of them is detected, amplified, and converted into a digital signal. After being compared with the reference signal by the processor 6, the left and right deviation values are discriminated and the operation of driving or steering the motor is performed, so that the voltages VLE, V detected by the left and right pickup coil sections 13, 12 are detected.
The RIs are the same, and the automatic guided vehicle can travel accurately along the center of the guide line 14.

FIG. 4 is a detailed circuit diagram of the electromagnetic wave induction device applied to the automatic guided vehicle according to the present invention.
4 is a band pass filter diagram applied to the automated guided vehicle of the present invention, and in FIG. 4 and FIG.
4 is a right pickup coil connecting portion for connecting the right pickup coil portion 12 for detecting an induced voltage due to the magnetic field 16 generated around the right side of 4, and 18 is for detecting an induced voltage due to the magnetic field 16 generated around the induction wire 14. Is a left pickup coil connecting portion for connecting the left pickup coil portion 13 of FIG.
2, the detectors Rf1, Rf2, Rf3 and Rf4, the detector left side switches SW1, SW2, SW3 and SW4, and the detector right side switches SW9, SW10, SW11 and SW1 for frequency selection with respect to the induced voltage VRI detected in 2.
A right-side detection section composed of 2 and 1'indicates an induced voltage VLE detected by the left-side pickup coil section 13.
For frequency selection for the detectors Lf1, Lf2,
Lf3, Lf4 and detector left side switches SW5, SW6
SW7, SW8 and right detector switch SW13, SW
This is a left-side detection unit composed of 14, SW15, and SW16.

Reference numeral 2 denotes a right side amplification section for amplifying the signal detected by the right side detection section 1 to a predetermined level, converting it into a direct current and inputting it to the digital conversion section 3.
P1 and resistors R3, R5, R7, R9, R11, VRI
And a capacitor C3, C5, C7, and a diode DI. 2'amplifies the signal detected by the left-side detector 1'to a predetermined level, converts it into a direct current, and inputs it to a digital converter 3 '. A left-side amplification section for operating the operational amplifier OP2 and resistors R4, R6, R8, R10, R12,
It is composed of VR2, capacitors C4, C6, C8, and diode D2. Reference numeral 3 denotes a signal of 4 beats compared with a reference signal by a comparator, which is a signal amplified to a predetermined level by the right amplification unit 2 and converted into a direct current. A right digital conversion unit for converting into digital data, which includes resistors R113 and R11.
4, R115, R116, RC1, RC2, RC3, R
C4, Rf1, Rf2, Rf3, Rf4, VR3, photocouplers PC1, PC2, PC3, PC4, inverters a, b, c, d, and comparators COM1, COM2, CO.
Reference numeral 3'denotes a left digital conversion unit for converting the signal, which has been amplified to a predetermined level by the left amplification unit 2'and converted into a direct current, to a reference signal by a comparator and converted into 4-beat digital data. Yes, resistors R17, R
18, R19, R20, RC5, RC6, RC7, RC
8, Rf5, Rf6, Rf7, Rf8, VR3, photocouplers PC5, PC6, PC7, PC8, inverters e, f, g, h, and comparators COM5, COM6, COM.
7 and COM8.

Further, reference numeral 4 is for combining the respective 4-beat data inputted from the left and right side digital converting sections 3, 3'to 8 beat data, and thereafter for judging the left-right deviation value of the automatic guided vehicle, It is a buffer that plays a role of inputting to the microprocessor 6 via the system bus 5. The left and right detectors 1, 1'left and right amplifiers 2, 2'left and right digital converters 3, 3'and the buffer 4 are a microprocessor 6
And an analog conversion unit 7 to form a steering control unit 10 for generating an accurate steering signal of the automatic guided vehicle.

The operation of the electromagnetic wave input circuit diagram of the automatic guided vehicle according to the present invention constructed as described above will be described below. Generally, in the electromagnetic induction method,
3-20 KHz (kilohertz (KHz) = 10H) on the guide wire 14 buried in the bottom 15 for traveling of the automatic guided vehicle.
z) and a current of 100 to 300 mA (milliampere (mA) = 10 ⁻³ A) are allowed to flow, and in the multiple induction system, an appropriate frequency is selected in the low frequency range of 3 to 20 KHz.

Since the main purpose of the automatic guided vehicle in the present invention is to process the frequency selection, which was conventionally processed as hardware, as software, the software, that is, the program for running the automatic guided vehicle, is All the signals are input to the microprocessor 6, and the method of selecting a detector for selecting the corresponding frequency is obviously programmed. Therefore, for the traveling of the automatic guided vehicle, the microprocessor 6 selects the detection unit of the corresponding frequency, that is, the right detection unit 1 and the left detection unit 1 ′ according to the program previously input to the microprocessor 6, Detector R of the right detector 1
f1 is the detector Lf1 of the left detector 1'and the detector Rf2
Are selected together with the wave detector Lf2, the wave detector Rf3 and the wave detector Lf3, and the wave detector Lf4 and the wave detector Lf4 are selected together, and are adjusted by the variable resistors VR1 and VR2 so that the selected frequencies are different.

In order to be selected as described above, the switches SW1 and SW9 located on the right and left sides of the right detector 1 detector Rf1, and the left detector 1'detector Lf1.
Both the switch SW5 and the switch SW3 located on the left and right sides of the switch SW1 should be turned on.
Switches other than SW9, SW5 and SW13 should be turned on in the same manner.

The switches SW1 to SW16 are analog switches, and the frequency detection circuit is composed of resistors R1, R2 and R3, capacitors C1 and C2, and an operational amplifier OP3, as shown in FIG. 5, and serves as a kind of bandpass filter. The above applicable frequency is Here, the selectivity Q of the ability to selectively separate desired frequencies is Q = WCR = 2πfCR, which is about 8 to 10.

In FIG. 5, the variable resistor R2 is used to adjust so that a voltage of at least 50 mV is input to the point A when the automatic guided vehicle is located on the traveling path, that is, in the center of the guide wire. When the waveform oscillates at B, a larger current is allowed to flow through the guide wire 14 of the traveling path so that the oscillation does not occur. By the way, according to the experiment, 5 at point A
It was revealed that the output voltage at point B is 300 mV when a 0 mV sinusoidal voltage is input.

On the other hand, the right side detector 1 and the left side detector 1 '
Detectors Rf1 and Rf selected for the corresponding frequency from
2, Rf3, Rf4 or detectors Lf1, Lf2, Lf
Among the signals detected by Lf4 and 3, Lf4, the signal detected by the right-side detector 1 repeats charging and discharging due to the change with respect to the alternating current, and passes through the capacitor C3 which performs a kind of resistance function to the operational amplifier OP1. The signal which is input to the non-inverting input terminal (+) of the input terminal, is changed by the voltage variable resistance VR1, is input via the resistance R3, and is detected by the left-hand side transformer detection unit 1 ′. Is input to the non-inverting input terminal (+) of the input terminal, but is changed by the voltage variable resistance VR2 and input via the resistance R4.

Next, the signal from the right-side detector 1 input to the non-inverting input terminal + of the operational amplifier OP1 has a signal value determined by the resistors R5 and R7 and the capacitor C5, and the inverting input terminal ( -) Causes an amplification effect, and as a result of the amplification effect,
The output waveform signal of 4 to 6V output from the operational amplifier OP1 is converted into direct current by the diode D1, and the alternating current component included in the signal converted into direct current is smoothed by the resistor R9 and the capacitor C7 = WCR. After being removed, the comparators COM1, COM2, C are connected via the resistor R11.
Input to the non-inverting input terminal (+) of OM3 and COM4,
The signal from the left-side detector 1'input to the non-inverting input terminal (+) of the operational amplifier OP2 has a signal value determined by the resistors R6 and R8 and the capacitor C6 at the inverting input terminal (-) of the operational amplifier. When input, it causes an amplifying action, and as a result of the amplifying action, the output waveform signal of 4 to 6 V output from the operational amplifier OP2 is also converted into direct current by the diode D2, and is included in the signal converted into the direct current. After the included AC component is removed by the smoothing action (τ = WCR) of the resistor R10 and the capacitor C8, the comparators COM5, COM6, COM are connected via the resistor R12.
7, COM8 is input to the non-inverting input terminal (+).

On the other hand, the diodes D1 and D
If the values of the resistors R9 and R10 for removing the AC component included in the DC signal converted by 2 are too large,
The time constant τ = RC causes the time constant to increase and delays the discharge delay time, which eventually results in a delay in response characteristics. On the other hand, when the values of the resistors R9 and R10 are too small, the time constant τ = RC causes Since the time constant value becomes considerably small, the discharge time becomes short, and the comparison voltages of the comparators COM1 to COM8 change abruptly, which adversely affects the accurate running of the automated guided vehicle. And the resistance R10 value should be selected accordingly.

Next, the comparators COM1, COM2, C
The output signal converted into direct current by the diode D1 input to the non-inverting input terminals (+) of the OM3 and COM4 is the voltage variable resistor VR3 and the resistors R13, R14, R1.
5, R16, the comparators COM1, COM2,
The comparison result comparator COM1 is compared with the reference signal input to the inverting input terminals (-) of COM3 and COM4.
When the output signal of COM4 is a (+) signal, the (+) signal is applied to the photocouplers PC1, PC2, PC3, PC4 combined with the diode and the transistor through the resistors RC1, RC2, RC3, RC4. The photocouplers PC1 to PC4 are operated to operate the photocoupler PC1.
~ The signal generated by the operation of PC4 is converted into a TTL voltage level much faster than the speed of DTL, and the resistance Rf
1, Rf2, Rf3, Rf4 and inverters a, b,
A high signal having an inverter circuit composed of c and d is input to the buffer 4 while the comparator COM
5, the output signal converted into direct current by the diode D2 input to the non-inverting input terminals (+) of COM6, COM7, and COM8 is the voltage variable resistor VR4 and the resistor R1.
7, R18, R19, R20 through the comparator CO
When the output signals of the comparison result comparators COM5 to COM8 are (+) signals, the (+) signals are compared with the reference signals input to the inverting input terminals (-) of M5, COM6, COM7, and COM8. Signal is resistance RC5, RC6, R
It is applied to the photocouplers PC5, PC6, PC7, PC8 combined with the diode and the transistor via C7, R8 to operate the photocouplers PC5 to PC8, and the signals generated by the operations of the photocouplers PC5 to PC8 are converted into the TTL voltage level, and the resistance is changed. Rf5, Rf6, Rf7, Rf
A high signal having an inverter circuit composed of 8 and inverters e, f, g and h is input to the buffer 4.

That is, the left and right 4-beat data input to the buffer 4 are combined into 8-beat data by the buffer 4, and the 8-beat data is used to generate a reference signal previously input to the microprocessor 6. On the other hand, when the unmanned guided vehicle deviates to the left or right side of the guide line 14 which is the traveling path, it is read that the unmanned guided vehicle is detached from the traveling path, and the left-right deviation signal thereof is converted into the analog conversion unit 7.
Is converted into an analog signal, and the servo control unit 8 drives the tribe motor or the steering motor according to the control signal to control so as to perform accurate traveling.

[0023]

As described above, according to the multi-frequency guiding apparatus for an unmanned guided vehicle of the present invention, it is possible to ensure running stability at a branch point or a junction when the unmanned guided vehicle travels. It not only can prevent the electromagnetic wave attenuation and increase phenomenon at the branch point or the confluence portion when the frequency is used, but also has an economical effect that it can be used for all industrial railcars that travel by the electromagnetic induction method.

[Brief description of drawings]

FIG. 1 is a block diagram of an electromagnetic induction system applied to an automated guided vehicle according to the present invention.

FIG. 2 is a block diagram of an input unit of an electromagnetic wave induction device applied to an automated guided vehicle according to the present invention.

FIG. 3 is a traveling principle diagram using an electromagnetic wave induction method applied to the automatic guided vehicle according to the present invention.

FIG. 4 is a detailed circuit diagram of an input unit of the electromagnetic wave induction device applied to the automated guided vehicle of the present invention.

FIG. 5 is a bandpass filter circuit diagram applied to an automated guided vehicle according to the present invention.

[Explanation of symbols]

 1 detection section 1'detection section 2 amplification section 2'amplification section 3 digital conversion section 3'digital conversion section 4 buffer 5 system bus 6 microprocessor 7 analog conversion section 8 servo control section 9 frequency selection section 12 right pick-up coil section 13 left side Pickup coil part 14 Guiding wire 15 Bottom 16 Magnetic field 17 Right pickup coil connecting part 18 Left pickup coil connecting part

Claims (10)

[Claims] 1. A left and right pickup coil section for detecting a magnetic flux flowing through an induction wire, and a signal deviation sensed by the left and right pickup coil section is digitized, and a microprocessor is used to determine the left and right deviation of an unmanned guided vehicle traveling path, and the operation is performed. A multi-frequency guiding apparatus for an automatic guided vehicle, comprising: a steering control unit that generates a steering signal; and a servo control unit that drives a driving motor and a steering motor according to a control signal from the steering control unit. 2. The steering control section includes a left and right detection section, a frequency selection section, a left and right amplification section, a left and right digital conversion section, a buffer,
2. The multi-frequency guiding device for an automated guided vehicle according to claim 1, comprising a microprocessor and an analog converter. 3. The left and right pickup coil portions are composed of a coil L and a capacitor C, and detect a magnetic flux induced by a magnetic field generated by a current flowing through an induction wire buried in the bottom. The multi-frequency guiding device for an automated guided vehicle according to claim 1. 4. The left and right detectors each include four detectors,
The multi-frequency guiding device for an automatic guided vehicle according to claim 2, wherein each of the detectors has two analog switches. 5. The multi-frequency guiding device for an automated guided vehicle according to claim 2, wherein the left and right amplifying units each include an operational amplifier, a resistor, a capacitor, and a diode. 6. The multi-frequency guiding device for an automated guided vehicle according to claim 2, wherein the left and right digital converting units each include a comparator, a photocoupler, an inverter, and a resistor. 7. The microprocessor according to claim 2, wherein a detection unit of a corresponding frequency is selected by a program preset in the automatic guided vehicle, and detectors of the left and right detection units are selected in pairs. Multi-frequency guidance system for automated guided vehicles. 8. The 8-beat data combined in the buffer is loaded on a system bus and input to a microprocessor, and compared with reference data previously input to the microprocessor to determine a left-right deviation. The multi-frequency guidance device for an automated guided vehicle according to claim 2, wherein 9. The multi-frequency induction device for an automated guided vehicle according to claim 2, wherein each of the detectors forming the left and right detection units functions as a kind of bend pass filter (band pass filter). . 10. The operational amplifier of each of the left and right amplifying units,
3. The multi-frequency guiding device for an automated guided vehicle according to claim 2, wherein each output waveform signal is amplified so as to be about 4 to 6V.