JPH08123546A - Guiding device for unmanned traveling vehicle - Google Patents
Guiding device for unmanned traveling vehicleInfo
- Publication number
- JPH08123546A JPH08123546A JP6279681A JP27968194A JPH08123546A JP H08123546 A JPH08123546 A JP H08123546A JP 6279681 A JP6279681 A JP 6279681A JP 27968194 A JP27968194 A JP 27968194A JP H08123546 A JPH08123546 A JP H08123546A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic sensors
- magnets
- unmanned
- traveling vehicle
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010276 construction Methods 0.000 description 3
- 206010012411 Derailment Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、無人走行車を予め設
定した路線から外れることなく磁気誘導することを可能
とする無人走行車の誘導装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned vehicle guidance system capable of magnetically guiding an unmanned vehicle without deviating from a preset route.
【０００２】[0002]
【従来の技術】従来、この種無人走行車の誘導システム
としては、連続誘導と非連続誘導とが提案されており、
前者すなわち連続誘導においては、常に車体の走行方向
に対する横ずれと傾きとを測定可能であるが、路線建設
のコストや、路線変更への柔軟性に問題があつた。また
後者、すなわち非連続誘導においては、路線建設のコス
ト面で有利であるが、車体の走行方向に対する傾きが測
定できず、誘導制御上問題があつた。2. Description of the Related Art Conventionally, continuous guidance and discontinuous guidance have been proposed as guidance systems for unmanned vehicles of this type.
In the former case, that is, in the continuous guidance, the lateral deviation and the inclination of the vehicle body with respect to the traveling direction can always be measured, but there are problems in the cost of line construction and flexibility in line change. Further, in the latter case, that is, in the discontinuous guidance, the cost of line construction is advantageous, but the inclination of the vehicle body with respect to the traveling direction cannot be measured, which causes a problem in guidance control.
【０００３】[0003]
【発明が解決しようとする課題】この発明は、非連続誘
導において、路線に対する車体の横ずれと傾きを測定す
ることを可能にすることにより、路線建設のコストの低
減と、誘導制御性の向上とを企図するものである。SUMMARY OF THE INVENTION The present invention reduces the cost of line construction and improves the controllability of guidance by making it possible to measure the lateral displacement and inclination of the vehicle body with respect to the line in discontinuous guidance. Is intended.
【０００４】ここにおいてこの発明は、無人走行車を誘
導すべき路線上に磁石を間隔を置いて配置して、前記無
人走行車の車体に搭載した磁気センサにより、前記磁石
を検知することにより無人誘導を実現するシステムにお
いて、前記磁気センサを前記車体の前方及び後方の２個
所に設置し、これら磁気センサの長手方向が車体の走行
方向に関して実質的に直交する方向となるように設置
し、かつ前記磁石の一部を、これら磁気センサの間隔と
ほぼ等しくなるような間隔で配置することを特徴とする
無人走行車の誘導装置を提案するものである。According to the present invention, magnets are arranged at intervals on a route to guide an unmanned vehicle, and the unmanned vehicle is detected by a magnetic sensor mounted on the body of the unmanned vehicle. In a system that realizes guidance, the magnetic sensors are installed at two locations in front of and behind the vehicle body, and the magnetic sensors are installed so that the longitudinal directions thereof are substantially orthogonal to the traveling direction of the vehicle body, and It is an object of the present invention to provide an unmanned vehicle guidance system characterized in that a part of the magnets are arranged at intervals substantially equal to the intervals of these magnetic sensors.
【０００５】[0005]
【作用】無人走行車の車体の前後にそれぞれ設置した磁
気センサの長手方向が車体の走行方向に関して実質的に
直交する方向であり、かつこれら磁気センサの間隔と等
しい間隔で路線上に磁石を設置したことで、車体の横ず
れと傾きとを共に測定可能であつて、その測定値にもと
づいて車体の姿勢制御が行なえるものである。Operation: The longitudinal direction of the magnetic sensors installed in front of and behind the vehicle body of the unmanned vehicle is a direction substantially perpendicular to the traveling direction of the vehicle body, and magnets are installed on the line at intervals equal to the distance between these magnetic sensors. As a result, both lateral deviation and inclination of the vehicle body can be measured, and the attitude control of the vehicle body can be performed based on the measured values.
【０００６】[0006]
【実施例】次にこの発明を図１ないし図４に示す実施例
にしたがつて説明する。図１及び図２は、無人走行車の
側面図及び下面図を略図するものであつて、これら図
中、１は車体、２，３，４，５は走行車輪、６，７は磁
気センサをそれぞれ示す。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described with reference to the embodiments shown in FIGS. 1 and 2 are schematic side and bottom views of an unmanned vehicle, in which 1 is a vehicle body, 2, 3, 4, and 5 are running wheels, and 6 and 7 are magnetic sensors. Shown respectively.
【０００７】前後に車輪２，３と４，５とを備える車体
１の下面の前後に間隔ｓをおいて設置した磁気センサ
６，７はそれらの長手方向を車体１の走行方向に対して
実質的に直交する方向とする。The magnetic sensors 6 and 7 installed at the front and rear of the lower surface of the vehicle body 1 having the wheels 2, 3 and 4, 5 at the front and rear with a space s between them are substantially in the longitudinal direction with respect to the traveling direction of the vehicle body 1. Direction perpendicular to each other.
【０００８】次に図３は前記無人走行車１を誘導すべく
予め設定された路線８への磁石９の設置状況を示すもの
で、これら磁石９の間隔の一部を、前記磁気センサ６，
７の間隔８と等しくなるようにするものである。尤もソ
フト的には前後発見の時間差の許容を持たせるものとす
る。Next, FIG. 3 shows a situation in which magnets 9 are installed on a route 8 preset to guide the unmanned vehicle 1. A part of the interval between the magnets 9 is used for the magnetic sensors 6, 6.
It is made to be equal to the interval 8 of 7. However, in terms of software, allowance for the time difference between before and after discovery is given.
【０００９】上記構成による路線８上の無人走行車の車
体１の誘導の状態を示すのが図４であつて、無人車体１
の磁気センサ６，７と、路線８上の磁石９との間隔ｓが
等しい個所において、各磁気センサ６，７によつて、車
体１が路線８に対して傾いている程度が検知され、これ
を適当な補正手段（図示せず）によつて方向の補正を行
なうようにするのである。FIG. 4 shows a state in which the vehicle body 1 of the unmanned vehicle on the route 8 having the above-described structure is guided.
The magnetic sensors 6 and 7 detect the extent to which the vehicle body 1 is tilted with respect to the line 8 at locations where the distance s between the magnetic sensors 6 and 7 and the magnet 9 on the line 8 is equal. Is corrected by an appropriate correction means (not shown).
【００１０】すなわち磁気センサ６，７と相隣る磁石９
の間隔ｓが等しい個所においてこのような補正を行なう
ものであつて、その他の部位においてすべて各磁石９の
間隔を磁気センサ６，７の間隔ｓと一致させる必要はな
い。That is, the magnet 9 adjacent to the magnetic sensors 6 and 7
Such a correction is performed at a position where the intervals s of 1 are equal to each other, and it is not necessary to match the intervals of the magnets 9 with the intervals s of the magnetic sensors 6 and 7 in all other parts.
【００１１】この発明の構造の装置によれば、車体の路
線に対する傾きが測定可能となるので、よりスム−ズな
誘導制御が可能となり、また脱線すなわち車体が路線か
ら外れる危険性も大幅に軽減できるものである。According to the device having the structure of the present invention, since the inclination of the vehicle body with respect to the route can be measured, smoother guidance control can be performed, and the risk of derailment, that is, the vehicle body deviating from the route is greatly reduced. It is possible.
【図１】この発明の無人走行車と磁気センサの側面図で
ある。FIG. 1 is a side view of an unmanned vehicle and a magnetic sensor according to the present invention.
【図２】図１に示す構成の下面図である。2 is a bottom view of the configuration shown in FIG. 1. FIG.
【図３】路線とその上に設置された磁石とを示す図であ
る。FIG. 3 is a diagram showing a route and a magnet installed thereon.
【図４】上記路線上を無人走行車が誘導される態様を示
す下面図である。FIG. 4 is a bottom view showing a manner in which an unmanned vehicle is guided on the route.
１ 車体 ６，７ 磁気センサ ８ 路線 ９ 磁石 1 Body 6,7 Magnetic sensor 8 Line 9 Magnet
Claims (1)
間隔を置いて配置して、前記無人走行車の車体に搭載し
た磁気センサにより、前記磁石を検知することにより無
人誘導を実現するシステムにおいて、前記磁気センサを
前記車体の前方及び後方の２個所に設置し、これら磁気
センサの長手方向が車体の走行方向に関して実質的に直
交する方向となるように設置し、かつ前記磁石の一部
を、これら磁気センサの間隔とほぼ等しくなるような間
隔で配置することを特徴とする無人走行車の誘導装置。1. Unmanned guidance is realized by arranging magnets at intervals on a route to guide an unmanned vehicle and detecting the magnets by a magnetic sensor mounted on the body of the unmanned vehicle. In the system, the magnetic sensors are installed at two positions in front of and behind the vehicle body, and the magnetic sensors are installed so that the longitudinal directions thereof are substantially perpendicular to the traveling direction of the vehicle body, and one of the magnets is installed. An unmanned vehicle guidance system, wherein the parts are arranged at intervals substantially equal to the intervals of these magnetic sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6279681A JP2926305B2 (en) | 1994-10-20 | 1994-10-20 | Driverless vehicle guidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6279681A JP2926305B2 (en) | 1994-10-20 | 1994-10-20 | Driverless vehicle guidance system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08123546A true JPH08123546A (en) | 1996-05-17 |
| JP2926305B2 JP2926305B2 (en) | 1999-07-28 |
Family
ID=17614392
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6279681A Expired - Fee Related JP2926305B2 (en) | 1994-10-20 | 1994-10-20 | Driverless vehicle guidance system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2926305B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2127138A1 (en) * | 1996-05-30 | 1999-04-01 | Paola Ferrari | System for automatic route control in automatically guided, self-propelled transport vehicles. |
| ES2134156A1 (en) * | 1996-11-19 | 1999-09-16 | Gruppo Tecnoferrari Spa | System for automatic route control in auto-guided, self-propelled transport trolleys. |
| JP2002278623A (en) * | 2001-03-19 | 2002-09-27 | Nippon Steel Corp | Traveling method for traveling carrier |
-
1994
- 1994-10-20 JP JP6279681A patent/JP2926305B2/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2127138A1 (en) * | 1996-05-30 | 1999-04-01 | Paola Ferrari | System for automatic route control in automatically guided, self-propelled transport vehicles. |
| ES2134156A1 (en) * | 1996-11-19 | 1999-09-16 | Gruppo Tecnoferrari Spa | System for automatic route control in auto-guided, self-propelled transport trolleys. |
| JP2002278623A (en) * | 2001-03-19 | 2002-09-27 | Nippon Steel Corp | Traveling method for traveling carrier |
| JP4537606B2 (en) * | 2001-03-19 | 2010-09-01 | 新日本製鐵株式会社 | Traveling method of traveling carrier |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2926305B2 (en) | 1999-07-28 |
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