JPH0820899B2 - Unmanned vehicle running control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a two-wheel drive type unmanned vehicle traveling control device, and more particularly to a rotation angle control device during spin turn (in-situ rotation).

B. Summary of the Invention The present invention utilizes the pickup coils used for traveling control during the spin turn of a two-wheel drive type unmanned vehicle, and the left and right pickup coils respectively detect the peaks of the magnetic field, and the respective detections are performed. When the difference between the values is below a certain level, it is determined that the rotation is completed and the vehicle is stopped, so that inexpensive and highly accurate control is performed.

C. Conventional technology Among the guided vehicles, the two-wheel drive type unmanned vehicle driven by independent drive motors on the left and right is very convenient because it has a spin-turn function and is used in various fields. .

By the way, there are various methods for performing a spin turn, but as a general method, rotary encoders are attached to both wheels of the carriage, and the encoder detects the rotational speed of both wheels to detect the attitude angle of the spin turn. There is.

D. Problems to be Solved by the Invention The conventional type using the rotary encoder is
Not only is the encoder expensive, but the attitude angle accuracy of the vehicle at the end of the spin turn is poor, and there is a risk of going off the course.

That is, in FIG. 7 (a), the unmanned vehicle AGV centered on the guide wire 1 is 180 ° in the direction of the arrow at the position of the line a (horizontal direction when the pickup coils 2 and 3 are the traveling directions). Consider a case in which the driverless vehicle AGV that makes a turn has a rectangular shape with a solid line and a square shape with a dotted line. Assuming that the rotary encoders for detecting the rotational speeds of the tires (wheels) 4 and 5 have the same accuracy, the pickup coil 3'in the case of an AGV having a square dotted line as shown in FIG. 7 (b). Is turned by the spin turn over the guide wire 1 to the position where the guide wire 1 is straddled by the coils 2 ', 3', but in the case of the rectangular unmanned vehicle AGV shown by the solid line, the coil 3 is the guide wire. 1
It will be in a coast-out state that does not exceed. This means that even if the encoder detects the rotation speed of the tires 4 and 5, and the spin turn completion control is performed when the rotation speed reaches a predetermined value, the center position of the tires 4 and 5 and the pickup coil are controlled.
This means that the attitude angle of the car after a spin turn changes depending on the distance between 2 and 3, making adjustments to stabilize the attitude difficult.

The present invention has been made in view of the above points, and an object of the present invention is to provide a device that enables inexpensive and highly accurate spin turn control.

E. Means for Solving the Problems The present invention utilizes left and right pickup coils used for traveling, and determines whether or not the pickup coil in the anti-spin turn direction exceeds the induction wire. A first determination unit that subtracts the detection voltage of the pickup coil in the spin turn direction from the detection voltage of the pickup coil in the anti-spin turn direction and determines whether the subtracted value is a positive voltage, and It is judged whether the pickup coil has crossed the induction wire by subtracting the detection voltage of the pickup coil in the spin-turn direction from the detection voltage of the pickup coil in the anti-spin-turn direction, and determining whether the subtracted value is a negative voltage. It is detected that the difference between the voltages judged by the judgment means of No. 2 and both judgment means has reached a constant value level, and the anti-spin turn direction is picked up. Up coil exceeds a guide wire, then after the spin turn direction of the pickup coil exceeds a guiding line, in which the spin turn of the unmanned vehicle and a third determining means for determining that it has finished.

F. Operation With this configuration, in the left and right pickup coils located across the induction wire, the pickup coil on the anti-turn side first intersects with the induction wire during spin turn, and the voltage induced in the pickup coil at this time It is judged that the vehicle has crossed the guide line because it peaked. Next, the turn-side pickup coil intersects with the induction wire, and it is determined that the voltage induced in the pickup coil has reached its peak and thus exceeded the induction wire. Then, when the voltage difference between the two pickup coils reaches a constant level, it is determined that the spin turn is completed.

G. Example An example of the present invention will be described in detail below with reference to the drawings.

In FIG. 1, reference numerals 2 and 3 denote right and left pickup coils, respectively, which are heads of an unmanned vehicle and are arranged to face the floor, 6 and 7 are amplifiers, and 8 is a differential amplifier. Introduces the voltage detected by each coil 2 and 3 and outputs the voltage difference between the two. Reference numeral 9 is an A / D converter for converting an analog signal into a digital signal, and 10 is an arithmetic processing section in which a microcomputer is used.

An unmanned vehicle AGV having a control device configured as described above
As shown in FIG. 2, the pickup coils 2 and 3 are positioned with the guide wire 1 interposed therebetween, and the coils 2 and 3 travel while detecting the magnetic field generated from the guide wire 1.

FIG. 3 shows the relationship between the voltage detected by the pickup coil 2 or 3 and outputting the position of the induction wire 1. When the coil moves to the right or left beyond the induction wire 1, it crosses the magnetic field. By doing so, the AC half-wave voltage is detected.

In such a case, the operation when a spin turn command is issued will be described with reference to FIGS. The unmanned vehicle AGV receives a left spin turn command in the A state of FIG. 4 (A),
In the posture of (B), the detected voltage of the right pickup coil 2 exceeds the induction wire 1 and the voltage waveform R in FIG.
(A) → (B), the detected voltage of the left pickup coil 3 becomes 0 as shown by the voltage waveform L in FIG. 5, and the differential voltage obtained from the differential amplifier 8 is shown in FIG. A positive voltage is obtained as shown by the voltage waveform D. Next, when the unmanned vehicle AGV changes from (C) to (D), this time the left coil 3 produces an output as shown by the voltage waveform L in FIG. 5, and the differential voltage of the differential amplifier 8 becomes the voltage in FIG. It becomes a negative voltage like the waveform D. When the attitude of the vehicle becomes (E), the 1-coil 2 and 3 each generate a certain positive voltage, but the voltage difference between them becomes 0, and when this 0 is detected, the spin is detected. Upon determining that the turn has ended, the arithmetic processing unit 10 issues a stop command.

FIG. 6 shows a flow chart at the time of spin turn in the arithmetic processing unit. Drive wheels 4, in step S ₁
Issues a rotation command of the left direction relative to 5 of the drive motor, in step S ₂ the detection voltage of the right pick-up coil 2 determines whether over the mountains, monitors to over in the case of NO. If YES, it is determined whether or not the detected voltage of the left pickup coil 3 exceeds the mountain at Step S _3, NO
In case of, monitor until it exceeds. On the other hand, if YES is determined whether was na 0 the difference voltage of the left and right coils in step S _4, the spin turn terminates with a stop instruction to the drive motor at step S ₅ when it becomes 0 To do.

Although the left spin turn has been described in the above embodiment, the same applies to the right spin turn. Also, although the turn angle has been described as 180 °, if the guide wires cross in a cross shape,
It is possible to detect and control the turn angle difference of 90 ° in the same manner.

H. Effects of the Invention According to the present invention, since the pickup coil originally used for traveling is used for controlling the rotation angle during the spinter, it is not necessary to use an expensive rotary encoder and the cost is low. And, moreover, spin turn can be performed with high accuracy for any vehicle length, and the course out at the time of turn will not occur.

[Brief description of drawings]

FIG. 1 is a circuit configuration diagram showing an embodiment of the present invention, FIG. 2 is a state diagram of an unmanned vehicle for explanation, FIG. 3 is a positional relationship diagram between a detection voltage of a pickup coil and an induction wire, and FIG. Fig. 5 is a diagram for explaining the posture of the vehicle during a spin turn, Fig. 5 is a voltage waveform diagram for the spin turn, Fig. 6 is a flowchart for the spin turn in the arithmetic processing section, and Fig. 7 is an explanatory diagram for the conventional spin turn. Is. 1 ... Induction line, 2,3 ... Pickup coil, 4,5 ... Drive wheel, 6,7 ... Amplifier, 8 ... Differential amplifier, 9 ... A / D converter, 10 ... Calculation processing apparatus.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Susumu Yoshida 2-1-1-17 Osaki, Shinagawa-ku, Tokyo Inside the Meidensha Co., Ltd. (56) References JP 61-234406 (JP, A) JP 57 -193815 (JP, A)

Claims (1)

[Claims] 1. A spin turn control device for a two-wheel independent drive type unmanned vehicle, which travels while detecting magnetism from a guide wire with left and right pickup coils, wherein an anti-spin turn of said left and right pickup coils is used. Whether the pickup coil in the direction of rotation crosses the induction wire, the detection voltage of the pickup coil in the spin turn direction is subtracted from the detection voltage of the pickup coil in the anti-spin turn direction, and it is determined whether the subtracted value is a positive voltage. And a first determination means for determining whether or not the pickup coil in the spin-turn direction has crossed the induction wire, and subtracting the detection voltage of the pickup coil in the spin-turn direction from the detection voltage of the pickup coil in the anti-spin-turn direction, The second judging means for judging whether the value is a negative voltage, and the voltage judged by both judging means. When the pickup coil in the anti-spin turn direction crosses the induction line and then the pickup coil in the spin turn direction crosses the induction line, the spin turn of the unmanned vehicle is detected. An unmanned vehicle traveling control device comprising: a third determining means for determining that the operation has ended.