JPH08234835A - Traveling control mechanism for unmanned vehicle - Google Patents

Abstract

PURPOSE: To extend the control range of the vehicle without adding any parts by coupling the waveforms of two contrary magnets and further shortening the interval of magnets. CONSTITUTION: Two magnets 1 and 2 are arranged in order under the road on which an unmanned vehicle is traveled. Then, a sensor 3 arranged on the lower surface of the vehicle detects these magnets 1 and 2 and draws the waveform caused by electromotive force. This electromotive force waveform is amplified by an amplifier 4, detected by a waveform detector 5, transmitted to a microcomputer 6 and judged. Then, by overlapping the waveforms, six ways of combination can be constituted by two contrary magnets 1 and 2. Besides, when the waveforms of two magnets 1 and 2 are overlapped and coupled, in order to distinguish such a signal from the other signal, the interval of two magnets 1 and 2 is shortened so that the signals can be surely distinguished.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention, like a golf cart,
The present invention relates to a traveling control mechanism for an automatic guided vehicle that detects a magnet buried in the ground and changes the operation mode of traveling speed.

[0002]

2. Description of the Related Art Conventionally, in a golf cart or the like, a technique for detecting a magnet buried in the ground to change the operation mode of traveling speed has been known. For example, it is like the technique described in Japanese Patent Laid-Open No. 4-366007.
However, in the conventional technology, there are only four kinds of combinations of SS, SN, NS and NN as long as two magnets are combined. A new external signal is required for higher functionality, and there is a need for a method that does not affect the current model and does not improve cost. That is, as described above,
To add a mode, if three magnets are combined, compatibility with the current model will be lost, so a problem will occur, and if a new sensor is added,
There was a problem that the cost increased. In the electromagnetic induction of the golf cart, two magnet signals are used to switch the mode from the outside, but four combinations of two magnets from each company have already been used, and the current model is used to achieve high functionality. We are studying a new external signal that does not affect cost and does not increase the cost. The present invention solves such a problem of the conventional technique.

[0003]

SUMMARY OF THE INVENTION The present invention is capable of detecting 4 modes to 6 modes by combining two magnets and expanding the control range of an automatic guided vehicle without adding equipment or sensors. . In addition, it does not affect the current equipment or old models. That is, if the mode is completely changed, the model of the conventional technology causes a false detection of the magnet and the mode is not changed.
The present invention can improve this point. If you simply adopt a combination of three magnets, the new model that adopts that technology can switch 8 modes, but the model of the conventional technology will operate with the previous two operations,
Both models cannot be used together.

[0004]

The problems to be solved by the present invention are as described above. Next, the means for solving the problems will be described. In the first aspect, the control mechanism for detecting the magnet buried in the ground and changing the operation mode detects the magnetic field of the magnet buried in the ground.
Using the electromotive force generated when the sensor mounted on the vehicle body crosses, the positive and negative of the electromotive force waveform of the sensor is detected, the polarity determination means and the combination of positive and negative waveforms of the electromotive force waveform, and a certain time or more has elapsed. Then, when the combination of electromotive force is other than the preset combination, means for resetting the electromotive force information is provided, and the waveforms of the two opposing magnets are combined, and the combined waveform shortens the interval between the magnets. It is configured by adding the detection mode.

According to another aspect of the present invention, in the control mechanism for detecting the magnet buried in the ground and changing the operation mode, the magnetic field of the magnet buried in the ground is generated when the sensor mounted on the vehicle body crosses the magnetic field. The positive / negative of the electromotive force waveform of the sensor is detected by using the electromotive force to generate the polarity, and the combination of the positive and negative waveforms of the electromotive force waveform is used to determine the polarity and the combination of the electromotive force is preset after a certain period of time A means for resetting the electromotive force information is provided for combinations other than the specified combinations, and the waveforms of the two contradictory magnets are combined, and the combined waveform is configured by increasing the amplitude of the magnet waveform, and a detection mode is added. To do.

According to a third aspect of the present invention, in an automated guided vehicle equipped with an automatic steering mechanism composed of a guide wire and a guide sensor, a means for increasing the vehicle speed by an external signal is provided on a traveling road where steering ability is not required so much. A means for detecting the deviation amount between the guide wire and the induction sensor is provided, and the high speed mode is released when the deviation amount range reaches a set time.

According to a fourth aspect of the present invention, there is provided means for increasing the vehicle speed by an external signal on an unmanned guided vehicle which travels in a high speed mode with a magnet signal buried in the ground, on a road where steering ability is not so required. A means for detecting the inclination angle of the traveling path, a mechanism for setting the target vehicle speed by the inclination angle, and a margin are provided, and the high speed mode is canceled when the inclination angle range is set for the set time. Is.

In an unmanned guided vehicle which travels in a high speed mode with a magnet signal buried in the ground, a means for increasing the vehicle speed by an external signal is provided on a traveling road where the steering ability is not so required. , Means for detecting the vehicle speed, and when the vehicle speed exceeds a certain vehicle speed,
The high speed mode is released.

[0009]

Next, the operation will be described. According to the invention of claim 1, the combination of two magnets enables the detection of 6 modes from the detection of 4 modes of the related art, so that the vehicle can be detected without adding any parts to the conventional equipment and sensors. The control range of can be expanded. That is, in addition to the conventional speed deceleration, start and release of stop, etc., it is possible to issue an external signal such as high speed mode start, high speed mode stop, or speed increase, automatic manual switching. Particularly, in claim 1, when the waveforms of the two magnets are overlap-coupled, in order to distinguish such a signal from other signals, by shortening the interval between the two magnets, The signals can be reliably distinguished.

According to the second aspect of the present invention, the waveforms of the two magnets are overlapped and coupled with each other, so that the amplitudes of the waveforms are increased. In this case as well, no additional parts are required for the conventional equipment and sensor, and the cost can be reduced.

According to the inventions of claim 3, claim 4, and claim 5, the high-speed mode is released from the guide sensors 9L and 9R and the guide line 7 when the deviation amount of steering is detected or when the speed is too high. Therefore, it is possible to avoid the derailment by detecting the limit of the steering ability of the machine and automatically canceling the high speed mode even if there is no signal for canceling.

[0012]

EXAMPLES Next, examples will be described. 1 is a front sectional view of a traveling control mechanism of an automated guided vehicle, FIG. 2 is a drawing showing waveforms generated by two magnets, FIG. 3 is a drawing showing six types of waveforms generated by the present invention, and FIG. 4 is a magnet. FIG. 5 is a drawing showing an embodiment in which the overlapping waveform is formed by shortening the interval and when the overlapping waveform is formed by increasing the amplitude of the magnet waveform. FIG. 5 shows the relative speed between the sensor and the magnet and the width of the waveform. 6 is a drawing showing a block diagram of magnet signal processing, FIG. 7 is a drawing showing a flow chart of signal processing in 6 modes of the present invention, and FIG. 8 is the same as the case where there is one magnet. Drawing which shows the difference when it makes a waveform, and FIG. 9 shows the guide wire 7 and the guide sensor 9L.
FIG. 10 is a drawing showing a control configuration when automatic steering is performed in relation to 9R, and FIG. 10 is a drawing showing a system diagram of the automatic steering mechanism.

FIG. 11 is a block diagram of the speed control in the manual and automatic cases, FIG. 12 is a block diagram showing the automatic steering mechanism, and FIG. 13 is a diagram showing the amount of deviation when canceling the vehicle speed control depending on the amount of deviation. Drawing which shows a standard, Drawing 14 is a flow chart drawing of vehicle speed control by gap amount, Drawing 15 is a drawing showing setting of the range of inclination angle when canceling vehicle speed control by inclination angle, Drawing 16 is a block of vehicle speed control by inclination angle. Fig. 17, Fig. 17 is a flow chart drawing, Fig. 18 is a drawing showing manual and automatic cases of target vehicle speed calculation, Fig. 19 is a block diagram when vehicle speed control is performed by an external signal, and Fig. 20 is also an external signal. It is a flowchart figure in the case of controlling a vehicle speed.

FIG. 1 is a front sectional view of the traveling control mechanism of the automatic guided vehicle. A guide wire 7 is buried in the ground, and the magnets 1 and 2 are provided in the guide wire 7 and the middle part.
Is buried. Left and right induction sensors 9L and 9R are arranged on the abdomen of the automatic guided vehicle. Further, the automatic guided vehicle travels on the left and right traveling paths 8L and 8R.

As a method of detecting the positive and negative waveforms of electromotive force by passing a sensor with two opposing magnets buried in the ground, there has been a method as shown in FIG. That is, as shown in FIG. 2A, the case where the waveform of the S pole is from negative to positive. In this system, negative → positive S,
There are only two combinations of positive → negative N.

Next, as shown in FIG. 2B, a method is used in which negative → positive is S pole and positive → negative is N pole. in this way,
Considering the combination of magnets as shown in (b), there are four possible combinations like the conventional combination of magnets in FIG. That is, there are four ways of S → S, N → N, S → N, N → S. In the present invention, as shown in the lower side of FIG.
The waveforms are superposed to form S → N in which positive waveforms are superposed and N → S in which negative waveforms are superposed. As a result, the four combinations in the case of (b) and the six combinations of the two proposals can be configured by the two opposing magnets.

The following method is available as a method for coupling the waveforms of two opposite magnets. There is ~ in the method. ． Method to shorten the magnet interval. A method to increase the amplitude of the magnet waveform. A method to increase the signal from the sensor on the circuit. How to increase the sensitivity of the sensor. How to increase the magnetic force of the magnet. Increase the relative speed between the sensor and magnet. ． Reduce the distance between the sensor and magnet. That is, the above method is tabulated as shown in the following table.

[0018]

[Table 1]

[0019] The method of shortening the magnet interval is illustrated on the upper side of FIG. That is, the interval A of the electromotive force waveform that switches positive and negative from the conventional one is set to the narrowed interval B, and an overlapping portion is created in the waveform of the electromotive force of the negative portion. The relationship of A> B is established between the magnet intervals.

[0020] The method of increasing the amplitude of the magnet waveform is illustrated at the bottom of FIG. In this case, the magnet spacings A and B do not change, but the amplitude α of the electromotive force waveform in the conventional case and the electromotive force waveform β of the present invention.
There is a relationship of α <β between them, and the waveforms of the negative portions overlap due to the increase in the amplitude.

[0021]. The method of increasing the signal from the sensor on the circuit is to increase the signal from the sensor on the circuit only at a certain time by an external signal, and it is possible to have 6 modes, but the cost is high. There are difficulties. ． A method for increasing the sensitivity of the sensor is a method such as increasing the number of windings of the embedded coil, but this also has a drawback that the cost becomes high.

.. The method of increasing the magnetic force of the magnet is
Only the two modes of the methods (a) and (b) are methods that use a magnet having a strong magnetic force and are effective methods. ． The method of increasing the relative speed between the sensor and the magnet is to change the waveform as shown in FIG. 5, and the width of the waveform is narrowed. ． Similarly, in the method of reducing the distance between the sensor and the magnet, the positive and negative amplitudes of the electromotive force increase.

As described above, it is possible to increase the number of modes with the two magnets by the above-mentioned methods, but it is highly practical. How to shorten the magnet interval. This is a method of increasing the amplitude of the magnet waveform. By adopting this method, the circuit can be changed without changing the ROM. The current magnet can also be used. In addition, the distance between the sensor and the magnet changes due to the suspension mechanism of this machine and the overlay for repairing the road. Also, the reason why the magnet is closer than the current one is because it is difficult for the magnet to appear on the surface of the earth. In the past, the focus was on signal processing such that the waveforms were not combined in this way, and no such idea was made.

A signal processing block diagram is shown in FIG. Two magnets 1 and 2 are arranged in order in the basement of a road on which an automated guided vehicle such as a golf cart travels. Then, the sensor 3 arranged on the lower surface of the automatic guided vehicle detects the magnets 1 and 2 and draws a waveform by the electromotive force. The electromotive force waveform is amplified by the amplifier 4, detected by the waveform detector 5, and the microcomputer 6
Sent to Judgment.

FIG. 7 shows a flow chart of the traveling control mechanism of the automatic guided vehicle according to the present invention. In the present invention, the magnet 1.
With the arrangement of 2, six modes are obtained and switching operation is performed. In high-speed mode, the vehicle speed is 6.2 → 9.0km / h, so the vehicle speed control / steering control becomes insufficient when climbing, descending or turning sharply. Therefore, mode 6 which is the high-speed mode is 1
If there is any magnet input, the flow chart will be used to cancel it. If you do not want to cancel the high-speed mode, you can delete the part * 2 and add the item that it is continuous for T time or more to the part * 1, as shown in FIG. The T time may be about 1.5 times as long as when one magnet is detected.

As described above, normally, the high speed mode of the automatic guided vehicle is released by an external signal such as a magnet. However, if the release external signal cannot be detected for some reason, it remains in the high-speed mode, or due to individual differences in the machine, such as changes over time, adjustment accuracy, and variations.
This may occur when the steering ability is less than the design target value. In such a case, the vehicle speed itself is too fast in the high speed mode with respect to the curve in a sharp curve, the steering ability becomes insufficient, and the train derails. In addition, speed control is not possible on a steep downhill, the speed is too high, and there is no curve on the road, but the steering ability is insufficient and the train derails. It may derail due to lack of ability. According to the present invention of claim 3, the limit of the steering ability of the machine is detected from the traveling locus, and the high speed mode is automatically canceled even if there is no external signal for canceling or even if it cannot be detected. This allows the vehicle to run without derailment.

A concrete method of the invention of claim 3 is shown in FIG.
13 to 13, a system diagram, a control block diagram, a flowchart, and drawings showing setting ranges are shown. The shift amount is calculated from the signals from the left and right inductive sensors 9L and 9R, and when the shift amount exceeds a certain value a, the high speed mode is immediately released. Further, when the deviation amount is between a certain constant value a and another certain value b, the high speed mode is released if the state continues for a certain time or longer. Further, when the deviation amount is within a certain value b, the high speed mode is maintained.

Conventionally, since the improvement of the overall steering performance has been studied together with the improvement of the frequency characteristic, etc., in the place where the steering performance is not so required on the course, that is, in the case of a flat and straight road, I couldn't think of increasing the vehicle speed to the range where the steering performance of this machine can be fully used. It took time, cost, and technology to improve the overall performance, and it was necessary to review the entire system. The present invention improves such conventional circumstances.

Next, the invention of claim 4 will be described.
The control block diagram and the flow chart of the invention of claim 4 are shown in FIGS. 15 to 18. The automatic steering control capability of electromagnetic induction is calculated by the product of the vehicle speed and the size of the S-shape on the road. The faster the vehicle speed,
Or, the smaller the S-shape, the more severe it becomes. Generally expressed as a frequency characteristic. The actual evaluation is to measure how many km / h the vehicle speed can follow an S-shaped running path of arbitrary size. Therefore, when the speed becomes high or the curve of the traveling road becomes steep, the steering ability is exceeded and the train derails. On the other hand, the operator who uses it is required to travel at high speed in order to accelerate the progress. Especially on flat and straight roads, there is a strong demand to increase the vehicle speed to the limit of the steering ability of the machine.

In the present invention, an unmanned guided vehicle that detects a signal from the outside, that is, a magnet buried in the ground, and travels in a high speed mode is used on a traveling path where steering ability is not required so much, that is, on a flat straight line. From the means for increasing the vehicle speed by a signal, the means for detecting the inclination angle of the traveling road, the means for setting the target vehicle speed according to the inclination angle, and the maximum speed that is determined by the vehicle speed control capability of this machine from the inclination angle, that is, the measured value, For the evaluation of the steering ability at each inclination angle, a means for utilizing the margin obtained by actual measurement, and a plurality of ranges are set for the inclination angle, according to each inclination angle range, It is characterized in that the high-speed mode is canceled when the inclination angle range is continuously maintained for a set time. That is, the setting time is long when the inclination angle is small, and the setting time is short when the inclination angle is large.

With this configuration, the maximum speed of the machine is estimated from the inclination angle of the traveling path and the limit of the steering ability is detected, so that an external signal for releasing the high speed mode cannot be detected. Also, by automatically releasing the high-speed mode, it is possible to drive safely without derailment.

In the actual configuration, in the system diagram, the margin of the steering ability is calculated from the predicted maximum speed in each inclination range by the signal from the inclination sensor. And
When the inclination angle exceeds a certain value a, the high speed mode is immediately released. Next, when the inclination angle is between a certain value a and b, if the state continues for a certain time or more,
Cancel high speed mode. When the inclination angle is within a certain value b, the high speed mode is maintained.

Next, the invention of claim 5 will be described. Regarding the invention of claim 5, a control block diagram and a flow chart thereof are shown in FIGS. 19 and 20. According to the present invention, in the case of a road where steering ability is not required so much, means for increasing the vehicle speed by external signals, means for detecting the vehicle speed, and release of the high speed mode when the vehicle speed exceeds a certain vehicle speed It is characterized by that. The arbitrary vehicle speed is T + ekm / h. T is the set vehicle speed in the high speed mode, and e is the allowance 1-2 km / h.

With this configuration, the limit of the steering ability can be detected by the actual vehicle speed, so that the high speed mode can be automatically released without an external signal for releasing the high speed mode. is there.

[0035]

Since the present invention is constructed as described above, it has the following effects. Since it is configured as in claim 1, 6 modes can be detected from the conventional 4 modes detection by the combination of two magnets. The control range of can be expanded. That is, in addition to the conventional speed deceleration, stop, speed increase, automatic manual switching, etc., it is possible to issue an external signal such as a high speed mode start or a high speed mode stop. Particularly, in claim 1, when the waveforms of the two magnets are overlap-coupled, in order to distinguish such a signal from other signals, by shortening the interval between the two magnets, The sensors can be reliably distinguished.

According to the second aspect, the waveforms of the two magnets are overlapped and coupled with each other, so that the waveforms have a large amplitude. In this case as well, no additional parts are required for the conventional equipment and sensor, and the cost can be reduced.

In the inventions of claim 3, claim 4 and claim 5, since the shift amount of steering is detected from the guidance sensors 9L and 9R and the guidance line 7, the high speed mode is released, so that the steering of this machine is controlled. Even if there is no signal to detect the limit of the ability, the high speed mode can be automatically released to avoid derailment.

[Brief description of drawings]

FIG. 1 is a front sectional view of a traveling control mechanism of an automated guided vehicle.

FIG. 2 is a diagram showing a waveform generated by two magnets.

FIG. 3 is a diagram showing six types of waveforms generated according to the present invention.

FIG. 4 is a diagram showing an example in which a magnet interval is shortened to form an overlapping waveform and a case where an amplitude of a magnet waveform is increased to form an overlapping waveform.

FIG. 5 is a diagram showing a waveform in which the relative speed between the sensor and the magnet is increased and the width of the waveform is narrowed.

FIG. 6 is a diagram showing a block diagram of magnet signal processing.

FIG. 7 is a drawing showing a flowchart of signal processing in 6 modes according to the present invention.

FIG. 8 is a drawing showing the difference between the case where there is one magnet and the case where there is an overlapping waveform.

FIG. 9 is a diagram showing a control configuration when automatic steering is performed based on a relationship between a guide wire 7 and guide sensors 9L and 9R.

FIG. 10 is a drawing showing a system diagram of an automatic steering mechanism.

FIG. 11 is a block diagram of speed control in manual and automatic cases.

FIG. 12 is a block diagram showing an automatic steering mechanism.

FIG. 13 is a diagram showing a standard of the amount of deviation when canceling the vehicle speed control depending on the amount of the amount of deviation.

FIG. 14 is a flowchart of vehicle speed control based on the amount of deviation.

FIG. 15 is a diagram showing setting of a range of the tilt angle when the vehicle speed control is canceled by the tilt angle.

FIG. 16 is a block diagram of vehicle speed control based on a tilt angle.

FIG. 17 is a flow chart drawing.

FIG. 18 is a drawing showing a case of manual calculation and a case of automatic calculation of a target vehicle speed.

FIG. 19 is a block diagram when the vehicle speed is controlled by an external signal.

FIG. 20 is a flow chart when the vehicle speed is controlled by an external signal.

[Explanation of symbols]

 1, 2 Magnets 3 Sensors 4 Amplifiers 5 Waveform detectors 6 Microcomputers 7 Guiding wires 8 Traveling paths 9 Guidance sensors

Front Page Continuation (72) Inventor Akihiro Shinkuma 1-32 Chayamachi, Kita-ku, Osaka City, Osaka Yanmar Diesel Co., Ltd.

Claims (5)

[Claims] 1. A control mechanism for detecting a magnet buried in the ground to change an operation mode, wherein an electromotive force generated when a sensor attached to a vehicle body crosses a magnetic field of the magnet buried in the ground. Using the combination of positive and negative waveforms of the electromotive force of the sensor to detect the polarity of the electromotive force, polarity determination means and a combination of electromotive forces other than a preset combination after elapse of a certain time or more In addition, a means for resetting electromotive force information at the time of
A traveling control mechanism for an automated guided vehicle, characterized in that the waveforms of two contradictory magnets are combined, and the combined waveforms are configured by shortening the gap between the magnets, and a detection mode is added. 2. A control mechanism for detecting a magnet buried in the ground to change an operation mode, wherein an electromotive force generated when a sensor mounted on a vehicle body crosses a magnetic field of the magnet buried in the ground. Using the combination of positive and negative waveforms of the electromotive force of the sensor to detect the polarity of the electromotive force, polarity determination means and a combination of electromotive forces other than a preset combination after elapse of a certain time or more In addition, a means for resetting electromotive force information at the time of
A traveling control mechanism for an automated guided vehicle, characterized in that the waveforms of two contradictory magnets are combined, and the combined waveform is formed by increasing the amplitude of the magnet waveform, and a detection mode is added. 3. An unmanned guided vehicle equipped with an automatic steering mechanism composed of a guide wire and a guide sensor, wherein a means for increasing a vehicle speed by an external signal is provided on a traveling road where a steering ability is not required so much. A travel control mechanism for an automated guided vehicle, characterized in that means for detecting the amount of displacement of the sensor is provided, and the high speed mode is released when the amount of displacement range is set. 4. An unmanned guided vehicle that travels in a high speed mode with a magnet signal buried in the ground, and a means for increasing the vehicle speed by an external signal is provided on a traveling road where steering capability is not so required, Is provided, a mechanism for setting a target vehicle speed by the inclination angle and a margin are provided, and the high-speed mode is released when the inclination angle is within the set inclination angle range for a set time. Drive control mechanism for automated guided vehicles. 5. An unmanned guided vehicle that travels in a high speed mode with a magnet signal buried in the ground, and a means for increasing the vehicle speed and a vehicle speed are detected by an external signal on a traveling road where steering ability is not so required. And a traveling control mechanism for an automatic guided vehicle, characterized in that the high speed mode is released when the vehicle speed exceeds a certain vehicle speed.