JPH1097319A - Guiding method for automated guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain the satisfactory branched guide runs of a magnetic guidance type automated guided vehicle even though the magnetic field width of a guide line is increased by the magnetism generated by a magnetism generation member that is different from the guide line (magnet). SOLUTION: Three magnetic sensors 22R, 22C and 22L are placed in series at the front part of an automatic guided vehicle 21, and each of these sensors decides the intermediate position between the magnetic sensor elements set at both ends among those sensor elements which detected the magnetic fields and turned on as the position of a guide line. At a branch part, a straight advance guide line 10 is separated from a straight advance guide line 10A set in the front of the branch part, the line 10 is connected to a branch guide line 10B, and a contact straight advance guide line 10C is set at the side opposite to the line 10B. When the branch guidance is started at the branch part, the steering control is performed to set the position of the line 10B detected by the center sensor 22C at the center of the sensor 22C. When a straight run is started at the branch part, the steering control is performed to set the position of the line 10C detected by the right sensor 22R at the center of the sensor 22R.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for guiding an automatic guided vehicle, and the width of a magnetic field generated by a guide wire (a magnet laid in a line) is widened by magnetism generated by a magnet generating member different from the guide wire. In particular, the invention has been devised so that the magnetically guided automatic guided vehicle can satisfactorily branch and guide at the branch portion.

[0002]

2. Description of the Related Art An automatic guided vehicle travels unmannedly at various factories, warehouses, offices, and the like, and transports parts, products, small articles, and the like. Among such automatic guided vehicles,
A magnetically guided automatic guided vehicle travels along a guided line (buried magnet) while detecting a guide line consisting of magnets laid (buried) linearly on the traveling path with a magnetic sensor mounted on the automatic guided vehicle. I do.

Here, an example of an automatic guided vehicle will be described with reference to FIG. The automatic guided vehicle 1 shown in FIG. 3 is of a tricycle type having one front wheel 2 that performs rotational driving and steering, and two rear wheels 3 that function as driven wheels. Magnetic sensors 5f and 5b are installed at the front and rear of the vehicle body 4. When the vehicle travels forward (travels in the F direction), the guide line (magnet) 10 is detected by the front magnetic sensor 5f.
, And the vehicle travels while performing steering control so that the center of the magnetic sensor 5f, that is, the center of the vehicle body 4 is located directly above the guide line 10. When the vehicle travels in the reverse direction (travels in the B direction), the vehicle travels by using the rear magnetic sensor 5b and performing steering control in the same manner as the guidance sensor 5f. Various controls for traveling, including steering control, are performed by commands from the control device 6.

Next, the configuration of the magnetic sensors 5f and 5b, the position detecting operation and the steering control will be described. When the two magnetic sensors 5f and 5b are described in common, they will be described as "magnetic sensors 5". As shown in FIG. 4 when the automatic guided vehicle 1 is viewed from the front side, the magnetic sensor 5 is formed by arranging a large number of magnetic sensor elements 5. 1 to 5 .n in the vehicle width direction of the vehicle body 4. is there. Each of the magnetic sensor elements 5-1 to 5-n has a magnetic field H from an induction wire (magnet) 10.
Is detected, it is turned on. In FIG. 4, cross-hatching is applied to the magnetic sensor elements that are in the ON state.

[0005] In the case of straight running (straight running or curve running), that is, when the vehicle is running on a portion having only one guide line 10, position detection and steering control are performed as follows. That is, of the magnetic sensor elements in the ON state (5.9 to 5.11 in the example of FIG. 4), the intermediate position between the leftmost magnetic sensor element 5.9 and the rightmost magnetic sensor element 5/11 is determined. , The position of the guide wire 10. Then, a deviation amount between the determined intermediate position and the central position of the entire magnetic sensor 5 (which coincides with the central position of the vehicle body 4 in the vehicle width direction) is detected. The steering control of the front wheels 2 is performed so that this deviation amount is eliminated.

As shown in FIG. 5, the unmanned guided vehicle 1 traveling straight along the guide line 10 reaches a branch portion branched into a straight guide line 10a and a branch guide line 10b, and the branch guide line. When branching to the 10b side, position detection and steering control are performed as follows. That is, of the magnetic sensor elements in the ON state, the branch induction wire 10
The position of the magnetic sensor element at the end on the b side (the left side in the example of FIG. 4) is determined. Then, the determined magnetic sensor element (the left magnetic sensor element among the magnetic sensor elements that are on when the left branch is used, and the right magnetic sensor element among the magnetic sensor elements that are turned on when the right branch). The amount of deviation from the entire center position of the magnetic sensor 5 (which coincides with the center position of the vehicle body 4 in the vehicle width direction) is detected. The steering control of the front wheels 2 is performed so that this deviation amount is eliminated.

[0007]

SUMMARY OF THE INVENTION A guide wire 10 (10a,
10b) is generated by the magnetic field H (10b).
When the magnetism is received from a magnetism generating member different from a, 10b), the width thereof is widened. Referring to the example of FIG.
When the magnetism by another magnetism generating member is not acting, the width of the magnetic field H is as shown in the figure and the magnetic sensor element 5.
9 to 5.11 are turned on. However, when magnetism from another magnetism generating member acts on the magnetic field H generated by the guide wire 10, the width of the magnetic field H increases, and for example, the magnetic sensor 5
8 to 5.12 may be turned on.

In straight running, even if the width of the magnetic field H is widened, the intermediate position of the magnetic sensor element in the on state does not change, so that there is no danger of going out of course. However, at the time of branch traveling, the deviation between the magnetic sensor element at the end (the end on the branch guide line side) of the magnetic sensor elements in the ON state and the central position of the entire magnetic sensor 5 is eliminated. Since the steering control is performed, the deviation amount increases and the steering angle increases. For this reason, a steering operation with a large cut is performed,
In some cases, there was a risk of getting out of the course.

In view of the above-mentioned prior art, the present invention can provide good branching guidance traveling even when the magnetism generated by a magnetism generating member different from the guide wire acts on the magnetic field generated by the guide wire and the magnetic field becomes wider. An object of the present invention is to provide an automatic guided vehicle guidance method.

[0010]

According to the structure of the present invention, which solves the above-mentioned problems, an induction wire formed of a magnet which is laid linearly along a traveling path and generates a magnetic field is turned on when a magnetic field is detected. By detecting the magnetic sensor elements of the magnetic sensor elements arranged in the vehicle width direction, the automatic guided vehicle guides the automatic guided vehicle along the guide line. In the on state, three magnetic sensors that determine the intermediate position between the endmost magnetic sensor elements as the position of the guide line are arranged in series along the vehicle width direction, and at the branch portion of the guide line, While separating the straight guide line that has guided the automatic guided vehicle and the straight guide line in front of the branch portion, the straight guide line that has guided the automatic guided vehicle and the branch guide line laid in the branch direction are connected. ,
Furthermore, on the side opposite to the branch guide line, a connecting straight guide line is laid, and when guiding along the straight guide line,
A straight guiding line is detected by the central magnetic sensor among the three magnetic sensors, and steering control is performed so that a deviation amount between the detected position and the central position of the central magnetic sensor is eliminated, and guidance is performed along the branch guiding line. During traveling, the branch guide line is detected by the magnetic sensor on the branch guide line side of the three magnetic sensors, and a deviation between this detection position and the center position of the magnetic sensor on the branch guide line side is detected. When the vehicle is traveling straight ahead at the branching point by performing steering control so that the amount is lost, the connecting linear guiding line is detected by the magnetic sensor on the side opposite to the branching guiding line among the three magnetic sensors, and the detected position is communicated. It is characterized in that the steering control is performed so that the amount of deviation from the center position of the magnetic sensor on the straight guide line side is eliminated.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings. The parts performing the same functions as those of the prior art are denoted by the same reference numerals, and redundant description will be omitted.

FIG. 1 shows an automatic guided vehicle 21 to which the present invention is applied. At the front of the automatic guided vehicle 21, three magnetic sensors 22R, 22C, 22L are arranged in series along the vehicle width direction of the vehicle body 4. That is, the central magnetic sensor 2
Magnetic sensors 22R and 22L are arranged on both sides of 2C. Each magnetic sensor 22R, 22C, 22L is
A large number of magnetic sensor elements are arranged in the vehicle width direction. These magnetic sensors 22R, 22C, 22L
Thus, the method of detecting the guide wire (with the magnet laid) is the same as the conventional one. That is, each magnetic sensor 2
Each of the 2R, 22C, and 22L determines the intermediate position between the endmost magnetic sensor elements in the ON state as the position of the guide line.

At the rear of the automatic guided vehicle 21, three magnetic sensors 23R, 23C and 23L are arranged in series along the vehicle width direction of the vehicle body 4. That is, the magnetic sensors 23R and 22L are arranged on both sides of the central magnetic sensor 23C. Each magnetic sensor 23R, 23C, 23L
Each has a large number of magnetic sensor elements arranged in the vehicle width direction. Each of these magnetic sensors 23R, 23C,
The method of detecting an induction wire (with a magnet laid) by 23L is the same as the conventional one. That is, each of the magnetic sensors 23R, 23C, and 23L determines the intermediate position between the endmost ones of the magnetic sensor elements in the ON state as the position of the guide line.

The automatic guided vehicle 21 is provided with a front wheel 2, a rear wheel 3, a vehicle body 4, and a control device 6, as in the prior art.

On the other hand, as shown in FIG. 2, a guide wire (a magnet is laid (buried) in a linear shape) is provided at a branch portion of the guide wire. That is, the straight guide line 10 that has guided the automatic guided vehicle 21 and the guide line 10A in front of the branch portion are separated at the branch portion. Also, a straight guide line 10,
The branch guide wire 10B laid in the branch direction is connected. Further, at the branch position, a communication guide line 10C is laid on the side opposite to the branch guide line. In addition, the example of FIG.
In the case of a left branch, in the case of a right branch, the branch guide line 10A is arranged on the right side, and the connecting guide line 10C is arranged on the left side.

When the vehicle continues to travel straight ahead (forward) at the branch position, the guided traveling control is performed as follows. (1) When traveling along the straight guide line 10, the straight guide line 10 is detected by the central magnetic sensor 22C, and the steering is controlled so that a deviation between the detected position and the center position of the magnetic sensor 22C is eliminated. I do. (2) When reaching the branch, the right side magnetic sensor 22R
, The traveling straight guide line 10 is detected, and the vehicle travels under steering control so that a deviation between the detected position and the center position of the magnetic sensor 22R is eliminated. (3) After passing through the branching portion, the straight guiding line 10A is detected by the central magnetic sensor 22C, and the vehicle travels under steering control so that there is no deviation between the detected position and the central position of the magnetic sensor 22C.

When the vehicle is to branch at the branch position, the guided traveling control is performed as follows. (1) When traveling along the straight guide line 10, the straight guide line 10 is detected by the central magnetic sensor 22C, and the steering is controlled so that a deviation between the detected position and the center position of the magnetic sensor 22C is eliminated. I do. (2) When reaching the branch, the magnetic sensor 22L on the left side
To detect the branch guide line 10B, and the vehicle travels under steering control so that a deviation between the detected position and the center position of the magnetic sensor 22L is eliminated. (3) When the branch guide line 10B passes through the branch portion and becomes straight, the central magnetic sensor 22C detects the branch guide line 10B.
Is detected, and the vehicle travels under steering control so that a deviation between the detected position and the center position of the magnetic sensor 22C is eliminated.

In the above description, the case of the left branch traveling is described. However, in the case of the right branch traveling, the left and right magnetic sensors 22L, 22L,
Similar control is performed only by reversing the function of 22R. When the vehicle travels straight when there is a branch guide line on the right side, the vehicle travels straight by detecting the contact straight guide line laid on the left side by the magnetic sensor 22L on the left side. Furthermore,
When the vehicle travels in reverse, the rear magnetic sensors 23R, 23R
Similar steering control is performed by 3C and 23L.

In this embodiment, when the vehicle travels in a fork, it is detected that the branch line is located at a position between the ends of the magnetic sensor elements of the magnetic sensors on the side. Even if the magnetism generated by the magnetism member acts on the magnetic field generated by the induction wire and the magnetic field width is increased, the detection position of the branch line can be accurately detected. For this reason, favorable branch traveling can be performed.

[0020]

As described above in detail with the embodiments, according to the present invention, when the vehicle travels in a branch, the branch guide line is detected by the magnetic sensor on the side, and the detected position and the magnetic sensor on the side are detected. The steering control is performed so that there is no deviation from the center position of the branch line. The detection position can be detected accurately, and good branching can be performed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an automatic guided vehicle to which the present invention is applied.

FIG. 2 is a plan view showing an arrangement state of a guide wire to which the present invention is applied.

FIG. 3 is a perspective view showing a conventional automatic guided vehicle.

FIG. 4 is an explanatory diagram showing an operation state of the magnetic sensor.

FIG. 5 is a plan view showing a conventional arrangement of guide wires.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned guided vehicle 2 Front wheel 3 Rear wheel 4 Body main body 5f, 5b Magnetic sensor 6 Control device 10 Straight guide line 10A Straight guide line 10B Branch guide line 10C Communication straight guide line 22R, 22C, 22L Magnetic sensor 23R, 23C, 23L Magnetic Sensor

Claims (1)

[Claims] 1. A magnet formed by arranging a plurality of magnetic sensor elements which are laid in a linear shape along a traveling path and generate a magnetic field, and are arranged in a vehicle width direction by a plurality of magnetic sensor elements which are turned on when a magnetic field is detected. In the method of guiding an automatic guided vehicle that guides the automatic guided vehicle along the guide line by detecting with a sensor, the automatic guided vehicle has an endmost magnetic sensor element that is turned on. Three magnetic sensors for determining the position of the guide line as the middle position between the two are arranged in series along the vehicle width direction. At the branch portion of the guide line, the straight guide line and the branch portion that have guided the automatic guided vehicle have been guided. In addition to separating the straight guide line ahead and connecting the straight guide line that has guided the automatic guided vehicle and the branch guide line laid in the branch direction, further, the straight guide line is connected to the opposite side from the branch guide line. Laying a line and inviting straight ahead When the vehicle is guided along the conductor, the center of the three magnetic sensors detects a straight guide line, and the steering is performed so that there is no deviation between the detected position and the center of the center magnetic sensor. When controlling and guiding along the branch guide line, the branch guide line is detected by the magnetic sensor on the branch guide line side of the three magnetic sensors, and the detection position and the branch guide line side are detected. The steering control is performed so that the deviation from the center position of the magnetic sensor on the side is eliminated, and when the vehicle travels straight ahead at the branching point, of the three magnetic sensors, the magnetic sensor on the side opposite to the branch guide line leads to the communication straight guiding. Detecting a line and performing steering control so as to eliminate the amount of deviation between the detected position and the center position of the magnetic sensor on the side of the connecting straight guide line. Method of inducing a person transport vehicle.