JPH1097321A - Travel controller for automated guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately correct a travel direction with simple constitution and to shorten the correction time by adding position displacement output signals of a vehicle body detected by a front and a rear detector to set speed signals and turning angles signal of driving wheels, and controlling a travel direction at the same time with the driving speeds of the right and left driving wheels. SOLUTION: The driving wheels 14 and 15 are arranged on the reverse side of the vehicle body 41 of the automated guided vehicle 40 so that they can be rotated by a rotary driving mechanism. Canisters are provided in the four corners and the vehicle body 41 is arranged horizontally on a travel path. The rotary shafts of the driving wheels 14 and 15 are arranged so that they can rotate by 350 deg.. The front detector 2 and rear detector 22 are provided along a direction B-B. The front detector 2 detects the forward displacement SF of the vehicle body 41 and the rear detector 22 detects the displacement SB of the rear part of the vehicle body 41 to control the turning speeds and swivel angles of the driving wheels 14 and 15, thereby canceling displacement angles θ1 and θ2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel control device for an automatic guided vehicle, and more particularly to a travel control device for an automatic guided vehicle used in a paper feed system of a rotary printing press.

[0002]

2. Description of the Related Art In an automatic guided vehicle,
It has driving wheels on the left and right, and detectors at the front and rear of the traveling direction detect the position displacement to the left and right from the traveling path, change the driving speed of the left and right driving wheels with the output, and change the traveling direction of the vehicle body The controlling device is well known.

An apparatus shown in FIGS. 6 and 7 is one of them. This device shows an example of a control device using a single detector when the number of the detectors 102 is one in the traveling direction. The detector 102 for detecting the position displacement SF from the traveling route is provided only in the front part. The output of the detector 2 allows the driving wheel 1
The traveling direction is corrected by changing the driving speeds of the driving units 14 and 115.

FIG. 7 is a block diagram of the apparatus for controlling the above-described apparatus. The output of the vehicle body travel path detected by the detector 102 based on the position displacement SF, a travel speed signal from a vehicle speed command device (not shown), A subtraction circuit 161 subtracts the difference between the actual driving speed of the driving wheel 114 and the actual driving speed measured by the encoder 116.
, And processed by the adjustment circuits 162 and 163.
The right and left driving wheels 114 and 115 are accelerated and decelerated through an addition circuit 166 and a subtraction circuit 167 for further adding and subtracting the output added by the addition circuit 164 to correct the traveling direction.

As shown in FIGS. 4 and 5, a control device using a plurality of detectors using two detectors before and after in the traveling direction of a vehicle body is known from Japanese Patent Application Laid-Open No. 61-65318. I have. According to this technique, detectors 120 and 122 for detecting left and right positional displacements from a traveling route are provided at a front portion and a rear portion in a traveling direction of a vehicle body, and an addition circuit 151 for calculating the output sum thereof and a calculation for calculating the output difference are provided. A circuit 152, an amplification circuit 153 for multiplying the output difference by a factor, and amplifying the output difference; an addition circuit 154 for calculating the sum of the output of the addition circuit 151 and the output of the amplification circuit 153; An addition circuit 155 that calculates the sum of the traveling speed signal and the output of the addition circuit 154, outputs the result as a drive speed signal of the drive wheel 159, calculates the difference between the speed signal and the addition circuit 154, and calculates the other drive It comprises a subtraction circuit 156 that outputs the driving speed of the wheel 160, and control circuits 157 and 158 that drive the driving wheel based on those outputs.

FIG. 5 is an explanatory diagram showing the relationship between the vehicle body and the traveling route. The speed Vc for correcting the driving speed of the vehicle body based on the front position displacement SF and the rear position displacement SB of the detectors 120 and 122 with respect to the traveling route is shown. , Vc = f {(SF + SB) + A (SF-SB)}, and the driving speeds of the driving wheels are respectively V1 = Vf + Vc (note) V1, V2: left and right driving speeds V2 = Vf-Vc, and the driving direction is adjusted. Make corrections.

[0007]

However, the above-described control device using a single detector corrects the traveling speeds of the left and right drive wheels respectively based on the position displacement output detected by the detector at the front of the main body. Since the traveling direction of the main body is corrected, it takes a long time to correct, and the main body may be inclined with respect to the traveling route and meander.

Further, the above-described control device using a plurality of detectors controls the drive rotational speed of the left and right drive wheels based on the position displacement output by the detectors provided at the front and rear portions of the main body without turning the drive shaft. Therefore, it takes a long time to correct the traveling direction, and since the drive wheels do not turn, if the curvature of the traveling route is small, side slipping is likely to occur, and the vehicle may deviate from the traveling route and cause meandering.

SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a travel control device for an automatic guided vehicle in which the time required for correcting the traveling direction is reduced. It is another object of the present invention to provide a travel control device for an automatic guided vehicle that can accurately correct the traveling direction with a simple configuration.

[0010]

According to the present invention, there are provided drive wheels on the left and right in the traveling direction of a vehicle body, and detectors for detecting left and right positional displacements of the vehicle body at front and rear portions, and output signals from the detectors are provided. In a traveling control device for an automatic guided vehicle that controls the driving wheels and controls the traveling of the vehicle body by using the position displacement output signal of the vehicle body detected by the front detector to the set speed signal of the driving wheels, A drive speed control device for adjusting the drive speed of the drive wheels of the vehicle, and a turning displacement for changing the traveling direction of the left and right drive wheels by adding a position displacement output signal of the vehicle body detected by a rear detector to the turn angle signal of the drive wheels. An angle control device is provided, and the driving direction and the driving direction of the left and right driving wheels can be simultaneously controlled.

As shown in FIG. 2, the drive speed control device 18 of the present invention comprises a front detector 2, a PID adjustment circuit 3, addition circuits (4, 5), subtraction circuits (6, 7), and a PID adjustment circuit. (8, 9), adder circuits (10, 11), amplifiers (12,
13) and encoders (16, 17) for detecting the actual speeds of the drive wheels.

The driving speed control device 1 configured as described above
Numeral 8 indicates a position displacement SF from the traveling path by the front detector 2 (FIG. 1), the output of which is subjected to PID processing by the PID adjustment circuit 3, and a speed signal 1 from a traveling speed command device (not shown) and an addition circuit. The signals are added at 4 and 5 and input to the subtraction circuits 6 and 7 as a signal Is.

A feedback signal F of the actual driving speed from encoders 16 and 17 provided on the left and right driving wheels 14 and 15, respectively.
a and Fb are input to subtraction circuits 6 and 7, respectively.
In the drive system of the drive wheels 14, the signal Is and the feedback signal Fa are subtracted by the subtraction circuit 6, subjected to PID processing by the PID adjustment circuit 8, added to the signal Is by the addition circuit 10, and amplified by the amplifier 12. The drive wheel 14 is rotationally driven by the signal thus given.

In the drive system for the drive wheels 15, the signal Is and the feedback signal Fb are subtracted by a subtraction circuit 7, subjected to PID processing by a PID adjustment circuit 9, and added to the signal Is by an addition circuit 11. The driving wheel 15 is rotationally driven by the signal amplified by the amplifier 13.

Therefore, in the driving system of the driving wheel 14, when the driving wheel 14 is rotating faster than the driving wheel 15, the feedback signal Fa is large, and a large amount is subtracted from the signal Is, and the rotation of the driving wheel 14 is reduced. The speed decreases, and in the drive system of the drive wheels 15, the feedback signal Fb
Is small and the amount of subtraction from the signal Is is small, so that the rotation speed of the drive wheel 15 is lower than that of the drive wheel 14, so that the drive speed of the left and right drive wheels is increased or decreased, and the vehicle body is displaced. The vehicle rotates and the traveling direction is corrected and controlled.

As shown in FIG. 3, the turning angle control device 19 of the present invention comprises a rear detector 22, an addition circuit (23, 2
4), subtraction circuit (25, 26), PID adjustment circuit (2
7, 28), amplifiers (29, 30), and potentiometers (31, 32) for detecting the actual turning angles of the drive wheels.
And so on.

The turning angle control device 1 configured as described above
9 detects the position displacement SB from the traveling path by the rear detector 22 (FIG. 1), and the output thereof is added to the angle signal 21 from the set angle command device (not shown) by the addition circuits 23 and 24 to obtain the signal Ig. The signals are input to subtraction circuits 25 and 26.

Feedback signals Fc and Fd of the actual turning angles from the potentiometers 31 and 32 provided on the left and right drive wheels 14 and 15 are input to subtraction circuits 25 and 26, respectively. In the drive system of the drive wheel 14, the signal Ig and the feedback signal Fd are subtracted by the subtraction circuit 25, PID processed by the PID adjustment circuit 27, and the drive wheel 14 is turned by the signal amplified by the amplifier 29. .

In the drive system of the drive wheel 15, the signal Ig and the feedback signal Fc are subtracted by a subtraction circuit 26, subjected to PID processing by a PID adjustment circuit 28, and amplified by an amplifier 30 to obtain a drive signal of the drive wheel 15.
Is driven to rotate.

Therefore, in the drive system of the drive wheel 14, if the drive wheel 14 has a larger turning angle than the drive wheel 15, the feedback signal Fd is large, and a large amount is subtracted from the signal Ig to turn the drive wheel 14. The angle becomes smaller,
Further, in the drive system of the drive wheel 15, the feedback signal Fc is small and the amount subtracted from the signal Is is small, so the turning angle of the driving wheel 15 increases, and the turning angle of the left and right drive wheels increases and decreases. The vehicle body rotates so as to eliminate positional displacement, and the traveling direction is controlled to be corrected.

Since the speed control of the driving wheels by the driving speed control device 18 and the turning angle control of the driving wheels by the turning angle control device 19 are performed by separate control circuits, the respective calculation speeds are high. Since both control devices simultaneously control the drive wheels, fast and accurate running control is possible.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be illustratively described in detail below with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention thereto, but are merely illustrative examples. It's just

FIG. 1 shows an example of an automatic guided vehicle used in a paper feed line of a newspaper rotary printing press. The automatic guided vehicle 40 has a rolled paper wound on a bobbin in the axial direction. Move in the AA direction, and at the appropriate position,
The direction is to move in a BB direction at a right angle (or an appropriate angle) to feed a roll of paper to a reel stand of a rotary printing press and to collect residual core.

Driving wheels 14 and 15 are rotatably arranged on a lower surface of a vehicle body 41 of the automatic guided vehicle 40 by a rotary drive mechanism (not shown), and casters 42 are provided at four corners. 4 is arranged horizontally. The rotating shafts of the drive wheels 14 and 15 are arranged so as to be rotatable by 360 °, and each of the rotating shafts is configured to be able to be turned by a turning control mechanism (not shown).

Outside the turning drive range of the driving wheels 14 and 15, the detectors 2 ″, 2
2 'and 22 ", 2' are provided and detectors 2" and 2 '
Drive wheels located at 14 'and 15' respectively
A detector for detecting a forward displacement and a rearward displacement of the vehicle body when moving in the A direction, and detecting turning displacements of the respective drive wheels from the positions 14 'and 15' by the detectors 22 'and 22 "; is there.

These detectors 2 ", 22 'and 22",
In response to the detection signal from 2 ', the rotation speed and the turning speed of the drive wheel are controlled by A-A direction driving means (not shown), but detailed description thereof will be omitted.

A front detector 2 and a rear detector 22 are provided along the BB direction. The front detector 2 detects the displacement SF of the vehicle body in the forward direction of the vehicle body 4, the rear detector 22 detects the displacement SB of the rear part of the vehicle body, and controls the rotation speed and the turning angle of the drive wheels 14 and 15, Each displacement angle θ1
And θ2 are controlled.

FIG. 2 is a configuration diagram of the drive speed control device.
In the figure, a drive speed control device 18 includes a front detector 2 for detecting a displacement SF in front of a vehicle body 4, a PID adjustment circuit 3, an addition circuit (4, 5), a subtraction circuit (6, 7), and a PID.
It comprises an adjusting circuit (8, 9), an adding circuit (10, 11), an amplifier (12, 13), an encoder (16, 17) for detecting the actual speed of the driving wheels 14 and 15, and the like. The speed signal 1 from a traveling speed command device (not shown) is configured to be input to the adders 4 and 5, respectively.

The driving speed control device 1 constructed as described above
Numeral 8 indicates a position displacement SF from the traveling path detected by the front detector 2 (FIG. 1), the output of which is subjected to PID processing by the PID adjustment circuit 3 and added to the speed signal 1 by the addition circuits 4 and 5 to generate the signal Is Are input to the subtraction circuits 6 and 7.

A feedback signal F of the actual drive speed from encoders 16 and 17 provided on the left and right drive wheels 14 and 15
a and Fb are input to subtraction circuits 6 and 7, respectively.
In the drive system of the drive wheels 14, the signal Is and the feedback signal Fa are subtracted by the subtraction circuit 6, subjected to PID processing by the PID adjustment circuit 8, added to the signal Is by the addition circuit 10, and amplified by the amplifier 12. The drive wheel 14 is rotationally driven by the signal thus given.

In the drive system for the drive wheels 15, the signal Is and the feedback signal Fb are subtracted by a subtractor 7, subjected to PID processing by a PID adjustment circuit 9, and added to the signal Is by an addition circuit 11. , Amplifier 1
The drive wheel 15 is rotationally driven by the signal amplified by the drive signal 3.

Therefore, when the driving wheel 14 is rotating faster than the driving wheel 15 in the driving system of the driving wheel 14, the feedback signal Fa is large, and a large amount is subtracted from the signal Is, and the rotation of the driving wheel 14 is reduced. The speed decreases, and in the drive system of the drive wheels 15, the feedback signal Fb
Is small and the amount of subtraction from the signal Is is small, so that the rotation speed of the drive wheel 15 is lower than that of the drive wheel 14, so that the drive speed of the left and right drive wheels is increased or decreased, and the vehicle body is displaced. The vehicle rotates and the traveling direction is corrected and controlled.

FIG. 3 is a block diagram of the turning angle control device. In the figure, the turning angle control device 19 includes a rear detector 22, an addition circuit (23, 24), and a subtraction circuit (25, 2).
6), PID adjustment circuits (27, 28), amplifiers (29,
30) and potentiometers (31, 32) for detecting the actual turning angles of the drive wheels. The angle signal 21 from a set angle command device (not shown) is input to the adders 23 and 24.

The turning angle control device 1 configured as described above
9 detects the position displacement SB from the traveling path by the rear detector 22 (FIG. 1), and outputs the output from the angle signal 21 by the addition circuits 23 and 24 and outputs the signal Ig as the signal Ig.
5 and 26 are input.

Feedback signals Fc and Fd of the actual turning angles from the potentiometers 31 and 32 provided on the left and right driving wheels 14 and 15 are input to subtraction circuits 25 and 26, respectively. In the drive system of the drive wheel 14, the signal Ig and the feedback signal Fd are subtracted by the subtraction circuit 25, PID processed by the PID adjustment circuit 27, and the drive wheel 14 is turned by the signal amplified by the amplifier 29. .

In the drive system of the drive wheel 15, the signal Ig and the feedback signal Fc are subtracted by a subtraction circuit 26, subjected to PID processing by a PID adjustment circuit 28, and amplified by an amplifier 30 to obtain a drive signal of the drive wheel 15.
Is driven to rotate.

Therefore, in the driving system of the driving wheel 14, when the driving wheel 14 has a turning angle larger than the driving wheel 15, the feedback signal Fd is large, and a large amount is subtracted from the signal Ig to turn the driving wheel 14. The angle becomes smaller,
Further, in the drive system of the drive wheels 15, the feedback signal Fc is small and the amount subtracted from the signal Is is small, so the turning angle of the driving wheels 15 increases, and the turning angles of the left and right driving wheels increase and decrease. The vehicle body rotates so as to eliminate positional displacement, and the traveling direction is controlled to be corrected.

Next, the operation of the present embodiment configured as described above will be described. In FIG. 1, the automatic guided vehicle 40 includes
The web wound on the bobbin is placed on the vehicle body 41, moved in the AA direction which is the axis direction of the bobbin, and stopped at an appropriate position by a command from an AA direction drive control means (not shown).

Next, from a set angle command device (not shown),
A set angle signal 21 (FIG. 3) of a predetermined angle (90 ° when moving at a right angle) is transmitted. On the other hand, the rear detector 22
(FIG. 1) to detect the position displacement SB from the traveling route,
The output is added to the angle signal 21 by the addition circuits 23 and 24 and input to the subtraction circuits 25 and 26 as a signal Ig.

The feedback signals Fc and Fd of the actual turning angles from the potentiometers 31 and 32 provided on the left and right driving wheels 14 and 15 are initially determined by the driving wheels 14 'and 15'.
, The driving system of the driving wheel 14 and the driving system of the driving wheel 15 are both controlled by the set angle signal 21. However, as the actual turning angle approaches a predetermined angle, the signal from the detector 22 is set. Control is performed based on the influence of the signal Ig to which the angle signal 21 is added and the feedback signals Fc and Fd.

When both driving wheels 14 and 15 are set in the BB direction, a traveling speed signal 1 is transmitted from a traveling speed command device (not shown) as shown in FIG. On the other hand, a position displacement SF from the traveling path is detected by the front detector 2 (FIG. 1), and its output is added to the speed signal 1 via the PID adjustment circuit 3 by the addition circuits 4 and 5 and is subtracted as a signal Is. 6,
7 is input.

The feedback signal F of the actual turning angle from the encoders 16 and 17 provided on the left and right driving wheels 14 and 15, respectively.
The drive wheels 14 and 15 are rotationally driven by a and Fb and the signal Is. If the rear displacement SB is detected by the rear detector 22 during the driving of the vehicle body 4 in the BB direction, the turning speed control device 19 and the driving speed control device 18 operate together to eliminate the position displacement. And the traveling direction is corrected and controlled.

As described above in detail, in the present embodiment, the drive speed control of the drive wheels by the drive speed control device 18 and the turning angle control of the drive wheels by the turning angle control device 19
Since the calculation is performed by separate control circuits, the respective calculation speeds are high. Further, the two control devices can simultaneously control the drive wheels, thereby enabling quick, accurate, and stable traveling control. .

[0044]

As described above, the present invention provides a travel control device for an automatic guided vehicle that can accurately correct the traveling direction with a simple configuration and can reduce the time required to correct the traveling direction. can do.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an automatic guided vehicle according to an embodiment of the present invention.

FIG. 2 is a block diagram of a driving speed control device.

FIG. 3 is a block diagram of a turning angle control device.

FIG. 4 is a block diagram of a control device using a plurality of detectors of a conventional automatic guided vehicle.

FIG. 5 is a configuration diagram of a control device using a plurality of detectors of a conventional automatic guided vehicle.

FIG. 6 is a configuration diagram of a control device using a single detector of a conventional automatic guided vehicle.

FIG. 7 is a block diagram of a conventional control device using a single detector of an automatic guided vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running speed signal 2 Front detector 3,8,9,27,28 PID adjuster 14,15 Drive wheel 16,17 Encoder 31,32 Potentiometer 12,13,29,30 Amplifier 18 Drive speed control device 19 Turning angle Control device 40 Automatic guided vehicle 41 Body 42 Casters

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Fumine Hayashi 5007 Itozaki-cho, Mihara-shi, Hiroshima Mitsubishi Heavy Industries, Ltd.

Claims (1)

[Claims] A drive wheel is provided on the left and right sides in the traveling direction of the vehicle body.
A traveling control device for an automatic guided vehicle that includes a detector at a rear portion that detects a lateral displacement of the vehicle body and that controls the driving wheels using an output signal of the detector to control traveling of the vehicle body; A drive speed control device that adjusts the drive speed of the left and right drive wheels by adding the vehicle body position displacement output signal detected by the front detector to the set speed signal, and a rear detector for the drive wheel turning angle signal. A turning angle control device that changes the traveling direction of the left and right driving wheels by adding the displacement output signal of the vehicle body detected by the control unit, and that the traveling direction can be controlled simultaneously with the driving speed of the left and right driving wheels. A traveling control device for an automatic guided vehicle, characterized in that: