JPS59157719A - Unattended car - Google Patents

Abstract

PURPOSE:To attain an unattended car which is capable of a small sharp turn by providing controllable driving wheels in the front, the rear, the left, and the right. CONSTITUTION:An induction line (a) is provided in parallel with the advance direction of a vehicle, and an induction line (b) is provided in the direction orthogonal to the advance direction. When the vehicle is moved forward, motors 3A and 3B of front running wheels 2A and 2B are driven and controlled on a basis of the first following-up sensor 6 in the front part; and when the vehicle is moved backward, motors 3A and 3B of rear running wheels 2A and 2B are driven and controlled on the basis of the first following-up sensor 6 in the rear part, and the relative speed difference between left and right motors 3A and 3B is utilized to perform steering control. When the vehicle is moved left, motors 3A and 3B of front running wheels 2A and 2B and motors 3A and 3B of rear running wheels 2A and 2B are driven and controlled on the basis of the second following-up sensor 7 in the left; and when the vehicle is moved right, motors 3A and 3B of front running wheels 2A and 2B and motors 3A and 3B of rear running wheels are driven and controlled on the basis of the second following- up sensor 7 in the right.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to electromagnetic induction type and Regarding unmanned vehicles such as optically guided vehicles.

Conventionally, this type of unmanned vehicle has the following (a) and (b).

There is one that has the gist of the structure shown in 9.

(B) As shown in Fig. 8, the axles of a pair of parallel steering wheels (2A) and (2B) are located on both the front and rear sides of the vehicle body frame fi+, respectively, at an appropriate distance from each other in the lateral direction. Interlocked motors (8A) and (8B) which can be driven in forward and reverse directions are installed with the running wheels (2A) and (2B) oriented in the front-rear direction.

(b) A directional control shaft (5) is disposed at or approximately at the center in the longitudinal direction of the vehicle body frame (11).

(c) the motors (8A), (8B) and (3A);
(8B) shows that the aircraft moves to the guide lines (a,
) or (bl).

- In this conventional unmanned vehicle, from the driving route along one guide line (8L) to the other guide line (bl
Even when shifting to a driving route along the above-mentioned automatic steering control, the relative speed difference between the left and right motors is used to make the transition, so the connecting route between the two driving routes can be adjusted to the turning performance of the unmanned vehicle. It is necessary to configure a curved route with a corresponding curvature, and additional space must be secured for this curved route format, which has the disadvantage of placing severe constraints on the line design of unmanned vehicles. .

An object of the present invention is to enable the above-mentioned drawbacks in line design to be rationally improved.

The Tokuto configuration of the unmanned vehicle according to the present invention, which has been made to achieve the above object, includes a pair of steering and running wheels located on both the front and rear sides of the vehicle body frame at an appropriate distance from each other in the lateral direction; A frame with 9 #7 motors capable of driving forward and reverse rotations that are individually linked to the AiJ axle is mounted rotatably around the vertical axis at the center or almost the center of the AiJ vehicle's travel. A freely directional driven wheel is disposed at the center or approximately at the center between the pair of movable frames, and the 1g1J motor is connected to guide wires laid across the floor along the travel route. Based on the detection results of the first tracking sensor that detects the guide line along the front-back direction of the vehicle body frame or the second follow-up sensor that detects the guide line that runs along the left-right direction of the vehicle body frame, the aircraft is guided along the guide line. The vehicle body frame is configured to be driven and controlled so as to follow the vehicle, and furthermore, between the vehicle body frame and the movable frame, the running wheels are held in position so as to face in the front-rear direction and in a state to face in the left-right direction. Only when possible and when the running wheels are driven with a relative speed difference that is larger than the maximum relative speed difference during the automatic steering control, the direction of the movable frame at the vertical axis core layer is changed. The point is that there is a mechanism that allows this.

The effects and effects of the above features are as follows.
・〈Operation〉 In other words, when an unmanned vehicle is moved along a guide line along its longitudinal direction, at least one of the front and rear left and right wheels is moved based on the detection result of the first tracking sensor described in 11J. By driving and controlling the monitor, the unmanned vehicle can automatically follow the guide line in the front and rear directions.

For example, when an unmanned vehicle is moved from a driving route along a front-rear guidance line to a driving route along a left-right guidance line that intersects with this, the front and rear driving wheels can be automatically steered. By driving the aircraft with a relative speed difference greater than the maximum relative speed difference at the time, only the front and rear movable frames are driven by their respective running wheels while maintaining the entire aircraft in an attitude along the longitudinal guidance line. The direction can be freely changed along the left and right guide lines. Furthermore, in such a direction change, by controlling the drive of the motor after the aircraft SiJ based on the detection result of the second tracking sensor, the direction of the unmanned vehicle is abruptly changed at the connection point between the two guide lines. After the vehicle is turned, it can automatically follow the guide line in the left and right direction.

<Effects> Therefore, there is no need to form the connecting portion of the two flange conductors into a curved route as in the past, and a special space for forming the curved route can be eliminated, so that the driving line of the unmanned vehicle as a whole can be improved. can be designed and constructed freely according to various conditions such as space and equipment arrangement, and in a manner that occupies as little space as possible. Moreover, since it is possible to change the orientation of both movable frames using the motor that is originally equipped in this type of unmanned vehicle, there is no need for a special drive device for changing the orientation. This effect can be achieved rationally and economically while simplifying the structure of the trolley itself.

Hereinafter, embodiments of the configuration of the present invention will be described based on the drawings.

To configure an electromagnetic induction type unmanned vehicle, as shown in FIGS. 1 to 5, a pair of steering/running wheels (
2A), (2B)・and these two traveling transports (2A), (2
A frame (4) equipped with motors (8A) and (8B) capable of driving in forward and reverse directions that are individually linked to the axle of B) is placed on a line connecting the axle axles of both running wheels (2A) and (2B). And, the vertical axis center (P) at the center between these two traveling transports (2A) and (2B) is rotatably installed as a fulcrum, and the pair of front and rear movable frames (41, (center between 41) A pair of left and right driven wheels +51, +51, which are rotatable around the vertical core layer and have an exit direction, are disposed at the center or approximately at the center.

At the front and rear sides of the vehicle body frame tl+, at the center in the vehicle width direction, there are electromagnetic induction wires (al, (in bl), which conduct high-frequency currents, which are buried in the floor surface in a crosswise manner along the driving route. A first tracking sensor (6) consisting of a pair of pickup coils that detects the amount of lateral orientation of the aircraft with respect to the longitudinal direction of the vehicle body frame (al) is provided along the longitudinal direction of the vehicle body frame ( 1) At the center of the left and right sides in the longitudinal direction of the vehicle, there are electromagnetic induction wires along the left and right direction of the vehicle body frame il+ (lateral displacement of the vehicle relative to bl). A second tracking sensor (7) is provided.

Additionally, a device (8) for detecting the running position of the unmanned vehicle, a receiver (9) into which destination data such as branching position, merging position, deceleration position, and stop position are input, and the sensor +6+
, +61, +71, +71 and the travel position detection device (8ν), and the input data signal of the receiver (9), the aircraft automatically follows and moves along the electromagnetic induction line (al or (bl). In order to branch, merge, decelerate, and stop the travel route at a desired position, the motor
A), (8B) and (8A), (8B) drive circuit (I
OA), (IOB) and (IOA), (IOB), a control calculation device (!) using a microcomputer is provided, and the body frame
1 and the movable frame (4), the running wheels (
2A), (2B) ft. The running wheels (2
Only when A) and (2B) are driven in opposite directions with a relative speed difference that is larger than the maximum relative speed difference during automatic steering control, each movable frame ni, +4+
A mechanism (1) is provided to allow the direction to be changed on the vertical axis core layer.

The mechanism 021 includes the movable frame (4)
, in the above-mentioned vertical axis (P)'& arc shape with the center, and in the circumferential direction? A disc (12
A) At the same time as fixing the vehicle body frame fil.
On the side, the entire movable frame (4) is elastically secured to the opposing locking portions (12a), (12a) of the locking portions (12a) of the disk (12A). A pole (12B) that holds the position in two states.

(12B) and springs (12C), (12C) are provided.

Next, the steering and operation control by the control calculation unit N (Ill) will be explained.

Destination data such as the branch position, merging position, deceleration position, and stop position received by the receiver (9) is stored in the memory (15) via the I10 port α4 and the CPU (141).

In the CPU-, the first tracking sensor (6)
.

(6) Select the sensor located on the unmanned vehicle movement side from among the second tracking sensors +71 and +71.

Detection of this selected sensor, the signal is I10 baud 11
When the detection signal is input to the CPU (14) via the 131tl-, the detection signal is calculated according to the program stored in the Memo'J (15+), and based on the calculation result, the aircraft moves to the electromagnetic induction wire (8L) or fl). The motor (8AJ, (
Control signals are output to the drive circuits (IOA), (IOB), etc. of 8B).

When moving forward, the first tracking sensor (6) on the front
Based on the front running wheels (2A), (2B) motors (8
A), (8B), and when going backwards, the rear running wheels (2A) are controlled based on the rear first tracking sensor (6).
, (2B) drive and control motors (8A) and (8BJ),
Steering is controlled using the relative speed difference between the left and right motors (8A) and (8BJ). Also, when moving laterally to the left, the front running wheels (2
A), (2B) motors (8A), (8B) and rear running wheels (2A), (2B) motors (8A), (833) are drive-controlled, and when moving laterally to the right side, the right side Front travel 4m (2A) based on second tracking sensor (7)
, (Drives and controls the motors (8A), (8B) of 2B and the motors (8A), (8B) of the rear running wheels (2A), (2B), and controls the motors (8A), (8B) before and after these. and(
Steering control is performed using the relative speed difference with 8A) and C3B).

While the aircraft is automatically moved along the electromagnetic induction line (AL or BL), the traveling position is detected by the detection device (8), and the detection signal and the traveling position are stored in the memory. The data signal is calculated by the CPU (141). When it is determined by this calculation that the aircraft has arrived at the data branch position, merging position, deceleration position, or stop position, the corresponding control signals are sent to the r10 port 0 field. From motor (8A),
(8B)... is output to the drive circuits (IOA) and (IOB).

The unmanned vehicle is branched from a first traveling route along the longitudinal electromagnetic induction Ha (al) to a second traveling route along the left-right electromagnetic induction line (bl, or from the second traveling route to the first traveling route). When merging, use the front running wheels (2A)
, (2B) and the motors C3k), C3B) of the rear running wheels C2k), C2B) are controlled to drive in opposite directions, respectively.
2BJ is changed from a front-back posture to a left-right posture, or from a left-right posture to a front-back posture.

In addition, in order to prevent unexpected movement of the aircraft body when changing the direction of the running wheels (2A) and (2B) as described above, the vehicle body frame (1 ) so that the forces acting on the motor (
8A) and (8B).

The traveling position detection device may be one that detects the absolute address of a specific position on the traveling route, or one that counts the number of display marks placed at appropriate intervals along the traveling route from the starting position. Any device that detects the current running position from the count number may be used.

In the above embodiment, electromagnetic sensors are used as the first tracking sensor (6) and the second tracking sensor (7), but optical sensors may be used instead.

FIG. 6 shows another embodiment of the mechanism α, in which arc-shaped locking portions (12a) are provided at positions g of the disc (12A) that are displaced by 4ts in the circumferential direction of the disc (12A). 41.5 degrees and 0 to the guide line +al in the front and back direction.
Three guide lines (1) that intersect each other at angles of 1.
It is structured so that it can follow both (b and (b)).

In short, the intersection angle of the guide lines (1) can be freely set according to various conditions such as space and arrangement of equipment, and the structure of the mechanism can be modified accordingly. Set the direction of the ring (2AJ, C2B).

FIG. 7 shows another embodiment, in which the mJ lead line (a
A pair of pickup coils +16 is provided on a line inclined at an angle of 415 degrees with respect to (b), and at a location equidistant from the intersection of both tsuba 4 wires (fat, bl). Thus, the first follow-up sensor (6) and the second follow-up sensor (7) are configured to be used in combination.

[Brief explanation of drawings]

1 to 5 show an embodiment of the non-vehicle according to the present invention, and FIG. 1 and FIG. 4 is an enlarged view of the main parts, and FIG. 5 is a control system diagram. Figure 6,
FIG. 7 is a plan view showing different embodiments, and FIG. 8 is a plan view showing a conventional unmanned vehicle. (1)...Vehicle frame, (2A), (2B)
...Steering and running wheels, (8A), C3B)...
...Morph, (4) ...Movable frame, (
6)... Driven wheel, (6)... First tracking sensor, (7)... Second tracking sensor,
Bet...Mechanism, (P)...Vertical axis, (a
l, (bl...Guiding line. Figure 5 Figure 7 Figure 8

Claims (1)

[Claims] ■ A pair of steering and running wheels (2A) located at the front and rear sides of the vehicle body frame +I+, respectively, at an appropriate distance from each other in the lateral direction.
, (2B) and both of these running wheels (2A). A frame (4) equipped with motors (8A) and (8B) capable of driving in forward and reverse directions that are individually linked to the axle of (2B) is located in the center or approximately the center between the two traveling transports (2A) and (2B). A pair of front and rear movable frames (4) are mounted rotatably around the longitudinal axis (Pi) of the section. A freely directional driven wheel (5) is located in the center or approximately in the center between (4). The motor (8A
), (8B) and (8A), (8B) are guide wires +FL+ laid in a crossing state on the floor along the travel route,
Of (b), the first tracking sensor (6) that detects the guide line (al) along the front-rear direction of the vehicle body frame (1) or the second follow-up sensor (6) that detects the guide line (bl k) that runs along the left-right direction of the vehicle body frame +11. The vehicle body frame (1) and the movable frame +41 are configured to be driven and controlled so that the vehicle body follows the guide line (al or fbl) based on the detection result of the vehicle body frame (1) and the movable frame +41. , +41
There are Ail travel @ (2A) and (2B) respectively.
The running wheels (2A) and (2B) are 6i
A mechanism (in the order of The unmanned vehicle is equipped with: ■ The seventh tracking sensor (6) is installed at the rear of the vehicle, and the second tracking sensor (7) and driven wheels (5) are mounted on the left and right sides, respectively. An unmanned vehicle according to claim 0, wherein a pair of unmanned vehicles are provided.