JPS59212915A - Driving of car - Google Patents

Abstract

PURPOSE:To decelerate and stop smoothly a traveling car when an object is detected by giving the stepless control to the drive of the car in accordance with the distance to an obstacle. CONSTITUTION:The count value of a counter 6 means the contents of signal which show the distances between an obstacle 20 and the transmission and reception transducers 4a and 4b. Then the counter count value is applied to a speed calculating circuit 8 via a D/A converter 7 to calculate the speed in accordance with the distance to the obstacle 20. Thus it is possible to obtain the signal for setting the driving speed needed to avoid the collision to the obstacle or for stopping the traveling car. Then the output speed or stop is possible for the circuit 8 by a differential amplifier 9, a conduction control circuit 10, a switching circuit 11 and a speed detector 14. In such a way, the traveling car can be smoothly decelerated or stopped when an obstacle is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling vehicle such as an automatic guided vehicle, and more specifically, it is equipped with a function of detecting an obstacle and the distance thereto;
([Yes] We propose a running vehicle C bar that decelerates and stops based on the detected distance when a harmful object is detected.

It is necessary to ensure the safety of automatic guided vehicles by stopping them when an obstacle is detected in front of them in the direction of travel. As long-distance sieve 'L', short fl' giant +
It is known that two obstacle detection devices for 1f are provided, and the traveling speed is reduced when the former detects an obstacle, and the running speed is stopped when the latter detects an obstacle (equity 1).
] No. 1348-85555). However, with this configuration, the detection of the distance to the obstacle, deceleration, and stopping are performed in stages, and the operation is not smooth.

Kibori J was made in view of such circumstances,
Short term 1: The object of the present invention is to provide a running vehicle that is configured to perform detection, deceleration, and stopping control in a stepless manner so as to operate smoothly.

Below, the present invention will be described in detail based on drawings showing embodiments thereof.

FIG. 1 shows an electrical circuit diagram of a main part of a traveling vehicle according to the present invention, and a drive shaft (not shown) is rotationally driven by a motor 13. As shown in FIG. A switching circuit 11 made of a transistor or the like is provided between the motor 18 and the battery 12 to control the speed and stop of the motor 13.

Reference numeral 2 denotes a pulse generator which generates a pulse signal of a predetermined period as shown in FIG.

The transmitting circuit 3 emits a signal in the ultrasonic range, and when the pulse signal given from the pulse generator 2 is at a high level, it outputs it and supplies it to the transmitting transducer 4a.

The transmitting transducer 4a is housed in the vehicle body Ar1, and emits ultrasonic waves forward in the traveling direction. This transmitting transducer +j4aK is juxtaposed with a receiving transducer 4b, and if there is a 1) 1'μ book 2o in the traveling direction 6ri of the vehicle body, the obstruction 20
This F1 signal is amplified by the receiving circuit 5 and given to the cutter 6.

The received signal output by the receiving circuit 5 is schematically shown in FIG. 2(O). , Furthermore, transhoonie for outgoing calls? 4a and da.
The reliable transducer 4b can also be used with one transducer.

The output of the pulse generator 2 is applied to the counting start/recent terminal, and the output of the receiving circuit 5 is applied to the counting stop terminal. Figure (c)] is given to Kakatsuku as an object to be counted.

Therefore, the count-up value of force sensor 6 shown in FIG. After the pulse generator 2 emits a pulse, the transmitting transducer 4a emits an ultrasonic wave, and then the receiving transducer 4b detects the obstacle 20.
The signal content corresponds to the time it takes to capture the reflected wave from the
That is, both transducers 4a.

The signal content represents the distance between 4b and the obstacle 20.

Power 9 Tsuku 6 (/:) The output signal is sent to the I)/A (digital/analog) converter 7, and the D/A converter 7 counts Katsuku 6 with the pulse signal output from the receiving circuit 5. Reads the amplifier value and converts it to an analog signal.

D/A Transduyu output from IN 47?
4a.

The analog signal corresponding to the distance between 4b and the obstacle 20 is during speed calculation II! It is input to 2t8.

The speed calculation circuit 8 is a nonlinear signal conversion circuit as shown in FIG.

In Fig. 8, the horizontal axis is the input signal (distance dE to the obstacle 2o),
The output (traveling speed) is shown on the axis, and l(
It is configured to calculate and output a speed corresponding to the distance at the φ harmful object 20-f, and output a signal corresponding to this speed to the differential amplifier 9.

In addition, if i/J'l < shown in FIG.
Speed calculation circuit 8 to stop running immediately
The conversion characteristic is determined, and in the region larger than L+, the speed is set as a quadratic leap number.

A speed detector 14 such as a tacho generator is connected to the motor 13 or the driving wheels, and the output of the speed detector 14 is another input of the differential amplifier 9, and its output is Way, I! ! 1) Also, the signal corresponding to the output of the speed calculation circuit 8 and the actual speed is immediately mlJ of the switching circuit 1■.
i: It is configured to be output to the i11 circuit 10. $
The 111i control circuit io generates a pulse signal from the switching circuit 11 and outputs a pulse signal to energize the motor 13 continuously or intermittently, with a difference of 1.
The duty is changed by the output of the amplifier 9, and the motor 13 is rotated or stopped at a speed corresponding to the output of the calculation circuit 8.

In the wheel of the present invention configured as described above, the distance between the vehicle body and the harmful object 20 is detected in a stepless manner based on the count-up value of the cutter 6, and the detected distance and speed calculation circuit 8 are predetermined. Obstacle 2
A signal for setting the traveling speed or stopping the vehicle necessary to avoid a collision with the vehicle is obtained, and the differential amplifier 9. The output speed or stoppage of the speed calculation circuit 8 is realized by the continuity control circuit 10, the switching circuit II, and the speed detector 14. Then, the speed calculation circuit 8 instructs a stepwise speed according to the detected distance, so that the vehicle to be completed is nfI.
If an obstacle is detected in the direction of the vehicle, the UJ operation will be performed to smoothly decelerate and even stop.

In the above-mentioned embodiment, the distance between the vehicle body and the obstacle 20 was detected using the tarok pulses emitted by the clock generator I, but the pulses output by the pulse generator 2 and the pulses output by the receiver circuit 5 were It is also possible to convert the time difference between 7+llI in an analog manner using an integrating circuit or the like, or to switch based on the 1iJJ axis when the pulse outputted by the pulse generator 2 and the pulse outputted by the receiving circuit 5. It goes without saying that the circuit for performing the Sakai trace control 7i111 of the circuit 11 may be realized in software using a microcomputer. Historically, distance t4fA detection at an obstacle source is not limited to ultrasonic waves, but may also rely on other means such as My70 waves, infrared rays, etc. As described above, the running vehicle according to the present invention A short circuit that detects the distance to an obstacle in front, a speed calculation circuit that calculates the traveling speed according to the distance detected by the distance g11 detector, and a speed calculation circuit that calculates the traveling speed according to the distance detected by the distance Since it is equipped with a speed calculation circuit that regulates and stops the traveling drive source, it is possible to realize an unmanned 4Ri2 vehicle transport that smoothly decelerates and stops when leaving the vehicle. It goes without saying that the present invention is applicable not only to automatic guided vehicles but also to vehicles in general.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is an electrical circuit diagram of a main part of a traveling vehicle according to the present invention, FIG. 2 is an explanatory diagram showing the counting contents of the kakunta, and FIG. It is a graph showing the conversion characteristics of the speed calculation circuit. I...Tarlock generator 2. Curse generation H"
44a, 4b... Transduplication 6... Kakunku 8... Speed calculation circuit lO... 4-way control circuit 11.
...Switching circuit patent Akihito Tsubaki Chain Co., Ltd. Patent attorney Noboru Kono

Claims (1)

[Claims] 1. A distance riIff-detector that detects the distance between the vehicle body and an obstacle in front of the vehicle in the direction of travel, and a speed calculation circuit that calculates the travel speed multiplied by the distance detected by the detector;
A running vehicle characterized by comprising a speed control circuit that regulates and stops a running drive source of the vehicle based on the speed calculated by the speed calculation circuit.