JPS60141492A - Steering gear for body to be moved - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention [Technical Field of the Invention] The present invention relates to a control device for a moving object in an automatic guided vehicle or a robot that moves the object in a predetermined direction, and in particular, the present invention relates to a control device for a moving object in an automatic guided vehicle or a robot, and in particular, to This applies to the 411i-line type.

[Prior Art] First, this conventional device will be explained with reference to FIG.

In 1 sword, (1) is a moving object that corresponds to 11 sweat people wi Joystick (joy 5tick) (
4) The operation box that sends out the fingers 4 and 4 in the direction of movement of the object to be moved (1) and the operation box (2).
and are connected by a cable (3) for signal transfer 'a', and in the same figure, (y,,v) is connected by a cable (4) for +5. (X, Y) is the fully mobile body (1) or the seat P1. l
i-type (i'!: Taste.

In this conventional device, in order to move the object (1) to be moved in the direction 5j- using the joystick (4), the joystick (4) uses the coordinate system (i, Tilt the joystick (4) so as to move the position L1' direction specified by In figure (a), if the orientation direction of the moving object (1) and the operation box (2) is j(), then the moving object (
1) in the direction 1i+l A +, move the joystick (4) f in the horn direction
c(j), and if the two directions of the F and IS do not match as shown in Figure 51(b), to move the object (1) in the direction B, All you have to do is take into account the difference in pointing direction and tilt the joystick (4) in that direction.

However, if the direction of the moving object (1) and the operation box (2) is the master, the operator is the one who is in control.

It takes a long time to learn to tilt (4) in the correct direction, and the difference in pointing direction also changes as you move.
11! It is difficult for anyone to move the object (1) to be moved while keeping it at C1, since the object changes 411 times from time to time.

[Summary of the Invention] The present invention has been made in view of Section 1.1. The purpose is to provide a body control device.

[Embodiment of the Invention] FIG. 2 shows the configuration of a control device according to an embodiment of the present invention. It should be noted that FIG. 4A relates to the structure on the side of the moving object (1), and FIG. 2B relates to the structure on the operation box (2) side.

In Figure (a), (5) is a computer (hereinafter referred to as
(referred to as rcPUJ), (6) is a pointing detection device consisting of, for example, a gyro, which detects the pointing direction, and (8) is a signal from the pointing detection device (6) and a signal from the operation box (2) via the connector (7a). The multiplexer (8) converts the signal from the multiplexer (8) into analog/digital conversion (hereinafter referred to as "^/D conversion") and sends it to C; PU (5). The CPU (5) receives information necessary for maneuver control through the above-mentioned devices.

In addition, (10) is a servo control device, (Ila) ~ (j
ld) is a servo amplifier, (12a) to (12d) are servo motors, (+3a) to (13d) are position detectors, and the servo control chain: (10) receives commands from the CPU (5); Also, the feet puncture signal from the position 461 output (13) is taken in, and each servo amplifier (l l
Control each of a'l~(11d) to send out the bow,
Each motor (12a) to (+
In the same figure (b), (14) is a joystick (4) which is adapted to move the object (1) to be moved in a predetermined direction by appropriately rotating the joystick (14).
), a designated direction detector that detects a designated direction according to (15)
is a direction detection device, for example a gyro, which detects the pointing direction of the operation box (2), and the outputs of the specified direction detector (14) and direction detection device (15) are connected to the side of the moving object (1). The signal is sent to the moving object (1) through the connector (7b), and as described above, it is sent to the CP via the connector (7a), the multiplexer (8), and the A/D converter (9).
It is designed to be taken into U(5).

Further, (16) is an input device such as a switch for commanding operations other than steering, and (17) is a lamp, CR, etc.
The display device consists of Tg and the signal from the human power device (16) is connected to both connectors (?a), (7b) and the gate 1.
- (18) to the CPU (5), and the display device (17) displays the output of CPII (5) through the latch circuit (18).
) and both connectors (7a) and (7b) for reception and display.

The operation of the illustrated embodiment having the configuration 1- below will be explained with reference to FIG.

The CPU (5) outputs the outputs from the direction detection devices (6) and (15) of the moving object (1) and the operation box (2), for example, il
l! The angles (α and β shown in FIG. 3) with respect to the magnetic field N are manually determined via a multiplexer (8), an A/D converter (9), etc. Next, a relative difference (α-β) in pointing direction is calculated based on these outputs. In addition, the CPU (5
) connects the output of the designated direction detector (14) to both connectors (7a
).

(7b), multiplexer (8), A/D converter (
9), the direction of movement C specified by the receiving joystick (4) is taken in. The CPU (5) then compensates the coordinate system of the operation box (2) by the relative difference (α-β) described above, and moves it using the corrected coordinate system (xo, yo). Represent the specified direction C. For example, if the specified direction C can be specified by the angle γ with the y-axis in the coordinate system (x, y) before correction, then the direction C can be specified in the coordinate system (+to, yo) after correction. The expression is γ-(α-β) as shown in FIG. 3(b). The CPU (5) then sends a movement direction command corresponding to the angle 1μγ-(α-β) to the search control circuit (10).

The zapo system (311J circuit (lO) has the following functions: i1, each motor (12a) to (12a) for receiving the signal and moving it in that direction;
12d), and also consider the feedback signals from each position detector (13a) to (13d)! ! Shitsutsuname servo amplifier (lla) ~ (lid)
Sends commands to.

In this way, the object to be moved (1) can be moved in a direction that is physically different from the direction in which the joystick (4) is tilted. Conversely, the operator is responsible for moving the object (
If you want to move 1) in a predetermined direction, just tilt the joy switch (4) in that direction.

It should be noted that in the embodiment described in 1-1, an arrow was used as the orientation detection device, but the present invention is not limited to this, but
For example, the pointing direction may be detected by transmitting and receiving data at a distance of more than 7° tIIk to and from a specific location in a building. Also,
In the first embodiment, the coordinate system for supplementing iF is the coordinate system of the operation box, but it may also be the coordinate system of the object to be moved, and similar effects can be expected.

[Effects of the Invention] As described in 1- below, according to the present invention, the difference in pointing direction between the object to be moved and the operation box is subjected to supplementary IF processing within the device, so that the direction of movement specified by the operator can be changed. This becomes the moving direction of the object to be moved, and the object to be moved can be easily maneuvered without requiring any skill.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram for explaining the operation method using a conventional device, Fig. 2 is a diagram showing the configuration of an embodiment of the present invention, and Fig. 3V is an explanatory diagram for explaining the coordinate system transformation according to the present embodiment. It is an explanatory diagram of a sudame. (1)...Moved object, (2)...Operation box, (3)
... Cable, (4) ... Movement direction designation device (joystick)
, (5)...CPU, (13), (15)...Direction detection device, (7a), (7b)...Connector, (8
)...Multiplexer, (8)...A/D conversion! i
:, (+4)...Specified direction detector. In addition, in the figure, the turn - 't' = the bow is the same, and y indicates the corresponding part -
6 Agent large eyebrow increase 〃1 <a> 6 (b)

Claims (1)

[Claims] Tsuji 1 (a movement direction specifying device is installed in a freely transportable operation box (iii), and the moving object is moved in the specified direction.
In the Tom Y device, if a direction detection device is provided on the operating box and the moving object, respectively, to detect their own pointing direction with respect to the absolute coordinate system, the output of both detection devices will be 1 (
Determine the difference in the relative pointing direction between the operation box and the object to be moved, and specify the direction value by the movement direction specifying device) by the amount of the difference. A Y-device for manipulating a moving object whose provision is a +4 feature.