JPS60205613A - Run control system for unmanned car - Google Patents

Abstract

PURPOSE:To control the run of the unmanned car smoothly without snaking by giving steering motors for front and rear wheels a difference in speed according to a position shift with a plusewidth modulated current, and steering the car. CONSTITUTION:Speed patterns corresponding to respective position shifts + or -alpha1- + or -alpha4 are written previously on semiconductor memory. Then, guide detection signals from guide signal detection coils 7 and 8 are read in a computer 11 at constant intervals to calculate position shifts between front wheels 5 and rear wheels 6 from a guide signal line 3. When the position shifts are calculated, the computer 11 selects addresses alpha1-alpha4 of the semiconductor memory corresponding to respective position shifts, and outputs contents of the addresses to control a motor driving circuit 18, thereby performing speed control over steering motors 12 and 13 of the front wheels 5 and rear wheels 6 with the plusewidth modulated current. Namely, the motors 12 and 13 are controlled to higher speeds when a position shift is large and to lower speeds when small, thereby controlling the run of the unmanned car 1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical field to which the invention pertains] The present invention relates to a driving control method for an unmanned vehicle, which causes the unmanned vehicle to travel along guidance signals installed in advance on a driving route.

[Prior art and its problems]

In conventional driving control systems for unmanned vehicles, a servo motor is used to speed up the motor if the amount of positional deviation is large.
If it is small, there is a method to control the drive of the servo motor slowly, but this method uses an amplifier.

There are problems such as the drive circuit becoming larger and more complex and generating heat.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a driving control system for an unmanned vehicle that can smoothly control the driving of an unmanned vehicle along a driving path and a guidance signal line laid down.

[Summary of the invention]

In the present invention, a speed button of the steering speed is written in advance in a semiconductor memory built in the input/output device (Ilo) in the computer in response to the amount of positional deviation, and the amount of positional deviation is calculated from the guidance detection signal measured at each measurement point. Therefore, a computer selects the address in the semiconductor memory where the speed button corresponding to the amount of positional deviation is stored, and the speed of the steering motors for the front and rear wheels is controlled by pulse-width modulated current according to the contents of the selected address. Control. That is, this is a driving control method for an unmanned vehicle in which the steering motor is driven quickly when the amount of positional deviation is large, and the steering motor is driven slowly when the amount of positional deviation is small, thereby controlling the driving of the unmanned vehicle.

〔Effect of the invention〕

According to the present invention, a speed mode corresponding to the amount of positional deviation from the guidance signal line is provided, and the
By speed-controlling and driving the steering wheel motors for the front and rear wheels of the 11-point vehicle, it is possible to smoothly control the vehicle without moving along the guidance signal line.

[Embodiments of the invention]

An embodiment according to the present invention will be described using FIGS. 1 to 5. First, the configuration of the device will be explained.

As shown in FIG.
is installed, and an alternating current with a frequency fO is passed through the induction signal line 3 from an oscillator 4. Further, a guidance signal detection coil 7 that detects guidance signals from the guidance signal line 3 to the front wheels 5 and rear wheels 6 of the unmanned vehicle 1
．． 8 and before @5. Botenshi meter 9.10t-mounted to detect the steering angle of the rear wheel 6, induction signal detection coil 7.8
and the signals of the potentiometers 9 and 10 are input to the computer (including ■10) 11. In addition, the unmanned vehicle 1 has front wheels 5. Rear wheel 6 steering motors 12, 13. Traveling motors 14, 15
．． 16 and 17 are attached, and all of the one or more motors are controlled by the computer 11 via the motor drive circuit 18.

Next, a method for steering an unmanned vehicle will be explained using FIG. 2. Front wheel of unmanned vehicle 1 5. Attach the induction signal detection coil 7.8 to the center of the axle of the rear wheel 6.

The magnetic field generated by the alternating current flowing through the induction signal line 3 installed on the running path 2 is detected. Since the direction of this magnetic field changes with the guidance signal line 3 as a boundary, the amount and direction of deviation from the guidance signal line 3 can be detected by the induction signal detection coil 7.8. 1 front wheel 5. The rear wheels 6 are steered in the directions of the respective arrows, and control is performed so that the amount of deviation becomes zero. As shown in Fig. 3, the steering angle and direction are determined by the steering angle signal Bs detected by the induction detection signal Eg detected by the induction signal detection coil and the potentiometer.
control so that it is equal to In other words, if there is a positional shift of the unmanned vehicle Ka, a guidance detection signal b is detected, and when the wheels are steered to a steering angle d at which a steering angle signal C, which is equal to this detection signal, is generated, the induction detection coil is activated. Get close to the signal line.

Therefore, the guidance detection signal decreases from 6 points in the direction of the arrow, the steering angle signal also decreases in the direction of the arrow, and the unmanned vehicle runs along the guidance signal line.

As shown in FIG. 4, the traveling control is performed by adjusting the amount of wheel position deviation from the guidance signal line in advance by α1. α2. α3゜α4.
-αl, -α2. -α3. - Subdivide into α4. Next, as shown in FIG. 5, each positional deviation amount α1. α2. α3.
α4. -α1-α2. -α3. - Write speed patterns 1 to 8 as speed patterns for each of α4. Here, speed pattern 1 and speed pattern 5. Speed pattern 2 and speed pattern 6, speed pattern 3 and speed pattern 7, and speed pattern 4 and speed pattern 8 have the same speed but differ only in the direction of rotation of the motor.

Therefore, the induction detection signal from the induction signal detection coil 7.8 is read into the computer 11 at regular intervals, and the front wheel 5.8 is read from the induction detection signal. The amount of positional deviation of the rear wheels 6 from the guidance signal line 3 is calculated. Front wheel 5. Once the displacement amount within 60 positions of the rear wheels has been determined, the computer 11 selects the addresses α1 to -α4 of the semiconductor memory corresponding to the respective displacement amounts, and outputs the contents of the address to control the motor drive circuit 18. , front wheel5. The speed of the citrus manipulation motors 12 and 13 of the rear wheels 6 is controlled by pulse width modulated current. That is, when the amount of positional deviation is large, the handling motors 12 and 13 are driven quickly, and when it is small, the handling motors 12 and 13 are driven slowly, and the unmanned vehicle 1 is controlled to travel.

As described above, according to the control method according to the embodiment of the present invention described in detail, it is possible to prevent the drive circuit from becoming larger and more complicated, and it is possible to obtain the same results as the conventional control method. The vehicle can be smoothly controlled without running along the vehicle.

[Brief explanation of drawings]

FIG. 1 is a detailed configuration diagram of the present invention, FIG. 2 is an explanatory diagram explaining travel control, and FIGS. 3 and 4 are steering angles,
A curve diagram showing the relationship between the drilling angle signal, the guidance detection signal, and the amount of positional deviation, and FIG. 5 is a diagram showing the relationship between the amount of positional deviation and the speed pattern. 1... Unmanned vehicle, 2... Running path, 3... Guidance signal line, 4... Oscillator, 5.6... Front wheel, rear wheel 7, 8... Guidance signal detection coil 9. 10・
...Potentiometer, 11...Calculator 12.13.
... Steering motor, 14, 15, 16.17... Traveling motor, 18... Motor drive circuit. Agent Patent attorney Kensuke Norichika (and 1 other person) Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] An unmanned vehicle that runs along a guidance signal line with its front wheels and rear wheels independently controlled will be able to control the front and rear wheels depending on the amount of positional deviation from the guidance signal line. An unmanned vehicle driving control system that uses a pulse-width modulated current to give a speed difference to the motor to perform maneuvering.