JPS60211511A - Inductive running method of unattended truck - Google Patents

Abstract

PURPOSE:To make the control state stable by operating a steering signal from a steering controller and a track change signal from a track change circuit and running an unattended truck with a state deviated from a normal track so as to prevent damages to a specific road face. CONSTITUTION:If pickup coils 2a, 2b are deviated from an inducing wire, a voltage induced respectively onto the coil is different, amplified by AC amplifiers 3a, 3b and detected voltages e1, e2 are outputted. The voltages e1, e2 are inputted to a comparator C1, from which a deviation voltage e3 is outputted. On the other hand, a sinusoidal wave voltage e4 of an ultralow frequency is outputted from a sinusoidal wave oscillator 4, inputted to a comparator C2 together with the voltage e3, a steering voltage e5 is outputted as the steering signal and the unattended truck is subjected to steering. Thus, sisce the orbit of the wheels is not concentrated on a particular part only but spread over a width, the damage to the running road face are prevented.

Description

[Detailed description of the invention] Technical field The present invention relates to a guided driving method for an unmanned vehicle.

BACKGROUND ART Conventionally, in the electromagnetic induction type unmanned vehicle shown in FIGS. 1 to 3, since the vehicle always travels along the same trajectory along a guide line laid on the road surface, driving wheels 1a and steering wheels 1b are used. The road surface is damaged locally.

For this reason, on relatively soft roads such as asphalt roads, only the part where the wheels pass is indented, and the underside of the unmanned vehicle's body is placed against the road surface, or even if the underside of the unmanned vehicle does not hit the road surface, the underside of the unmanned vehicle is placed on the underside of the vehicle body. The height of the steering control pickup coils 2a and 2b becomes lower than the set value with respect to the guide wire 1-, and the control condition becomes unstable. There was the inconvenience of having to re-lay the floor.

In addition, the bumps made the ride uncomfortable for other general vehicles as well.

Purpose This invention was made to solve the above problem, and the purpose is to make an unmanned vehicle travel in a position displaced from the normal trajectory. Therefore, we propose a guided driving method for unmanned vehicles that can prevent local damage to the specific road surface that the wheels pass and stabilize the control state.
1 (η).

Structure Does the present invention achieve target 1 above? In order to achieve this, the steering signal from the steering-1 controller and the trajectory change circuit output from the +II guide change circuit are manipulated so that the unmanned vehicle is displaced from the normal travel guidance and runs in the I, : state. is adopted.

EXAMPLE Hereinafter, an example of a guided driving method for an unmanned vehicle embodying the present invention will be described with reference to the drawings. In addition, regarding the unmanned vehicle of this invention, the same reference numerals are attached to the same members as in the conventional unmanned vehicle, and the description thereof will be omitted.

First, the configuration of the steering controller M of an unmanned vehicle will be explained with reference to FIG. , AC amplifiers 3a and 3b are connected, respectively. Moreover, in both amplifiers 3a and 3b,
Detection voltage e1. A comparator C1 is provided to compare e2;
The comparator C1 outputs a deviation voltage e3. A comparator C2 is connected to the comparator C1,
The comparator C2 includes a sine wave oscillator 4 as a trajectory changing circuit.
is connected via switch SW1, and the deviation voltage e3
and a sine wave voltage e4 output from the oscillator 4, and a steering voltage e5 is output. Further, a servo amplifier 5 is connected to the comparator C2, and the amplifier 5
A steering output voltage e6 is output from the steering motor 6 to the steering motor 6.

Next, the operation of an unmanned vehicle equipped with the steering controller M configured as described above will be explained.

Now, when the switch SW1 is turned on, the pickup coils 2a and 2h detect V- flowing in the low frequency current in the induction wire. At this time, both coils 2
a, 21) is the guide wire 1-h, and both coils 2a
, 2++ are amplified by AC amplifiers 3a and 3b, respectively. In addition, the same amplifier 3
a, Detection voltage el from 31'.

e2 is output, both 'rIHLO1 and 02 are input to the comparator C1, and the deviation voltage e3 is output.

On the other hand, the sine oscillator 4 outputs an extremely low frequency sine wave voltage e4 below 11-I Z J), and the deviation voltage e
The steering voltage e5 is input to the comparator C2 together with the signal 3, and the steering voltage e5 is output from the comparator C2 as a meandering signal, and the unmanned vehicle meanders. Further, the opening and closing of the switch SW1 is performed according to a signal from a control device (for example, a microcomputer) mounted on the vehicle, but when the switch is turned off, a sine wave voltage e4 is input to the comparator C2. is gone, comparator C2
The steering voltage e5 is output as a straight-line running signal, and the unmanned vehicle runs normally, that is, runs along the guide line 1-.

As described above, in the embodiment, the detection voltage e3 corresponding to the horizontal suspension of Z5-1 and the sine wave voltage e4 from the sine wave oscillator 4 are added and this is used as the steering voltage e5 as a meandering signal. Since the steering output voltage e6 is outputted from the servo amplifier to the steering motor 6, the unmanned vehicle is meandered at the same cycle as the oscillator 4. By setting the amplitude of the voltage e4 to an appropriate level, the unmanned vehicle can meander stably.

For this reason, the trajectory of the wheels is not concentrated in a fixed area, but is dispersed over a certain width, so that damage to the road surface can be prevented. Note that the vehicle may meander only between certain points, for example, on the asphalt road surface from the exit A of a factory to the entrance B of another factory as shown in FIG.

Application Example As shown in FIG. 6, it is also possible to provide a low voltage circuit 7 as a trajectory changing circuit that outputs a constant voltage instead of the sine wave oscillator 4 that outputs the sine wave voltage e4. In other words, when the constant voltage circuit 7 outputs the positive first layer voltage e7 through the switch SW2, the vehicle runs slightly to the right. The car appears to be moving slightly to the left.

In addition, in FIG. 6, the method of detecting the misalignment of the vehicle using the right pair of pickup coils 2a and 21+ was shown, but this is the method for detecting the lateral misalignment of the vehicle. As long as <'f <, the present invention is effective no matter what method is used.

Effects As explained in detail above, the present invention has the advantage that the wheels of the present invention do not always travel on the same road surface, compared to the conventional unmanned vehicle of the electric boat guidance system, which travels along a guide line 1- laid down on the road surface. - This makes it difficult for the unmanned vehicle to stand on its wheels, which prevents the pick-up coil and vehicle speed sensor installed on the underside of the unmanned vehicle from colliding with the road surface, or from causing instability in the control of the unmanned vehicle. can be prevented. Further, even for other general width vehicles passing on the same road surface, since there are no unevenness on the road surface, riding comfort and cargo stability can be achieved.

[Brief explanation of drawings]

Figure 1 is a front view showing the road surface condition before the unmanned vehicle starts running; Figure 2 is a front view showing the state where only the road surface on which the wheels pass is compressed when the unmanned vehicle is driven for a long period of time; 3 is a bottom structural diagram of the unmanned vehicle, FIG. 4 is a block circuit diagram of the steering controller M of the present invention, FIG. 5 is a plan view showing the traveling trajectory of the unmanned vehicle of the present invention, and FIG. 6 is an application of the present invention. FIG. 2 is a block circuit diagram illustrating an example. Sine wave oscillator 4, sine wave voltage e/I, steering voltage e5, positive single layer voltage e7, negative single layer voltage e8, switch SW1~
SW3, steering controller M0 special applicant Co., Ltd.
Toyoda Automatic Loom Works representative Patent attorney On 1) Hironobu

Claims (1)

[Scope of Claims] 1. Steering]n1 to [1-ra (M), guiding line < 1
), in which a steering signal from a roller (M) to the steering wheel 1 and a trajectory change signal outputted from a track 3 # maintenance circuit are operated. A guided driving method for an unmanned vehicle, characterized in that the unmanned vehicle travels in a state displaced from a normal traveling trajectory. 2. The guided traveling method for an unmanned vehicle according to claim 1, wherein a meandering signal is output from a sine wave oscillator (4) as a trajectory changing circuit. 3. A patent claim that outputs a constant positive voltage (c7) or a constant negative voltage (e8) from a constant voltage circuit (7) as a trajectory change circuit as a parallel trajectory signal in a selected 1R manner, respectively. Range 1 ° Guided driving method for unmanned vehicles as described in item 1. 4. For the track change circuit, connect the switches (SW1 to 5W3) to J
A guided driving method for an unmanned vehicle according to claim 2 or 3, in which two switches are turned on and off.