JPS6024606A - Control position detecting system of unattended car - Google Patents

Abstract

PURPOSE:To detect easily a control position by providing a transmitting part and a receiving part for forming plural pairs, on an attended car body, and also providing a pattern recognizing passive reflector on the control position. CONSTITUTION:When an unattended car body runs along a leading line 1, and reaches the first control position, a pattern recognizing passive reflector provided on that position couples optically a pair of transmitting part and receiving part of infrared-rays, therefore, a 4-bit transmitter and receiver 35. From the microcomputer 34, a prescribed control signal is sent out to a controlling circuit 19, therefore, an on-time of right and left chopper controlling circuit 20, 21 becomes long, a revolving speed of right and left wheel driving motors 27, 29 increases and the car body runs at a high speed. Subsequently, when it reaches the second control position, a 4-bit signal is inputted to the microcomputer 34 from the transmitter and receiver 35 in the same way, and it turns to the left and runs. Thereafter, in the same way, a running control of the prescribed contents is executed at the third, the fourth,... control positions.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting a signal for causing an unmanned vehicle to perform predetermined travel control at a control position on a travel route. Furthermore, the present invention relates to a method for detecting control signals for stopping an unmanned vehicle at a predetermined position, turning right or left at a predetermined position, or changing speed at a predetermined position.

For example, a method for stopping an unmanned vehicle at a predetermined position involves activating an infrared transmitter installed at the planned stopping position, and when the unmanned Oki reaches the planned stopping position, an infrared receiver attached to the body of the unmanned vehicle activates the infrared transmitter installed at the planned stopping position. It is known that the unmanned vehicle is stopped and stopped based on this detection (i). However,
In such a conventional device, infrared training 4 is carried out at each scheduled stop position.
N equipment, part 11.”

Two disadvantages are that the configuration is complicated because a source must be provided.

The present invention has been made in order to eliminate the two drawbacks.The present invention has been made in order to eliminate the two drawbacks. A predetermined set of light transmitters and receivers corresponding to the control content (for example, stop, right turn, left turn, etc.) of the plurality of sets of light transmitters and receivers is placed at a control position (for example, a scheduled stop position) on the surface. A reflection plate for pattern recognition is provided to optically couple the light, and the running of the unmanned vehicle is controlled based on the signal received by the light receiving section.

An embodiment of the present invention will be described below with reference to FIGS. 1, 2, and 3. FIG. 1 is a block diagram showing the electric circuit of the LLI driverless vehicle. In this figure, (1) is a guide wire laid on the floor along the route of the unmanned vehicle. (2)
is a direction detection circuit, and this direction detection circuit (2) detects an alternating current (for example, 6KI (z300
A pair of left and right pickup coils (31 < 4) in which a voltage is induced by (mA) and an amplifier circuit (51 (61 and rectifier circuit) (8).The left and right pickup coils (3) of the direction detection circuit (2) (41 are, for example, a guide wire ( 1) so that when the distances d5 and d2 are equal, approximately the same induced voltage is generated.

A differential amplifier (9) is connected to the output side of the direction detection circuit (2).
), a left direction signal output circuit θ2) consisting of a logarithmic amplifier (10) and an inverting amplifier (11), and a differential amplifier (13)
, a logarithmic amplifier (14), and an inverting amplifier 051.
At d2, the left and right pickup coils (31 (4+ induction part, when the pressure is equal, output equal voltage 11"S, d +
('(+2, induced type of left pickup coil (3)) If -1 is larger, left direction signal output circuit 02)
The output of is small, and when d, > d2, the induction of the right pickup coil (4) #i,! %: The configuration is such that when the pressure is greater, the output of the right direction signal output circuit (16) is smaller. Said left and right direction A output circuit (121
(The output side of 161 is that) 1. It is Dimate 071Q8
1 to the control circuit 011). This control circuit 0 consists of left and right chopper control circuits (201 (21)) that output motor control number 411, left and right electromagnetic brake control circuits (221 (23+), and left and right electromagnetic brake control circuits (241 (251)). The output side of the left chopper control circuit (20) is connected to the left wheel drive motor (2 power) via the amplifier (a), and the right chopper control circuit 01 is connected to the left wheel drive motor (2 power) via the amplifier (a). and is connected to the right wheel drive motor t291.The output side of the left and right power generation brake control circuits (221(A) is connected to the left and right wheel drive motors 271(A) via resistors (30) C31, respectively). The output sides of the left and right electromagnetic brake control circuits Q4) (25) are connected to the left and right wheel drive motors (27) (left and right electromagnetic brakes for braking the brakes), respectively. The unmanned vehicle is controlled to run along the guide line (1) due to the two-way configuration.

The control circuit (tTh is connected to the microcomputer C'14) and the transmitter (3m) is connected to the infrared transmitter/receiver G9, as shown in FIGS. 2 and 3. In these figures, (36a) (36b)
, (37a) (37b) , (38a) (38b)
, (39a) and (39b) are four pairs of infrared transmitter/receiver, which constitute the infrared transmitter/receiver 09. The four pairs of infrared transmitting units/receiving units (36
a) (36b), (37a) (37b), (38a)
(381)), (39a) and (39b) are the unmanned vehicle body (
40) is attached to the outer surface of the bottom plate (41) at a predetermined interval, and its transmitting surface and receiving surface are formed to face the floor surface (42). The bottom plate (41) is equipped with the left and right wheel drive motors (271) (left and right wheels that rotate individually in the J drunken mode).
The guide wires (1) and (48) are embedded in the floor surface (421). The fouling plates (4fi) (4n (48) are attached to the unmanned vehicle body (421).
4 (When η comes to the control position (r+4) of the 14th cloth shown in the figure, the four pairs of infrared transmitter/receiver (36a)
(36b), (37a) (37b), (38a
) (:38h) , (39a) (341h), three pairs (37a) (37b), (38a) (38b)
, (39a) and (39b). (P, )(P2xPl;) indicate the first, second, and fifteenth control positions, respectively, and these control positions (p 1XP 2
The four pairs of infrared transmitter/receiver (36a) (36b), (37a) (37b) correspond to the control content thereof.
, (38a), (38b), (39a) and (39b), the reflecting plate (4) for coupling (36a) and (36b).
9), (!in), (if)62 (53) 054)
is buried. ”-As described above, the infrared receiving section (36b) (37b)' (3sb) (39h)
When the unmanned vehicle body (Iυ) comes to any of the control positions from the 1st to the 15th, it receives 4 bits (i) corresponding to the pattern of the reflector provided at that control position. For example, the control position (PIXP2) of the unmanned vehicle body (4G is the 1st, 2nd, 14th, 15th finger)...(P 14 Xp 1
5), "0001", "0010"..."
xlloj l"'xtxxj 4-bit signal is sent to microcomputer 0. This microcomputer I3 (a) transmits the infrared receiving section (36b) (37b) (38b) (39b)
4-bit signal “()001” from 1-ootoJ・
...[ttoJ, "t A predetermined control signal corresponding to the input of t 111J is sent to the control circuit (19), a predetermined motor control signal is outputted from this control circuit (1! II), and the unmanned vehicle body <4 (I77+ is configured so that 4 bits in l are used to control any travel control.

(to) is an operation panel, and this operation panel 651 is the microcomputer <
Jl configured to send various operation signals to 341,
ing.

Next, effects specific to the present invention will be explained.

Based on the input from the operation panel (i5) in advance, the microcomputer O
4-pit signal 1-oooIJ, [oot
oJ..."1110" and "1111", for example, "high speed j, I-turn left"..."low speed -1,
Set the control details for "stop". Next, when Star L kA is input from the control panel 6, the unmanned vehicle itself (40
) travels along the guide line (11) and reaches the @1st control position (Pl).One reflecting plate (49) is provided here, and this counter-acting plate (49) is connected to a pair of Since the infrared transmitting and receiving parts (36a) and (36b) of the infrared transmitter/receiver (1-oo
oIJ's 4-hit Nobuyuki inputs into microcomputer 04).

Then, a predetermined control signal is sent from the microcomputer C34) to the control circuit α1)), and the left and right chopper control circuits (20
) (2+1 remains on for a long time and the left and right wheel drive motors Ci'7) (2!jl's rotational speed increases and the vehicle runs at a [-high speed].Next, the unmanned vehicle body is in the second position. When the control position (P2) is reached, the 4-pit signal l-0010j is manually input from the output side of the infrared transmitter/receiver sC3!51 to the microcomputer 64) in substantially the same manner as described above. Then, a predetermined control signal is sent from the microcomputer (three) to the control circuit α9, and the left electric brake control circuit (221) is activated to reduce the rotation speed of the left wheel drive motor (27), and the "left turn'" driving is started. In the same manner, travel control with predetermined contents set in advance is performed at the third, fourth, and so on.
, Pl4), there are three reflectors (40 (4)
7) (48) is provided, and three pairs of infrared transmitter/receiver (37a) (37b), (38a) (38b
), (39a) and (39b) are optically coupled, so
Infrared transmitter/receiver, (3 (g) output side [1ioJ
The 4-bit code is input to the microcontroller 4). Therefore, the on time of the left and right chopper control circuits (20) (21) is shortened, and the left and right wheel drive motors (271 (29)
) rotation speed decreases, resulting in "low speed" driving. Next #+
The main body of the one-man army (40) is the 15th control position (Pl-i)
When you come to , there are four foul boards 51) 5J 53)
e34) is provided, and four pairs of infrared transmitting units/
Receiving section (36a) (36b), (37a) ('37b)
, (38a), (38b), and (39a) and (39b) are optically coupled, so a 4-bit signal of "1t11" from the output side of the 35+ is sent manually to the microcontroller (3a). Therefore, the left and right electromagnetic brake control circuits (
241 (control signal from 251) (C1 left and right electromagnetic brake C32) C)3) is activated,
0 stops.

In the above embodiment, 4 pits No. 1-o o 01 j
l'0010''...``1110''1-1111'' respectively.
i"...1-low speed], 1-stop", but it goes without saying that the present invention is not limited to this.

In the above embodiment, the infrared transmitter/receiver is composed of four pairs of infrared transmitting sections and receiving sections, and the corresponding L-Cit;
Although the control contents at 15 control positions are detected using 4-bit signals by forming up to four fault plates, the present invention is not limited to this. For example, if an infrared transmitter/receiver is configured with 5 pairs of infrared transmitter/receiver, and the reflector is formed within 5 pairs, 5 bits of 4
It is possible to detect the control details at 31 control positions.

In the above embodiment, the pair of light transmitting section and receiving section is composed of an infrared transmitting section and receiving section, and the reflecting plate is composed of an infrared reflecting plate, but the present invention is not limited to this. It may be configured with a light (for example, visible light) transmitter and a receiver, and the reflecting plate may be configured to reflect light other than infrared light (for example, visible light).

Since the present invention is configured as described above, the present invention has a simple configuration in which a plurality of pairs of transmitting sections and receiving sections are provided in the unmanned vehicle main body, and a pattern recognition reflector is provided at the control position. , it becomes possible to detect control contents at many control positions. For this reason, compared to the conventional method in which an infrared transmitter and its power source are provided for each control position (for example, scheduled stop position),
Detection of the control position becomes extremely simple.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an electric circuit in an embodiment of the control position detection method for an unmanned vehicle according to the present invention, and FIG.
A plan view showing a specific example of the configuration of the main part of the figure, Figure 3 is the second
It is a sectional view taken along the line A and -A in the figure. (1)...Ring conductor, Q! 51 - Infrared transceiver, (3
6a) (37a) (38a) (39a)... Infrared transmitter (light transmitter), (36b) (37b) (38
b) (391))...Infrared receiver (3 parts (1 part for light reception)
3), (4t...unmanned vehicle body, (4th)...floor, Gj
li) (4'+su(41i) (:I!'+) (5
[1) (!if) (521G3)←0...Reflector for pattern recognition. Patent Applicant General Co., Ltd. Agent: Toshiaki Zune! '1J1,,'l

Claims (3)

[Claims] (1) A plurality of pairs of light transmitting units and light receiving units are provided in the main body of the unmanned vehicle, and the plurality of pairs of light transmitting units and receiving units are provided at control positions on the floor along the traveling path of the unmanned vehicle. A reflector for pattern recognition is provided for optically coupling a predetermined set of the parts, and the driving of the unmanned vehicle is controlled based on the received signal of the light receiving part. Control position detection method for unmanned vehicles. (2) The control position detection method for an unmanned vehicle according to claim 1, wherein the light transmitting section and the light receiving section are comprised of an infrared ray transmitting section and a receiving section. (3) Four pairs of light transmitting sections and receiving sections are provided,
Claim 1 or 2, wherein the pattern recognition reflector comprises up to four reflectors that individually optically couple predetermined sets of the four sets of light transmitters and receivers. The control position detection method for the unmanned vehicle described.