JPS61103217A - Controller of unmanned truck - Google Patents

Abstract

PURPOSE:To obtain the controller of an unmanned truck which can control the truck accurately and stably and also receives no environmental limitation with easy control, by using a single guide line and contriving the laying way of said line to attain the indication of a station. CONSTITUTION:A guiding low frequency signal including the control information is supplied to the part between terminals 43 and 44 of a guide line 46 from the control signal generating means 41 of a controller 40 via an amplifier 42. For the line 46, the station indication parts 51, 52- including a sidetrack part shunted from a track with addition of an odd number of twists and a coil part connected to said sidetrack part are provided at the middle part of the line 46 along a drive route 48. When an unmanned truck 47 reaches the indication part 52, for example, a pickup coil senses the radiation signal. This signal is converted into a digital signal and supplied to a microcomputer 81 in the from of the parallel data. Then a command for stoppage at the part 52 is delivered and an action is carried out according to an indication given from a station.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for an unmanned vehicle using an electromagnetic induction method.

[Prior art]

Conventional unmanned vehicle control systems include an electromagnetic induction method shown in FIG. 12 and a photoelectric induction method shown in FIG. 13.

The unmanned vehicle control device that uses electromagnetic induction is installed on the floor 1.
A low-frequency current is passed through a guide wire 12 installed in the guide wire 1, and the magnetic field generated around the guide wire 12 is utilized. Guide wire 12
Pickup coils 13 and 14 placed on both sides of
is mounted on an unmanned vehicle], and the electromotive force generated in this pickup coil 13.14 is detected by a voltage difference detection device zs.
K is input, and the difference voltage and magnitude relationship are detected. Thereby, the voltage difference detection device 15 can obtain steering information indicating whether the position of the guide wire 12 with respect to the pickup coil 13.14 is to the left or to the right.

This steering information is input to the steering control device 16.

The steering control device 16 controls the steering motor 17 based on the steering information, and steers the unmanned vehicle so that the guide wire 12 is located in the center with respect to the pickup coils 13,14. The steering motor 17 is used to change the direction of the steered wheels 1B.

A control device for an unmanned vehicle using photoelectric and guidance methods is expanded, and a light reflecting tape 21 is laid on the floor surface 11.

Utilize future reflected light. Floodlight 2 is installed on the unmanned vehicle.
2. Optical 11L converters 23 and 24 are installed. The light from the light projector 22 is reflected by the light reflecting tape 21 and enters photoelectric conversion detectors 23 and 24 located on both sides of the light reflecting tape 210. The output voltages of the photoelectric conversion detectors 23 and 24 are input to the voltage difference detection device 26, and the difference voltage and magnitude relationship are detected. Therefore, this voltage difference detection device 25 can obtain steering control information 1)
I can do it. This steering control information is used in the same way as in the case of the electromagnetic induction method described above, and is input to the steering control device 26. The steering control device z126 drives the steering motor 27 to control the direction of the steering wheels 28, and the photoelectric conversion detector 23
．． The unmanned vehicle is steered so that the light reflecting tape 21 is located at the center of the tape 24.

Furthermore, it is easy to add station detection means to this photoelectric induction method. That is, the station has
Teso 29 for station light reflection is attached. This stage light reflecting tape 29 is sensed by a station detection light projector 30 and a station detection photoelectric conversion detector 31. When the detection voltage is obtained from the station detection photoelectric conversion detector 31, the detection voltage is inputted to the drive wheel control device 33 via the amplifier 32. When the drive wheel control device 33 is given a stake detection voltage.

The drive motor 34 that drives the drive wheels 35 can be stopped, and the unmanned vehicle can be stopped.

[Problem that the invention seeks to solve]
1. According to the conventional control device for an unmanned vehicle, there is a problem in that it is difficult to provide a station detection means when using an electromagnetic induction method. However, it has the advantage of being able to transmit information from the outside to the unmanned vehicle using guide lines. On the other hand, according to the photoelectric induction method, it is easy to provide a station detection means, but unlike the electromagnetic induction method, it is impossible to transmit information from the outside to the unmanned vehicle via a reflective tape.

Furthermore, the method of using a light-reflecting tape has the problem that it tends to malfunction in environments with strong ambient light or when the difference in light reflectance between the tape and the floor surface is small, resulting in restrictions on the environments in which it can be applied.

In particular, since the adhesive area of Station Light Reflective Tape Co., Ltd. is small, a device with good sensitivity is required to detect this, which causes problems such as malfunctions and easy peeling. In addition, the floor is often damaged and soiled by other moving vehicles passing through it, which requires a lot of effort in terms of management.

[Means for solving the invention]

This invention was made in view of the above-mentioned circumstances, and enables station instructions, vehicle guidance, and information transmission from the outside using one guide wire, and enables accurate and stable control of unmanned vehicles. , not restricted by its usage environment,
The purpose of the present invention is to provide a control device for an unmanned vehicle that is easy to manage.

[Effect]

In this invention, for example, as shown in FIG. 1, in the middle of one guide 948, a drawn-out part pulled out from the track and twisted an odd number of times and a coil part connected to this drawn-out part are connected to the station indicating part 51. , 52, 53... By providing the guide wire 48 with a station indicating function. This makes it possible to effectively utilize the electromagnetic induction method using guide wires.

As shown in FIGS. 6, 7, and 8, the unmanned vehicle 47 can be provided with an external transmission information processing function, a station instruction section detection function, and a steering information processing function.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows one embodiment of the present invention, and the blocks surrounded by broken lines are 40 embedded in an external unmanned vehicle pipe. This management device 40 has a control signal generating means 41. This control signal generating means 41 has a low frequency signal for guidance to be supplied to the guide wire 46, and a means for generating control information for controlling the unmanned vehicle 47 by being transmitted superimposed on this low frequency signal. The output of the control signal generating means 41, a low frequency signal containing the control information, is supplied between both terminals 43 and 44 of the guide wire 46 via the amplifier 42. Induction f! A protective resistor 45 is connected to one terminal 44 of 46 .

The guide wire 46 is led out to the unmanned vehicle 470 travel route 4B, and its lead-out portion is laid out to serve as a connecting portion 50 in order to make the travel route 48 a closed loop. In other words, enlarge this part'') 1.
As shown in the figure, the extending portion L1 from the connecting portion 50 to the management device 40 side is set to be several times the width of the unmanned vehicle 47 or more. Moreover, the distance d1 between the double guide wires in this extended portion is close to each other so that the distance d1 is approximately zero, and the guide wires are extended linearly. Therefore, in this section, the currents flowing through both visiting conductors are in opposite directions and of equal magnitude, so the magnetic fields generated by the guiding wires in this section cancel each other out and become zero. As a result,
The guide line appears to be connected in a straight line from point 1 to point b, and when the unmanned vehicle 47 passes through this connection, there is no difference in the system from when it travels on other straight sections. There isn't.

The guide line 46 forms a plurality of station indicating portions 51, 52, 53, . . . in the middle of its travel route 48.

FIG. 3 shows the station indicating section 52 in an enlarged manner. This station indicating portion 52Fi is composed of a drawn-out portion 52 drawn out in parallel from the travel path 48, and a coil portion 52B1 formed by twisting (in this case, twisting once) a dielectric wire into a ring with a radius of about 100.degree. Here, the drawer part 52
The length L2 is set to be sufficiently longer than the radius R of the coil portion 52B. Further, the interval d2 between the parallel lines of the drawn-out portion 52A is set to approximately zero.

Therefore, the magnetic field in the extraction portion 52 is canceled out because the current direction of the parallel lines is in the opposite direction.

Furthermore, since the length L2 of the magnetic field generated in the coil portion 52B is sufficiently larger than the radius R, the magnetic field of the traveling route 48 is not affected. Furthermore, the coil portion 52B is
Since the coil portion 52 is twisted an odd number of times (one time in this case) at the boundary with the pull-out portion 52, the direction of the magnetic field generated inside the coil portion 52B and the magnetic field generated on the loop side of the travel path 48 of the unmanned vehicle are the same. be. In addition, this twist is driving route 48
The same effect can be obtained if the coil part 52B'l is twisted an odd number of times over the entire connecting part or drawer part 52A.

FIG. 4 is a diagram showing the control signal generating means 41 in the management device 4o in more detail. In the figure, 41 includes, for example, a decimal or hexadecimal key? - data input means for a computer, torgue switch, upper large computer, etc., and output data D11 r D1 of this data input means 4JA.
2 + "15...Din is input to the information processing device 41C via the input circuit 41B. Information processing device 4
1C reads the data Di according to a procedure prepared in advance.
l # D121 D15 ”” Process Dln and create parallel data Dol + Do2 t Do3 ”・D
Output otl according to the procedure. Therefore, the information processing device f
f (Computation means and storage means are provided in 41C. Parallel data Dol t D02 e D6M ""
DOn is input to the parallel-to-serial converter 41E via the data output circuit 4JD and is converted into serial data. This serial data is input to modulator 41F. This modulator 41
F is, for example, an FSK method, and depending on the high level (H) and low level (L) of the input data, C example Lf1 frequency fyx (=10 kHz) or fL (=6 kHz)
z) outputs a low frequency signal.

A low frequency signal containing control information from the control signal generating means 41 described above is transmitted to the guide wire 46. Parallel data Do1 * Do2 + generated by the information processing device 41 described above
In addition to raw data such as synchronization word, device code, horizontal parity, and sum check, various error check codes are added to DO5t ``' Doff, and these are based on predetermined transmission formats. Transmitted by .

FIG. 5 is a diagram showing the system of the unmanned vehicle 47. This unmanned vehicle 47 includes a signal detection means 61 that receives bit serial data emitted through the guide wire 46 and the magnetic field.
The signal detected by this signal detection means 61 is inputted, and unmanned vehicle control means 62 and the like are mounted to control the unmanned vehicle 47 based on the contents of this signal.

The unmanned vehicle control means 62 can change the traveling direction of the unmanned vehicle by controlling the steering motor 63'' that drives the steering wheels 64.
2, by controlling the drive motor 65 that drives the drive wheels 66, the driverless vehicle can be made to stop or run.

Further, 67 is a power source for driving the unmanned vehicle and its mounted circuit. Further, 68 is a display unit that displays the contents of control data and the like.

FIG. 6 shows the signal detection means 61 mounted on the unmanned vehicle 47 in more detail. The signal detection means 61 has pickup coils 70°71,72,73 arranged in a direction perpendicular to the direction of the guide wire 46. The pickup coil 70 is arranged to be located directly above the guide wire 46 (when the unmanned vehicle is on a normal traveling route), and the bi, qua, 7'' coils 7J and 72 are placed directly above the guide wire 46. The pickup coil 73 is arranged so as to be located at the center, and the pickup coil 73 is arranged so as to pass over the coil parts of the station indicator 52 and other station indicator parts. The induced voltage of each coil is used to detect the tiger and king situations, and the induced voltage of each coil is applied to the unmanned vehicle control means 62.
The information is input to the voltage difference detection circuit in the internal circuit and used as information for detecting tracking deviation.

The pickup coil 20 is used for detecting derailment of the unmanned vehicle 47 and for data transmission.

FIG. 7 shows the unmanned vehicle control means 62 of FIG. 5 in more detail. When the signal emitted from the guide wire 46 is received by the pickup coil 70 for derailment detection and data transmission, the received signal is transmitted to the amplifier 75, filter 76,
The signal is amplified via an amplifier 77 and input to a demodulator 78 and an analog-to-digital converter 86. The demodulator 78 is.

If the frequency of the input signal is , the data is "l".

In the case of fL, data “0” is demodulated and the demodulated data is input to the serial/parallel converter 29. This series-parallel converter 7
9 converts the predetermined pit serial data into parallel data and inputs it to the microcomputer 81 via the data input circuit 80.

The microcomputer 81 temporarily stores the data until the number of parallel data from the data input circuit 80 reaches a predetermined number. When the number of words reaches the predetermined number, the microcomputer 81 performs a sufficient error check (for example, horizontal parity, etc.) on the word data. Vertical/4' stability, sum check, etc.) and device code. The device code means a unique number assigned to each unmanned vehicle. If there are multiple unmanned vehicles running on the guide line, the operator can use the equipment code to designate a 4f unmanned vehicle. On the unmanned vehicle side, the device code is checked, and if this code matches its own unique number, it accepts other received data and obtains operational control according to its contents, but if the hood is If it does not match the unique number, ignore other data. However, when it is desired to simultaneously convey information common to all unmanned vehicles traveling on the guide line, such as an emergency stop, a nox word common to all unmanned vehicles is transmitted as a device code.

After making the above determination, the microcomputer 81
If the device code matches its own unique number, drive data corresponding to the contents of the input data is supplied to the driver part 83 through the data output circuit 82. Depending on the situation, some drivers 83 display the data content on a designated data content display means 84 depending on the data content. It also controls various terminal operating units.

On the other hand, the output of the amplifier 77 is converted into digital data by an analog-to-digital converter 85. The converted digital data is converted into parallel data of predetermined pits, and is input to the microcomputer 81 through the data input circuit 86. This processed data is used for derailment detection. If the data value from the data input circuit 86 is greater than or equal to the preset value, the unmanned vehicle is normal, and the data value from the data input circuit 86 is less than or equal to the preset value. If so, the unmanned vehicle has derailed. Therefore, the microcombi controller 81 may determine whether the data value from the data input circuit 86 is greater than or equal to a predetermined value. If the data value from the data input circuit 868 is greater than or equal to a predetermined value, the microcomputer 81 outputs "0" to the derailment information line 91A through the data output circuit 90, and if it is smaller than the predetermined value, it outputs "1". Output.

The derailment information line 91 is connected to the first input terminal of the NOR circuit 91, and when the derailment information line 91 person is "0" (derailment not allowed), "1" is output, and the derailment information line 91k is " In the case of "1" (de-paste), "0" is output. Therefore, when the non-removal string is in a normal state, the transistor Q1 is turned on, which turns on the relay switch 92. Therefore, as long as the /arm switch 94 and the emergency stop switch 93 are on, voltage from the power source 61 is supplied to the drive motor 65 via the switches 94, 93, and 92. On the other hand, if a derailment occurs and the derailment information line 91 becomes "1", the output of the NOR circuit 91 becomes rOJ.
Transistor Q1 turns off. As a result, the relay switches 92 are turned off and no power is supplied to the drive motor 65, so the unmanned vehicle stops.
First, output signal processing of the pickup coil 73 for station detection will be explained. When the unmanned vehicle 47 arrives at the station instruction section 52, as explained in FIG.

When the pick-up coil 73 senses the radiation signal from the station indicator, it becomes K.The electromotive force signal of this pickup coil 73 is amplified by an amplifier 87, and then converted to a digital signal by an analog-to-digital converter 88. - The parallel data is inputted to the microcomputer 8 through the data input circuit 89 as an evening signal.When the unmanned vehicle arrives at the station indicating section, this parallel data becomes data of a predetermined value or more, station detection data.This station detection When data is input, the microcomputer 8
Step 1 determines whether or not the own unmanned vehicle has received a command to stop at the station. stage.

Command data indicating whether or not to stop at the stop is transmitted via the control data path input via the pickup coil 70 mentioned above and stored in the storage circuit of the i-microcomputer 81. When the microcomputer 81 receives a command to stop at the station, the microcomputer 81 outputs the station information line 91B through the output circuit 90.
ICrl" and if no command to stop at the station has been received, station information line 9.
Output 1BKrOJ.

Therefore, when the stage information line 91B is "1" (with a stop command), the output of the NOR circuit 91 is "0", the relay switch 92 is turned off, and the station information line 91B is set to rOJ (stop command is present). In the case of no command), the output of the NOR circuit 91 is "1" and the series switch 92 can be turned on. Further, even when derailment occurs as described above, the drive motor 65 is automatically stopped.

FIG. 8 shows the unmanned vehicle control means 62 of FIG. 5 viewed from the signal path of the steering pickup coils 71 and 72.

The output signals of the pickup coils 71 and 72 are amplified by amplifiers 101 and 104, respectively, and converted into digital left signals by analog-to-digital converters 102 and 105, and then input to the microcomputer 81 via input circuits 10J and 106. be done. microcomputer 81
determines which series of pickup coils 71 and 72 has a larger data value, and if the data values of both series are equal, the tracking information lines (R) and (L) are output via the output circuit 107. output rOJrOJ.

Tracking information lines (R) and (L) are “0” and “
0" (the trajectory of the unmanned vehicle is normal), the output of the exclusive OR circuit 10B is "0", and even if the switches SWI and 8Wj are on, the transistor Q6 is off and the transistors Q2, Q3, . Q4Q6 are also off. Therefore, no current flows through the steering motor 63.
The steering wheels remain in their current orientation.

Next, the data (′j1
If the evening value is larger than the data value of the series 72 (the guiding wire is closer to the pickup coil 71 side), the microcombi, - evening 8
1 is "1" on the tracking information line (R),
Outputs "O" to the king information line (L). As a result, the output of the exclusive OR circuit 108 is "1", and if the switches SWJ and SWj are on, the output of the transistor Q6. Q2. Q4 turns on and transistor Q
3. Q5 is off. As a result, the steering motor 6
3, a current i flows in the direction of the arrow and the direction of the steered wheels is changed.

Conversely, if the data value of the pickup coil 71 series is smaller than the data value of the pickup coil 22 series (the guiding wire is closer to the pickup coil 72 side), the microcomputer 81 selects the tracking information line (R ) K "0", tiger, output "1" to the king information line (L). As a result, the output of the exclusive OR circuit 108 is "1", and the switches 8WJ and S
If W2 is on, transistor 1 Q6. Q3. Q5 turns on, transistors Q2. Q4 is turned off. As a result, a current flows through the steering motor 63 in the opposite direction to the previous current i, and the direction of the steered wheels is changed to the opposite direction from the previous case.

Also, the tracking information line (R) by mistake.

If “1” is output to (L), transistor Q2
Q5 can be in a conductive state, but the output of the exclusive or circuit 108 is "0" and the transistor Q6 is off, so no circuit current flows and the circuit can be maintained. By controlling the steering motor 63 as described above, the unmanned vehicle 47 always has the pickup coil 71
．． The guide wire 46 is maintained in the middle of the guide line 72.

FIG. 9 shows an information processing sequence within the microcomputer 81 shown in FIGS. 7 and 8.

FIG. 9(a) shows a sequence for processing the received information of the pickup coil 70 series. Depending on the sequence, the unmanned vehicle 41 receives each 8I [7'-N] from the management device 40 and controls the onboard equipment. can receive. Step 9
In hl, the received data is checked for errors, and if there is an error, the received data is canceled immediately after data processing. If there is no error, it is determined whether the device code is unique to the device itself, and if it is not unique, it is determined whether the device code is a password. (Step 9m2.9凰3). If the device code is not a code code, the received data is canceled, and if the device code is F4 or a unique code, specific processing of the received data is started in step 914.

Processing sequence of FIG. 9(b) Mogic Ag Coil 1
This is a sequence for processing received information of a series of 0s. In this case, the input data value from the previous data input circuit 86 is determined and the step.

It is determined whether or not there is a derailment at step 9bl. If it is not derailed,
The initial state is returned to, but if derailment is determined, derailment processing in step 9b2 is performed.

Various types of processing are performed as the derailment processing, such as stopping the drive motor, issuing a warning, and the like.

FIG. 9C shows a processing sequence at the time of station detection, which is performed based on the input data of the pickup coil 73 series. In step 9el, it is determined whether or not there is a station. If a station is detected, the process moves to step 9e2, and it is determined whether a stop command has been received. If a stop command has been received, the process moves to stay 7''9c3 and performs a stop process. Otherwise, it stands by in the initial state.

FIG. 9(d) shows a processing sequence for steering. Input data D of pickup coils 71 and 72 series
4. It is determined in step 9dl whether D5 is equal or not, and if they are equal, rOJrOJ is output to the tracking information lines (R) (L) at Stella f9t12. In addition, if the input values are not equal, ・7te・7″9d3 is D 4) It is determined whether or not D s, and in this case, the tiger, king information line (R) rlJrOJ is output to (L) (step 9d4), and if DJ>D5 is not established, then in step 9d5Ks, it is determined whether DJ<DJ. If there is, step 9t
Tiger at 16, King Information Line (R).

(L) Output K “0” and “1”. Also, DJ<DJ,
If not established, the process returns to the initial state and waits.

The invention is not limited to the embodiments described above. In the explanation of FIG. 1, one unmanned vehicle is shown, but as shown in FIG. 10, a plurality of unmanned vehicles 47A are shown.

It is possible to run 47B and 47C on the same track. However, in this case, unmanned vehicle 47A.

The equipment codes for 47B and 47C must all be different, but it is possible to intentionally set the same equipment code for vehicles that travel at the same speed and perform similar tasks. In addition, the guide line 46 can have any shape as long as it forms a closed loop, or it can be a continuous smooth curve, but it should not be set with a curvature greater than the minimum turning radius of the unmanned vehicle. No. Also,
The station indicator can be set inside or outside the closed loop orbit. When using this method, the position of the station pickup coil of the unmanned vehicle may be changed from the left side to the right side.

Furthermore, by using the station indicating section differently inside and outside the closed loop, it is possible to set only a desired vehicle to stop, and unnecessary stages and detection processes can be omitted. Furthermore, as a station indicating section, as shown in the enlarged view shown in FIG. K may be used so that it can be determined as a station only when there is an output from the station.

FIG. 11 shows that a plurality of closed-loop blocks are laid by the guide wire 46A, and each protrusion is (n) (t++1) (
This is an example in which the guidance signal can be supplied from the management device 40 to n+2)... In this case, if a guidance signal is supplied to an arbitrary block by the block selection switch 40k, when the unmanned vehicle 47 traveling in block n comes on a trajectory close to block n + 1, the guidance signal to block n will be sent. By switching to block n + 1, the unmanned vehicle 47' can be moved to the block n + 1 side.

With such a system, a single management device can control multiple blocks of unmanned vehicles by selecting a plurality of blocks, odd or even, using the selection switch 40A.

〔Effect of the invention〕

According to the invention described above, it is possible to indicate the system by using one guide wire and by the method of laying the guide wire.
The advantage of the guide line method, that is, the ability to transmit information from the outside, can be utilized. In addition, since the guide wire uses a magnetic field as its medium, it is not necessary to bury it in a groove or floor of the floor and make the fg come out, which is effective in preventing wire breakage. Furthermore, it is not affected by the brightness of the surroundings, and methods using reflective tape are not restricted by the usage environment.

[Brief explanation of drawings]

FIG. 1 is a configuration explanatory diagram showing one embodiment of the present invention, FIGS. 2 and 3 are enlarged views of a part of FIG. 1, and FIG. 4 is a control signal generation means of FIG. 1. FIG. 6 is an explanatory diagram showing the signal detection means of FIG. 5 in more detail; FIG. FIG. 9 is an explanatory diagram showing various examples of the information processing sequence of the microcomputer shown in FIGS. 7 and 8; FIG. 10 and FIG. 12 and 13 are explanatory diagrams showing a conventional unmanned vehicle guidance system, respectively. 40...Management device, 41...Control i-number generation means,
46... Visiting line, 47... Unmanned vehicle, 51, 52
. 53... Station instruction unit, 61... Signal detection means, 62... Unmanned vehicle control means, 63... Steering motor, 65... Drive motor, 71-73... Big-Ag coil.

Claims (1)

[Claims] In an unmanned vehicle control device that allows an unmanned vehicle to travel along a predetermined track, a guide wire is laid, and in the middle of the guide wire there is a pull-out part where the guide wire is pulled out from the track and twisted an odd number of times. a traveling route formed with a coil portion connected to the vehicle as a station indicating portion; a control signal generating means for applying an electric signal for controlling the unmanned vehicle to the guide wire; a detection means for steering, transmission information, and station, which is mounted on the unmanned vehicle and detects the electric signal using a magnetic field generated in the guide wire as a medium; and steering of the unmanned vehicle from the output signal of the detection means. 1. A control device for an unmanned vehicle, comprising: means for generating a control signal for a vehicle, transmitted control data, and a station detection signal.