JPS61143819A - Position detector of unmanned traveling car - Google Patents

Abstract

PURPOSE:To stop an unmanned traveling car at a fixed position high accurately by forming loop-like detecting points on the prescribed position of a guide wire for guiding the traveling by deforming a part of the wire. CONSTITUTION:The guide wire 2 for guiding the traveling of the unmanned traveling car 1 is laid on the traveling course like a closed circuit and a high frequency power supply 3 is connected to the guide wire 2. Each of plural detecting point loops 4 for detecting ground positions is formed on a prescribed position of the guide wire 2 like the same loop by deforming a part of the guide wire 2. The unmanned traveling car 1 is provided with a steering device 5 on its front body, a driven wheel 6 steered by the device 5, a driving device 7 on its rear body, and a driving wheel 8 driven by the device 7, and always detects the guide wire 2 by a pair of steering coils 9 arranged on the center part to execute automatic traveling. In addition, a pair of position detecting coils 10 for detecting said detecting point loops 4 are arranged on the left side of the body. Consequently, voltages are induced in respective coils 10 in accordance with the distance between two sides 4a of the loop 4 and the traveling car is stopped on the fixed position through a control device.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for detecting the ground position of an unmanned vehicle that travels using electromagnetic induction.

[Prior art] A conventional position detection device for an unmanned vehicle uses, in addition to a guide wire that guides the movement of the unmanned vehicle, a detection body that detects the ground position by emitting a signal, etc., at a predetermined position on the ground side. The position of the unmanned vehicle was detected by detecting the signals using a proximity switch or the like provided on the unmanned vehicle.

[Problem that the invention seeks to solve]

Therefore, when installing the sensing body on the ground side as described above, there is a problem that as the distance of the running path increases, the length of the power line connecting the sensing body becomes longer, which increases the cost of laying the power line. there were.

The present invention has been made in view of the above points, and aims to provide a position detection device for an unmanned vehicle that eliminates the need for a conventionally separately provided detection body and can control fixed point stopping.

[Means for solving problems]

As a means for solving the above-mentioned problems, the present invention provides an unmanned vehicle that is guided and travels by electromagnetic induction, and provides a guide wire that is installed at a predetermined position on the ground side to guide the traveling of the unmanned vehicle. The guiding guide wire is formed into a loop shape to provide a detection point on the ground, and a pair of position detection coils are placed on the unmanned vehicle so as to face each other in the front and rear positions in the direction of travel. When reaching or passing through the detection point of the shape, the detection point is detected by the voltage change induced in each of the pair of position detection coils, and the changing voltage is input to the control device, thereby controlling the unmanned vehicle. It is characterized by being configured to perform control.

[For production]

With this configuration, when the unmanned vehicle passes the detection point formed in the loop shape of the guidance guide wire,
The ground position is detected by voltage changes induced in the position detection coil, and the unmanned vehicle is controlled by inputting the changing voltage to the control device.

Furthermore, the relative position of the detection point with respect to the loop-shaped portion of the guide wire can be detected by a pair of position detection coils, and it is also possible to control fixed point stopping with high precision.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings.

A guidance guide wire 2 for guiding the travel of the unmanned vehicle 1 is laid in a closed circuit on the traveling path of the unmanned vehicle 1. A high frequency current flows from the high frequency power supply 3.

Further, the guiding guide wire 2 is laid in a closed circuit.
At a predetermined position, a plurality of detection point loops 4 are formed in the same shape to detect the ground position by deforming a part of the guiding guide wire 2.

Each detection point loop 4 is bent outward in a direction substantially perpendicular to the guide wire 2, and has two sides 4a, 4 perpendicular to the installation direction of the guide wire 2.
a is formed respectively.

On the other hand, the unmanned vehicle 1 has a steering device 5 and driven wheels 6,6 steered by the steering device 5 at the front of the vehicle body (on the right side in FIG. 1), and a drive device 7 at the rear of the vehicle body.
and drive wheels 8.8 driven by the drive device 7, and a pair of steering coils 9.9 for detecting the traveling direction are located at the center of the frontmost part of the vehicle body and are spaced apart from each other at left and right positions with respect to the traveling direction. They are arranged so that they face each other.

This unmanned vehicle 1 is arranged so as to run above a guidance guide wire 2 laid along a running path, and constantly detects the guidance guide wire 2 directly below the center of the pair of steering coils 9.9. It is designed to run with

Further, on the left side (upper side in FIG. 1) of the vehicle body of the unmanned vehicle 1, a pair of position detection coils 10. 10 are disposed so as to face each other at front and back positions with respect to the traveling direction, with a distance slightly wider than the distance between the two sides 4a, 4a of each of the detection point coils 4.

One end of lead wires 12.12 each having an amplifier 11 interposed therein is connected to the pair of left and right position detection coils 10.10, and the other end of each lead wire 12 controls the running of the unmanned vehicle 1. It is connected to the input side of the control device 13.

Further, 14 is an output section of the control device 13.

Next, the operation of this embodiment configured as above will be explained.

An unmanned vehicle 1 that travels by electromagnetic induction on a running path on which an induction guide wire 2 is installed has a pair of left and right steering coils 9, 9 installed at the forefront of the unmanned vehicle 1 connected to the ground through which a high-frequency current is passed. When moving in the electromagnetic field generated around the guiding guide wire 2 on the side, both the left and right coils 9
, 9, detects the deviation of the guide wire 2 in the horizontal direction with respect to the installation direction, and amplifies the detected voltage to control the steering control device (not shown).
The steering device 5 is actuated by the signal from the steering control device to correct the direction of travel, so that the guiding guide wire 2 is always positioned at the same distance from the pair of left and right steering coils 9, 9. The vehicle is automatically steered so that the vehicle travels along a predetermined route.

When the unmanned vehicle 1 passes over the detection point loop 4 of the guidance guide wire 2, the two sides 4a, 4 of the detection point loop 4
The unmanned vehicle 1
When the pair of front and rear position detection coils 10.10 provided on the vehicle pass, the ground position during travel is detected by voltage changes induced in both the front and rear coils 10.10.

When the unmanned vehicle 1 passes over the detection point loop 4 and induced currents are generated in both position detection coils 10 and 10, the voltage of the induced current is amplified by the amplifier 11 and input to the control device 13. .

When the input control device 13 has a control room or the like that manages the operation of the unmanned vehicle 1 on the ground side, the output section 14 sends a signal to inform the control room or the like of the passing position. By counting the number of passages through the point loop 4, approaching the stop position is detected and a deceleration command signal is sent to the drive device 7 to decelerate the vehicle.

Furthermore, when the unmanned vehicle 1 that is running at a deceleration reaches the detection point loop 4 provided at the stop position, the voltage induced in the pair of position detection coils io, io arranged at the front and rear positions with respect to the traveling direction is increased. Depending on the change, both position sensing coils 1
The distance between 0.10 and the two sides 4a, 4a of the detection point loop 4 is detected, and a braking command signal is sent from the control device 13 to a braking device (not shown) to perform a braking operation. Both position detection coils 10 and 10 are detection point loop 4
A command signal is sequentially sent from the control device 13 to the drive device 7 and the braking device so that the unmanned vehicle 1 stops when it advances to a position equidistant from the corresponding one side 4a, and the unmanned vehicle 1 By providing a pair of position detection coils 10.10 on the vehicle 1, it is possible to stop the vehicle at a fixed point.

〔Effect of the invention〕

As explained above, in the position detection device for an unmanned vehicle according to the present invention, a loop-shaped detection point is provided at a predetermined position of the guide wire that guides the vehicle by deforming a part of the guide wire. This eliminates the need for the detection bodies conventionally provided on the ground for position detection, and reduces the cost of laying power lines connecting the detection bodies.

In addition, a pair of front and rear position detection coils is provided on the unmanned vehicle, and when the unmanned vehicle reaches or passes the loop-shaped detection point, voltage changes occur in the pair of front and rear position detection coils. The system is configured to control the unmanned vehicle by detecting the detection point and inputting the changing voltage to the control device, making it possible to accurately detect the ground position and control fixed point stopping. It has excellent effects such as.

[Brief explanation of drawings]

The figures show one embodiment of the present invention. Fig. 1 is an explanatory diagram showing a guidance guide wire installed on a running path and an unmanned vehicle, and Fig. 2 shows the relationship between a position detection coil and a detection point loop. This is a wiring diagram.

Claims (1)

[Claims] 1. In an unmanned vehicle that travels by being guided by electromagnetic induction, the guidance guide wire is formed in a loop shape at a predetermined position of the guidance guide wire laid on the ground side so as to guide the travel of the unmanned vehicle. A detection point on the ground is set up, and a pair of position detection coils are placed on the unmanned vehicle so as to face each other in front and rear positions in the direction of travel. The present invention is characterized in that the unmanned vehicle is controlled by detecting a detection point by a voltage change induced in each of the pair of position detection coils, and inputting the changing voltage to a control device. Position detection device for unmanned vehicles.