JPS62109105A - Magnetic guidance method for vehicle - Google Patents

Abstract

PURPOSE:To make use of a guide set on a driving path with high efficiency by detecting the positions of >=2 front-back magnetic substance guides through a magnetic sensor set on a vehicle and giving the arithmetic processing to the relative position information on each guide against the magnetic sensor to obtain the drive guide signal of the vehicle. CONSTITUTION:Two magnetic sensors 1 and 1 pass over the front and back guides 2 and 2 approximately at a time and calculate the shift amount and the angle from the geographical position relation between both guides 2. Thus a steering amount is decided for correction of a locus. When the guide 2 is set at the center, '0' is set. While minus (-) and plus (+) are set when the guide 2 is set at the left and the right based on the center position in terms of the driving direction of a vehicle respectively. Here the sensors 1 and 1 are defined as A and B from the front side together with the outputs of both sensors defined as (a) and (b) respectively. As a result, it is decided that the body of the vehicle is turned to the left and the right with (a-b) is equal to plus (+) and minus (-) respectively. Then it is shown that the vehicle is tilted more toward its driving direction as ¦a-b¦ increases. This shift amount is proportional to (a+b) and the right and left shifts are defined with the plus (+) and minus (-) of (a+b) respectively. This can decrease greatly the amount of the ferrite used for guidance of the vehicle.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a method for visiting offshore, etc.

[Conventional technology]

Various methods for guiding unmanned vehicles have been reported so far (Automatic Transport Technology (Trikebbs) P268).

The use of magnetic materials, for example, as guides for guiding vehicles is well known. This system uses one or more magnetic sensors (hereinafter referred to as sensors) attached to the vehicle body to detect magnetic guides (hereinafter referred to as guides) installed continuously along the driving path. This system guides the vehicle while correcting the deviation of the vehicle body from the guide in the direction of travel. In the case of such a guidance method, in principle, the guide needs to be continuous without interruption along the travel path. However, if guides are provided continuously, the guides will also intersect at locations where the running paths intersect (hereinafter referred to as branches), and therefore, at branches, the sensor cannot accurately detect deviation from the guides. Conventionally, countermeasures have been taken, such as ignoring sensor outputs only at branch points. However, when the driving path becomes complex and the number of branches increases significantly, the time during which the sensor ignores the guide on the driving road surface becomes longer, and the movement of driving along the original guide is significantly hindered.

[Problem that the invention seeks to solve]

In the above-mentioned vehicle guidance method that corrects the deviation from the guide, the portion of the guide used for guidance is extremely reduced on a complicated driving route with many branches. Not only is the branch part not useful for guidance at all, but the larger the branch part is, the more the guide part involved in guidance is removed. This is particularly problematic when the width of the guide is wide or when the distance between the guide and the branch is narrow, and it may cause problems in guiding the vehicle.

An object of the present invention is to provide a guidance method that efficiently utilizes guides installed on a travel route.

[Failure to solve the problem]

The present invention allows a vehicle to move along a row of magnetic guides installed on a running path at predetermined intervals, and uses a magnetic sensor mounted on the vehicle to detect positions on two or more front and rear magnetic guides. This method of guiding a vehicle is characterized in that a vehicle travel guidance signal is obtained by detecting each magnetic material guide and calculating the relative position information of each magnetic guide with respect to the magnetic sensor.

[Effect]

If the guide is connected continuously as in the past, the sensor can constantly output the amount of deviation from the guide as a signal. Due to the constantly changing positional relationship between the guide and sensor,
The driving of the car may be controlled so that the magnitude to be corrected changes continuously and becomes zero.

However, if the guides are intermittently connected in the traveling direction at certain intervals, the positional relationship between the two can only be determined when the sensor passes over the guides.

The amount of correction of the vehicle body direction cannot be determined by the amount of deviation alone. In addition to the amount of deviation, information on the orientation of the vehicle body at that position is required.

To determine the orientation of the vehicle body, position information from at least two sensors and a guide is required. The direction of the vehicle can be calculated geometrically from these two pieces of position information. As shown in Figure 2, 2
If the interval between the two positional information is t, and the guide positions obtained from the two sensors are a and b, then the guide has an angle of 5 m-1 ("-") in the direction of travel.

There are three possible ways to obtain this information. That is, (1) one sensor attached to the vehicle body is obtained by passing two sensors. ■One guide is obtained by passing through two sensors attached to the vehicle body. ■Two sensors are obtained by passing two sensors simultaneously. Each has its advantages and disadvantages, but in the case of ■, signal processing is relatively easier compared to ■ and ■.

〔Example〕

Next, referring to FIG. 1, an embodiment will be shown in which the present invention is applied to magnetic induction using ferrite.

FIG. 1 shows an example running route, which is a straight track with 5 m square 7 elite sheets or guides 2 installed at intervals of 3Qcyy+. On the other hand, two sensors 1, 1 are arranged on the vehicle body 3 at an interval of 30 crn.

The two sensors 1,1 pass over the front and rear guides 2,2 almost simultaneously. The amount of deviation and angle are calculated from the geometric positional relationship at that time, and the amount of steering for trajectory correction is determined. Figure 2 shows the situation. O is when the guide is in the center of the sensor. If it is to the left or to the right of the center in the direction of travel, it is 10.

Assuming that sensors 1 and 1 are A and B from the front, and their outputs are a and b, if a-b is +, the vehicle body is facing left, and if -, the vehicle is facing right. The larger the l-b I, the greater the tilt with respect to the traveling direction. The amount of deviation is proportional to a+b. If this is +, it is shifted to the right, and if it is -, it is shifted to the left. The amount of steering is approximately K(a-b)+L(a+b) by giving appropriate weight to the amount of inclination and deviation. However, L)
When expressed as 0, + for clockwise rotation and - for counterclockwise rotation.
steering signals can be obtained. Further, the constant of L is determined from the balance between the sensor 1 and the vehicle body 3. The above example shows the case of going straight, but the same is basically true for curves as long as the curves are smooth. The location of the branch can be determined by setting a specific marker, or by counting the number of IDs and giving a command to turn right or left. In particular, the method of counting the number of guides is that if the guide is installed like the eye of the base, the conventional route is set up at the eye of the base, and the branching points are counted and made into a map. Conventional technology, such as the ability to use the map search program used in the method, remains unchanged.

Uke can be used as a mate.

〔Effect of the invention〕

In the running path according to the present invention, the amount of ferrite used for guidance can be significantly reduced. For example, when ferrite with a width of 5crn is laid out at intervals of 30crn, like the grid of the base, and when ferrite with a width of 5crn is laid out with a spacing of 30crn,
The amount is 1.
/10 or less. Further, it has the advantage that it can be compatible with conventional systems with few changes, such as information on travel routes other than guidance, such as the ability to replace branch information at the position of the guide.

[Brief explanation of drawings]

FIG. 1 is a plan view showing a specific example of the present invention, and FIG. 2 is an explanatory diagram of the operation of the present invention. 1... Magnetic sensor, 2... Magnetic guide, 3...
car body.

Claims (1)

[Claims] (1) The vehicle travels along a row of magnetic guides installed on the road at predetermined intervals, and the positions of two or more front and rear magnetic guides are detected by magnetic sensors mounted on the vehicle. A method for guiding a vehicle, comprising calculating relative position information of each magnetic guide with respect to a magnetic sensor to obtain a vehicle travel guidance signal.