JPS62109105A - Magnetic guidance method for vehicle - Google Patents
Magnetic guidance method for vehicleInfo
- Publication number
- JPS62109105A JPS62109105A JP60250088A JP25008885A JPS62109105A JP S62109105 A JPS62109105 A JP S62109105A JP 60250088 A JP60250088 A JP 60250088A JP 25008885 A JP25008885 A JP 25008885A JP S62109105 A JPS62109105 A JP S62109105A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- guide
- guides
- magnetic
- sensors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 10
- 229910000859 α-Fe Inorganic materials 0.000 abstract description 5
- 239000000126 substance Substances 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は沖、輛の訪等方法に関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a method for visiting offshore, etc.
無人車を誘導する方法は、従来より各種報告されている
(自動搬送技術(トリケッブス社)P268)。Various methods for guiding unmanned vehicles have been reported so far (Automatic Transport Technology (Trikebbs) P268).
車輛を誘導するためのガイドとして例えば、磁性体を使
用することは周知である。これは、走行路に沿って連続
的に設置された磁性体のガイド(以下これをガイドとい
う)を、車体に取付けられた1個以上の磁気センサ(以
下これをセンナという)にて検出し、進行方向に対して
車体のガイドからのずれを修正しながら車を誘導するシ
ステムである。このような誘導方法の場合は、原則的に
ガイドは走行路に沿ってとぎれることなく、連続的につ
ながっていることが必要である。しかし、ガイドを連続
的に設けると、走行路が交差する場所(以後これを分岐
という)ではガイドも交差し、このため分岐では、セン
サがガイドからのずれを正確に検出できない。そこで従
来は、分岐の部分だけセンサの出力を無視して走行する
等の対策を講じていた。ところが、走行路が複雑になり
分岐の数が、非常に増えてくると走行路面のガイドをセ
ンサが無視する時間が長くなり、本来のガイドに沿って
走行するという動きが著しく妨げられる。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.
前記のよりなガイドからのずれを修正するような車輛誘
導方法では、分岐の多い複雑な走行路においては、誘導
に用いられるガイドの部分が極端に減ってしまう。分岐
の部分は、誘導に全く役に立っていないばかりかその部
分が大きい程、誘導に関与するガイド部分を削り取って
ゆくことになる。ガイドの幅が広い場合や、分岐との間
隔が狭い場合には特に問題があり、車輛の誘導に支障を
きたすこともありうる。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.
本発明の目的は走行路に設置したガイドを効率よく利用
する誘導方法を提供することにある。An object of the present invention is to provide a guidance method that efficiently utilizes guides installed on a travel route.
本発明は予じめ定められた間隔で走行路に設置された磁
性体ガイドの列に沿って車輛を進行させ、車輛に搭載し
た磁気センサにより2個以上の前後の磁性体ガイド上の
位置をそれぞれ検知し、磁気センサに対する各磁性体ガ
イドの相対的な位置情報を演算処理して車輛の走行誘導
信号を得ることを特徴とする車輌の誘導方法である。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.
従来のようにガイドが連続的につながっていればセンサ
は絶えずガイドからのずれ量をシグナルとして出力でき
る。刻々と変化するガイドとセンサとの位置関係から、
修正すべき大きさが連続的に変化して0になるように車
の走行を制御すればよい。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.
ところが、ガイドがある間隔をあけて進行方向に断続的
につながっている場合、センサがガイド上を通過する時
にしか両者の位置関係が分らない。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.
ずれ量だけでは車体の向きの修正量は決められない。ず
れ量の他にその位置における車体の向きの情報が必要で
ある。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.
車体の向きを決定するには、最低2つのセンサとガイド
の位置情報が必要である。この2つの位置情報から幾何
学的に車の方向が算出できる。第2図に示すように、2
つの位置情報の間隔をtとし、2つのセンサから得られ
るガイドの位置を、a、bとすると、進行方向に向って
5m−1(”−’)の角度をもっていることになる。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.
この情報を得るのに、3通りの方法が考えられる。すな
わち、■車体にとりつげられた1つのセンサが2つのが
イドを通過することによって得られる。■1つのガイド
が車体にとりつけられた2つのセンナを通過することに
よって得られる。■2つのセンサが2つのがイドを同時
に通過することによって得られる。それぞれに一長一短
があるが、■の場合は■、■に比べて比較的信号処理が
簡単である。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 ■.
次に第1図を参照して本発明をフェライトによる磁気誘
導に応用した場合の実施例を示す。Next, referring to FIG. 1, an embodiment will be shown in which the present invention is applied to magnetic induction using ferrite.
第1図は実施例を示す走行路で、3Qcyy+の間隔に
5m角の7エライトシートかガイド2として設置された
直線軌道である。一方車体3には30crnの間隔をお
いて、2つのセンサ1,1が配置されている。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.
2つのセンサ1,1はほぼ同時に前後のガイド2,2上
を通過する。その時の幾何学的な位置関係から、ずれ量
と角度を算出し軌道修正のための、操舵量を決める。第
2図にその様子を示す。ガイドがセンサの中央にあると
きがOである。進行方向向って中央より左にあるとき一
右にあるとき十とする。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.
センサ1,1を前よりA、B、その出力をa、bとする
と、a−bが+なら車体は左向き、−なら右向きという
ことになる。l−b Iが大きい程進行方向に対し大き
く傾いていることを示す。ずれの量は、a+bに比例す
る。これが+なら右、−なら左にずれていることになる
。操舵量は傾きとずれの量に適当な重みをつけて、近似
的に
K(a−b )+L(a+b ) ただしに、L )
0で表わすと、右まわりのとき、+、左まわりなら−
の操舵用シグナルが得られる。またに、Lの定数はセン
サ1と車体3とのかね合いから求める。以上、直進の場
合を示したがカーブの場合でもなめらかなカーブであれ
ば、基本的に同じである。分岐の場所は、特定のマーカ
を設げておくか、又はがイドの数を数えて何番目に右折
または左折するという指令を与える方法等がある。特に
がイドの数を数えるという方法は、ガイドが基盤の目の
ように設置されていれば従来行なわれている走行路を基
盤の目に設置し、分岐個所を数えてマツプ化りにすると
いう方法で使用したマツプ検索プログラムが利用できる
等、従来からの技術をそのまま。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.
受は纏いで活用できる。Uke can be used as a mate.
本発明による走行路では、誘導に使用するフェライトの
量を大幅に削減することができる。例えば、5c1n幅
のフェライトを30crn間隔で、基盤の目のように敷
きつめた場合と、5crn角のフェライトを30crn
間隔で敷きつめた場合とで使用するフェライ) 量は1
/10以下で済む。また、誘導以外の走行路の情報例え
ば分岐はがイドの位置で置き変えることが可能等、少な
い変更で従来のシステムに対応できる等の効果を有する
ものである。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.
第1図は本発明の具体例を示す平面図、第2図は本発明
の動作説明図である。
1・・・磁気センサ、2・・・磁性体ガイド、3・・・
車体。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)
体ガイドの列に沿って車輛を進行させ、車輛に搭載した
磁気センサにより2以上の前後の磁性体ガイドの位置を
それぞれ検知し、磁気センサに対する各磁性体ガイドの
相対的な位置情報を演算処理して車輛の走行誘導信号を
得ることを特徴とする車輛の誘導方法。(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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60250088A JPS62109105A (en) | 1985-11-08 | 1985-11-08 | Magnetic guidance method for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60250088A JPS62109105A (en) | 1985-11-08 | 1985-11-08 | Magnetic guidance method for vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS62109105A true JPS62109105A (en) | 1987-05-20 |
Family
ID=17202629
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP60250088A Pending JPS62109105A (en) | 1985-11-08 | 1985-11-08 | Magnetic guidance method for vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS62109105A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01282615A (en) * | 1988-05-10 | 1989-11-14 | Kito Corp | Position correcting system for self-travelling unmanned vehicle |
JP2001296920A (en) * | 2000-04-13 | 2001-10-26 | Mitsubishi Heavy Ind Ltd | Method and device for controlling traveling of vehicle |
JP2009294980A (en) * | 2008-06-06 | 2009-12-17 | Murata Mach Ltd | Running vehicle and running vehicle system |
JP2015222262A (en) * | 2015-07-23 | 2015-12-10 | 三菱重工業株式会社 | Nuclear facility |
JP6085063B1 (en) * | 2016-12-01 | 2017-02-22 | 株式会社ネットプラザ栃木 | Sensor arrangement structure for self-propelled transport vehicles |
-
1985
- 1985-11-08 JP JP60250088A patent/JPS62109105A/en active Pending
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01282615A (en) * | 1988-05-10 | 1989-11-14 | Kito Corp | Position correcting system for self-travelling unmanned vehicle |
JP2001296920A (en) * | 2000-04-13 | 2001-10-26 | Mitsubishi Heavy Ind Ltd | Method and device for controlling traveling of vehicle |
JP2009294980A (en) * | 2008-06-06 | 2009-12-17 | Murata Mach Ltd | Running vehicle and running vehicle system |
JP4697262B2 (en) * | 2008-06-06 | 2011-06-08 | 村田機械株式会社 | Traveling vehicle and traveling vehicle system |
JP2015222262A (en) * | 2015-07-23 | 2015-12-10 | 三菱重工業株式会社 | Nuclear facility |
JP6085063B1 (en) * | 2016-12-01 | 2017-02-22 | 株式会社ネットプラザ栃木 | Sensor arrangement structure for self-propelled transport vehicles |
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