JPS62118411A - Travelling control facilities for moving vehicle - Google Patents

Abstract

PURPOSE:To specify the constitution by correcting the inclination of a moving vehicle while the inclination to guiding line is detected. CONSTITUTION:An guiding the 4 of a moving vehicle A equipped with a pair of right and left accelerating wheels 2, in which the positive and reverse rotations can be freely executed, is provided, and a pair of backward and forward sensors 6 for the steering control to detect the horizontal deviation quantity to the line 4 is provided at the moving vehicle A. Based upon the detecting information of the sensor 6, an arithmetic means 101 calculates the inclination of the moving vehicle A to the line 4. Next, to spin-turn the moving vehicle A so that the inclination can approach to zero, based upon the information of the arithmetic means 101, the right and left accelerating wheels 2 are driven in the condition in which the rotation direction comes to be reverse.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a guiding line for a moving vehicle equipped with a pair of left and right thrust wheels that can be freely switched between +1 and reverse.
The present invention relates to a moving vehicle travel control equipment in which a pair of front and rear steering control sensors for detecting the amount of lateral deviation with respect to the guide line is provided on the moving vehicle.

[Conventional technology]

This moving vehicle running control equipment is used to automatically drive a moving vehicle used for transporting goods etc. between stations, and when moving forward, one sensor for steering control on the front side is used. The system selectively uses the steering sensor on the rear side when traveling backwards, and allows the vehicle to run smoothly both forwards and backwards.

By the way, in order to stop a moving vehicle next to a station that has fallen sideways, the vehicle should be stopped in a state where its inclination with respect to the guide line is zero, and then the moving vehicle should be Between the car and the station (II
Although it would be desirable to eliminate the
L. It is difficult to always stop a moving vehicle in a state where its inclination with respect to the guide line is zero.

For this reason, as shown in FIG.
Front and rear phantom detected members (32), (32) having surfaces parallel to the guide line (31) are placed on the lateral wall of the guide line (31) at the same distance as l[Y (=t vinegar,
The moving vehicle (
34), and these distance sensors (33) and (3
Conventionally, it has been thought that the vehicle (34) should be configured to automatically turn so as to bring the tilt of the vehicle (34) closer to zero while detecting (7) the tilt of the vehicle (34) based on the information in 3). It is being

By the way, 1. The distance sensor (33), (33)
As for the projected ultrasonic waves, the detected member (32),
An ultrasonic type that measures the distance based on the time it takes to reflect and return at (32) can be used.

In the illustrated moving vehicle (34), a pair of electric motors (
35), propulsion vehicles (35) each driven separately
3Ei) and (36) are operated in the forward and reverse directions to perform the Ink times for tilt correction.

[Problem that the invention seeks to solve]

1-i+',! According to the conventional means, the 1111j remote sensors (33), (33) and the detected members (32), (32) have to be specially provided for tilt correction, which makes the overall configuration difficult. There was a disadvantage of becoming 1tG (t).

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to make it possible to correct the inclination of a moving vehicle with a simple configuration that effectively utilizes the original configuration.

[Means for solving problems]

As shown in FIG. 1, the characteristic configuration according to the present invention is that, based on the detection information of both the steering control sensors (6), (6), the moving vehicle (8) is aligned with respect to the guidance line (4). A tilt calculation means (101) is provided for calculating the tilt, and the tilt/inclination is calculated in order to spin turn the mobile vehicle (8) so that the tilt of the mobile vehicle (A) with respect to the guide line (4) approaches zero. i [i calculation detection means (+0
Based on the information in 1), the left and right 111 wheels (2) are driven in a state where the In1 rotation direction is reversed.The inclination correction means (+02) is installed, and its effect is as follows. It is as follows.

[For production]

That is, a pair of front and rear steering control sensors (6).

In each of (6), the guide line (4
) and the guiding line of the rear part of the moving vehicle (
4) is detected, and based on the detected information, the inclination calculation means (101) calculates the lateral deviation of the guide line (4).
The inclination of the moving vehicle (8) with respect to the guide line (4) is calculated, and based on the calculated information, the inclination correcting means (102) causes the moving vehicle (8) to perform a turning operation so that the inclination of the moving vehicle (8) with respect to the guide line (4) approaches zero. It is.

〔effect〕

Therefore, in order to automatically drive a moving vehicle between stations, the pair of front and rear steering control sensors that are originally provided are effectively utilized to detect the inclination of the moving vehicle with respect to the guidance line. Since it corrects the inclination, there is no need to provide a special sensor for detecting the inclination or an object to be detected by the sensor, unlike the conventional method mentioned above, and the overall configuration can be simplified. As a result, it became extremely advantageous in terms of equipment production.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 2 to 4, a moving vehicle (A) is provided with a load conveying roller (18) and a load receiving device (IB) that can swing up and down, and a load conveying roller (18) is provided. A plurality of loading/unloading stations (ST) each equipped with a loading/unloading station (ST) are provided on the side of the moving vehicle travel path, and each loaded load is transported while the moving vehicle (A) is traveling between the stations. It is configured to perform work.

The mobile vehicle (A) includes a pair of left and right propulsion wheels (
2) and (2) are each configured to be freely driven by a pair of electric motors (M), and a pair of left and right caster free wheels (3) are installed at the rear end of the 11" body surface. Then, the speeds of both electric motors (M) are changed so as to create a difference in the rotational speed of the left and right steering wheels (2), thereby steering the vehicle.

3L shown in FIG. 2, the light reflective tape (4) for configuring the guide line is attached to the running road surface along the running path. ) is set up to control means to automatically travel along (A) between stations while moving (A).
Ru. It's sea urchin.

Then, to configure the control=1' stage, as shown in FIGS. 2 and 5, the light emitter (5) and the image sensor → J.
- A pair of front and rear detection units (SR), (SR) consisting of a steering control optical sensor 4J- (6) configured as “1-la (7),
Traveling i+, l+ goso & (
If) is installed on the moving vehicle side, and furthermore, a 1-nincoder (e) attached to both electric motors (M) is connected to a digital servo controller (9), and a servo amplifier (if) for both electric motors (M) is connected. 10) is connected to the digital servo controller (9) via the servo amplifier driver (11), and the image processing controller (8) zeroes out the lateral deviation of one body relative to the light reflective tape (4). The configuration is such that both electric motors (M) can be operated to change speeds.

It should be noted that of the two detection sections (SF) and (SR), the one on the front side is selectively used when the vehicle is moving forward, and the one on the rear side is selectively used when the vehicle is moving backward.

In addition, a mark (ml) for displaying travel control commands such as a stop position of the mobile vehicle (A) with respect to the station (ST), a branch start position at an intersection, and a deceleration travel start position is provided.
), (mz), (1113), reflective tape (4)
In addition, various information such as destination data and turning data can be transmitted from the ground side to the moving vehicle, and various information such as station arrival data and intersection arrival data can be transmitted from the moving vehicle to the ground. In order to enable transmission to the ground-1- side, optical communication devices yt (12) and (13) consisting of an infrared emitter (a) and an infrared receiver (1)) are connected to the moving vehicle side and the ground-1- side. In addition, mobile east side optical 1111 communication equipment (12) is installed at the station section and intersection section on the side, respectively, and the mobile east side optical 1111 communication device (12) is installed at the post control (7), I-1. -), j141. lx side) 1'. The illumination communication device (1 3) is connected to the ground-side central control “A M (ν), so that various information such as information manually input to the central control device (ν) and information stored in advance can be transmitted to the Au. , the moving vehicle (A) can automatically travel to a desired station (ST) while branching at an intersection.

That is, the optical sensor (6) detects driving control command information by reading marks together with steering control information, the image processing controller (8) transmits a mark discrimination signal to the host controller (7), and the host controller (7) ,
Traveling speed information, turning information, forward and backward movement information, etc. are transmitted to the digital servo controller (9), and the digital servo controller (9) transmits selection information of the detection section to be used to the image processing controller (1 ()). , the digital servo controller (9) transmits information on whether or not the vehicle is moving to the host controller (7), etc., while exchanging information between the controllers (7), (8), and (9). (A). However, each station (ST) is provided with a command information input section for the central controller fj' (V), and an information input section for the host controller (7) is provided. , to prepare the moving vehicle (A).

To further explain the travel control operation based on the flow chart shown in FIG. 6, when a travel command such as destination data is transmitted to the moving vehicle (A), the optical sensor (6
) image capture is started, and steering control is performed in accordance with the measurement of the amount of deviation from the center of the light reflective tape (4), and then control instruction marks (ml), (m-), (m-)
In response to this reading, the vehicle will diverge at an intersection, decelerate near a station, and temporarily stop at a station (ST) or the like. When starting image capture, if there is no light reflective tape (4) (including when there are no control instruction marks (ml), (mz), (m3)), an emergency stop will be performed to ensure safety. 7.
In addition, when there is a start command (power ON signal for the movement Tlf it line), the movement (8) will be run.

Although the explanation of the above control operation has been omitted, each moving vehicle (A) is given a car number in advance,
Each mobile vehicle (
8) Current position measuring machine - central control unit along with non-her? F? m , and the entire multiple movement 717 (A) is monitored by the central controller (ν). Also, 1
When multiple moving vehicles (A) arrive at one merging intersection, start/stop 1/commands are given to the moving vehicle (8) using the optical communication devices (12) and (13).ff
i Avoid collision, become two.

Also, light reflective tape (4) and control instruction mark (ml) +
(m=), (111,), although not illustrated, a white part as a band-like part with high light reflectance and a black part as a band-like part with low light reflectance are arranged in the yellow width direction,
The guide line is formed into parallel stripes along the longitudinal direction. Each mark (ml), (m2),
(m3) is positioned at both ends in the lateral direction so that the tape center (Tc) can be measured even in a 1 m vortex.The center between the lateral outer edges of the white part is at the tape center ('l' c). It is made to match.

In other words, the image processing controller (8) determines the position of the vehicle body relative to the light reflective tape (4) based on the outside edge of the white part on both ends of the tape in the lateral middle direction in the loaded image and the tape center stored in advance. Each mark (n+1), (m2), (m3
).

Furthermore, to explain the branching trip in "-", as the moving vehicle (8) arrives near the intersection, the turning pattern is transmitted to the moving vehicle (A) by the optical 1111 communication devices (12) and (13). , and when it is determined that the moving vehicle has traveled forward a set distance based on the output of the pulse encoder (e) after the edge of the mark (ml) in the moving direction (mark tape edge) is detected, the transmitted The vehicle will be driven while determining the speed, steering, etc. based on the turning pattern.

Next, the above-mentioned stoppage 1 and operation will be explained in detail based on the flowchart 1- in FIG.

In other words, when it is determined that the mark (m,) has traveled a set distance ^11 based on the output of the pulse encoder (e) after the movement Hl (advance direction edge (mark tape edge)) is detected, it will automatically stop. Nisaseru.F.

It's sea urchin.

Then, after the moving vehicle has stopped, a tilt calculation means (101) is configured to calculate the tilt of the moving vehicle (8) with respect to the light reflective tape (4) based on the detection information of both optical sensors (6).
The inclination calculation means is configured using the traveling control device fj (II) and is configured to spin turn the moving vehicle (8) so that the inclination of the moving vehicle (8) with respect to the light reflective tape (4) approaches zero. Based on the information of (101), a tilt correction means (102) for driving the left and right propulsion wheels (2), (2) in a state where their rotational directions are reversed to perform a turning operation is configured to control the traveling control device (11). It is configured using

More specifically, the amount of lateral deviation (Xl) of the front part of the moving vehicle and the lateral deviation Fit (lh) of the rear part of the moving vehicle are measured. In addition, both lateral deviations ht (X, ), (X2) are optical sensor 1-(6), (6
)+7) It is measured as a positive value that gradually increases toward the left end and right end of the detection range.

Then, the difference (C) between the detected deviations (XI) and (XZ) is calculated, and based on the calculation result, the moving vehicle (
8) is not tilted (C=φ), the mobile vehicle (8) is tilted to the left (C>φ), and the mobile vehicle (A)
It is determined that C is tilted to the right (C<φ).

In addition, the turning direction and turning operation amount according to the difference (C) are stored in advance, and if the turning direction is tilted (C>φ or C<φ), the turning direction and turning operation amount according to the difference (C) are stored in advance. Turning is performed using a spin-turn format in which both propulsion wheels (2), (2) are driven in opposite directions by the amount of operation. still,
After the turning operation is completed, the inclination of the moving vehicle (A) is checked again, and the turning is performed again if necessary.

By the way, the setting of the turning operation amount is performed using light reflective tape (4
), and based on the calculated inclination angle (α), the propulsion wheel (2)
, This is done by determining the four-turn ridge in (2).

As an example of calculating the inclination angle (α), let us explain based on Fig. 8 that the center (0) of the car body is separated (×) from the tape center (TC) and tilted by α degree. When it stops, the data (,1, people (1,l), (1,2) of the front and rear optical sensors→no°-(image sensors) (6) are shown.

However, the distance from the center of the vehicle body (0) to the front and rear optical sensors (6) is (7).

Therefore, e − tan α − = 1. ,N.

1-tan α-1,2-1, and from both equations, 21,-1an α=I,ll-1,2 is obtained.As a result, a towpath wire to which alternating current is supplied is provided as an induction line. In this case, the specific configuration of the steering control sensor can be changed in various ways according to the specific configuration of the guide line, such as by providing a pickup coil as the steering control sensor.

[Brief explanation of drawings]

The drawings show an embodiment of the mobile vehicle travel control equipment according to the present invention. Figure 1 is a schematic diagram showing the configuration of the present invention, Figure 2 is a schematic plan view of the travel control equipment, and Figure 3 (side view of J station). 4 is a front view of the vehicle stopped, FIG. 5 is a block diagram showing the specific configuration of the travel control, FIG. 6 is a flowchart showing the travel control operation, and FIG. 7 is the stop control operation. FIG. 8 is a schematic diagram showing an example of calculating an inclination angle. FIG. 9 is a schematic plan view of a conventional example. (4)...Guidance line, (6), (6)・
... Steering control sensor, (101) ...
・Inclination calculation means, (1,02)...Inclination correction means, (A)...Moving vehicle.

Claims (1)

[Claims] A guide line (4) for a moving vehicle (A) equipped with a pair of left and right propulsion wheels (2) that can be switched between forward and reverse directions separately is provided, and a pair of front and rear wheels for detecting the amount of lateral deviation with respect to the guide line (4) is provided. A mobile vehicle travel control equipment in which steering control sensors (6), (6) are provided in the mobile vehicle (A), wherein detection information of both the steering control sensors (6), (6) is provided. The moving vehicle (A) with respect to the guiding line (4) based on
is provided with an inclination calculating means (101) for calculating the inclination of the moving vehicle (A), and the inclination is A mobile vehicle running control equipment provided with an inclination correction means (102) for driving the left and right propulsion wheels (2) in opposite rotational directions based on information from an arithmetic detection means (101).