JPS62159205A - Running controller for automatic governing vehicle - Google Patents

Abstract

PURPOSE:To attain the stable running control of an automatic governing vehicle (AGV) regardless of the level of deviation by performing the control of the AGV based on the value of division obtained by omitting the fraction value produced between the deviation obtained from the running course of the AGV and the set value. CONSTITUTION:A pair of pickups 21a and 21b of a deviation detecting means 1 of an AGV detect an induction magnetic field 11 produced via a guide wire 10 set along the running course of the AGV. The outputs of both pickups undergo the processing through a differential amplifier 22. Then the deviation epsilon1 of the AGV is delivered from the means 1. The deviation epsilon1 is divided by the integer value set previously to the AGV by a set value input means 2 through a deviation control means 3. Here the fractions of this division are omitted and the 2nd deviation epsilon2 is obtained. Then the AGV is controlled so that the deviation epsilon2 is set at zero by a drive control means 4. No deviation control of the AGV is not given to the deviation set within an allowable range. Thus the stable drive control is secured with the AGV regardless of the level of deviation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a travel control device for an automatic guided vehicle (hereinafter referred to as an AGV), and in particular to a travel control device for an automatic guided vehicle (hereinafter referred to as an AGV), and particularly to a travel control device for controlling a travel route that occurs when an AGV is traveling along the travel route. The present invention relates to an AGV travel control device that compensates for deviations of the AGV from the AGV. The device according to the present invention can be applied to an AGV in a factory, for example, to an industrial robot,
It is used when loading and moving workpieces, etc.

[Conventional technology]

In a conventional AGV travel control device, for example, in the case of an electromagnetic induction method, an induced four-magnetic field caused by a current flowing in a guide wire buried along the travel route is applied to the left and right sides by sandwiching the guide wire. The AGV is detected by a pair of symmetrically arranged pickup coils, the difference in the current induced in the coils is amplified by a differential amplifier, and the AGV deviation is determined by a micro combinator. A speed command corresponding to the deviation is supplied to a servo amplifier, and the rotational speed of the pair of independent drive wheels is controlled based on the speed command so as to compensate for the above-mentioned deviation.

In this case, the micro combinator multiplies the AGV deviation by a value set in advance by a fixed means (variable resistor, etc.) corresponding to the AGV deviation, and the value obtained by this multiplication is Based on the deviation, a speed command to compensate for the deviation is supplied to the servo amplifier.

[Problem that the invention seeks to solve]

In the above-mentioned conventional technology, AGV correction control is performed each time a deviation occurs, regardless of the magnitude of the detected AGV deviation, so that the AGV can be adjusted to the left or right within a permissible range. However, even when the AGV is traveling normally, correction control is performed each time, which has the problem of actually reducing the running stability of the AGV. Furthermore, when a microcomputer multiplies an externally set value and an AGV deviation, a fraction may occur in the obtained value, which makes the processing by the microcomputer relatively complicated. There are also problems.

In view of the problems in the prior art described above, an object of the present invention is to provide an AGV travel control device that makes processing by a processing device relatively simple and allows the AGV to run stably regardless of the magnitude of AGV deviation. It's about doing.

[Means for solving problems]

FIG. 1 shows a principle block diagram of an AGV travel control device according to the present invention.

In FIG. 1, reference numeral 1 denotes a deviation detection means, which detects the sense of deviation of an AGV traveling along a travel route from the travel route. Reference numeral 2 denotes a set value input means that is detachable from the AGV, and has a value K that is preset corresponding to the deviation of the AGV.

3 is a deviation adjusting means, and the deviation 1 from the deviation detecting means 1 is
．． and the set value from the set value input means 2 divided by (#,
/K) and round down the resulting fraction. Reference numeral 4 denotes a travel control means, which constitutes a processing device together with the deviation adjustment means 3, and controls the travel of the AGV so as to compensate for the deviation g2 based on the deviation adjusted by the deviation adjustment means 3. .

Therefore, the device of the present invention as a whole
The deviation is adjusted to a simple value without fractions, and the traveling control of the AGV is performed based on this adjusted value.

[Effect]

In the AGV travel control device according to the present invention, the deviation g from the deviation detection means 1 and the set value from the set value input means 2, ! The deviation adjustment means 3 calculates the division i(g
+/K) is performed, and the resulting fraction is rounded down, and the travel control means 4 performs travel control of the AGV based on the deviation simplified by this calculation. Therefore, the processing device (deviation adjustment means 3
And the processing by the traveling control means 4) becomes relatively simple.

In addition, if the set value K is set to a value larger than the allowable value of minute deviation when the AGV is running normally, and the deviation adjustment means 3 performs division, the above-mentioned allowable value of minute deviation itself is rounded down as a fraction, in other words the deviation is 0
Furthermore, as a result of this, the traveling control means 4 does not perform correction control to compensate for the above-mentioned minute deviation, so that stable traveling of the AGV is maintained.

〔Example〕

FIG. 2 shows an example of the present invention! A traveling control device for an AGV using magnetic induction is shown.

Reference numeral 10 denotes a guide wire, which is continuously buried within the travel path of the AGV 20. A current from a power source (not shown) flows through this guide wire 10, and therefore,
An induced magnetic field 11 indicated by a broken line is generated near the travel route.

In the AGV 20, 21a and 21b are a pair of pickup coils, and the coils are provided at positions such that the values of the currents induced in the coils by the induced magnetic field 11 by the guide wire 10 are equal. Therefore, when the AGV 20 deviates to the left or right, a difference occurs in the values of the induced currents of the respective coils. A differential amplifier 22 is connected to the pickup coils 21a and 21b, and the amplifier amplifies the difference in the value of the current generated in the coils and outputs it as a deviation ε1. pickup coil 21
a, 21tl;'' and the differential amplifier 22 constitute the deviation detection means 1 shown in FIG.

23 is a programmable controller (PC) 't', and this PO23 is connected to the differential amplifier 22 and servo amplifiers 24a, 24bK, and 1 connector 27.
It is connected to a removable external operation panel 28 via. Servo amplifier 24a.

Servo motors 25&, 25b are connected to servo motors 24b, respectively, and left wheel 26a and right wheel 26b are connected to be rotatable by receiving driving force from the servo motors 25a, 25b, respectively.

The operation panel 28 is used by connecting to the connector 27 when the AGV 20 is stopped, and has a key operation section for inputting necessary data to the PO 23 and confirming the input data. It is equipped with a CRT (display unit) for Among the above-mentioned necessary data, the data related to the present invention must be a preset value corresponding to the deviation of the AGV, and this set value must be an integer, and the AGV
Different values Kp+K for the forward direction and backward direction of
It is set to B. The operation panel 28 corresponds to the set value input means 2 shown in FIG.

The PC 23 has a memory (
(not shown), and the PC 23 performs deviation adjustment processing and travel control processing. In the deviation adjustment processing, it is determined whether the AGV is moving forward or backward, and based on this determination result, The set value KF or KB is read from the above-mentioned memory, and the differential amplifier 22
The deviation a1 output from the set value K (KF or KB
), the fraction is rounded down, and the result is output as the deviation.

The travel control process is based on the deviation 1. which is simplified by the deviation adjustment process. Left and right wheels 2 to compensate for the deviation based on
The servo amplifier 2 calculates the speeds of 6a and 26b and accelerates or decelerates the current speed based on this speed.
This is a process for controlling 4a and 24b.

The PC 23 corresponds to the deviation adjustment means 3 and travel control means 4 shown in FIG. 1, and FIG. 3 shows a flowchart showing the processing of the PC 23.

In Fig. 3, first in step 31, the deviation of 8° is PO.
23. In the next step 32, it is determined whether the AGV 20 is moving forward or backward. If the AGV 20 is moving forward, the process proceeds to step 33; if it is moving backward, the process proceeds to step 34. After the value of KF is read out as the set value in step 33 or after the KBO value is read out as the set value in step 34, the process proceeds to step 35.

In step 35, the deviation a1 is divided by the set value and the fraction is rounded down, resulting in a simplified deviation C! is obtained.

In the final step 36, AGV travel control is performed based on the deviation to compensate for the deviation C7.

As explained above, according to the device of the present embodiment, the detected sense of deviation (for example, 14 V/mm) is converted into a simplified deviation (that is, I V /rm).
Since the travel control of the AGV is performed based on this simplified deviation gJ, the processing by the PO 23 is simplified. Furthermore, since integers are used as set values, input operations by the operator are also simplified. moreover,
If the allowable value of the minute deviation e1 when A(, V is running normally is 5 V/mtx, then by setting the value of K to at least 6#, the deviation ε2 can be reduced to O. In other words, the device of this embodiment has a function of ignoring minute deviations within the allowable range, that is, a filter function. This keeps the AGV running stably.

@Figure 4 shows the differential amplifier 22 for AGV deviation (dragon).
The relationship between the deviation '+(V/*m)b from the deviation '+(V/*m)b' and the deviation (V/v!t) adjusted in the PC 23 is shown. a2
In the curve, the part A ("t=o) is within the permissible value of minute deviation when the AGV is running normally.

Although the present embodiment has been described using an electromagnetic induction method as an example, the present invention is not limited thereto, and can of course be applied to an optical guidance method as well.

〔Effect of the invention〕

As explained above, according to the present invention, the processing by the processing device is relatively simplified, and even when the AGV deviation is small, the
It is possible to maintain stable running of the GV.

[Brief explanation of drawings]

Fig. 1 is a principle block diagram of an AGV travel control device according to the present invention, Fig. 2 is a partially schematic block diagram of an embodiment of the present invention, and Fig. 3 is a PC 23 shown in Fig. 2. FIG. 4 is a diagram showing the relationship between deviations ε1 and 62 with respect to AGV deviation. 1... Deviation detection means, 2... Set value input means,
3... Deviation adjustment means, 4... Travel control means, ε
1. a2...deviation, K...setting value.

Claims (1)

[Claims] 1. Deviation detection means (1) for detecting a deviation (■_1) of an automatic guided vehicle traveling along a traveling route from the traveling route; , a set value input means (2) for inputting a preset value (K) into the automatic guided vehicle corresponding to the deviation of the automatic guided vehicle; and a deviation (■_1) from the deviation detection means (1). a deviation adjustment means (3) that divides the value by the set value (K) from the set value input means (2) and rounds off the fraction, and a deviation (■_2) adjusted by the deviation adjustment means (3). Based on the deviation (
(3) A travel control device for an automatic guided vehicle, comprising: travel control means (4) for controlling the travel of the automatic guided vehicle so as to compensate for (3). 2. The device according to claim 1, wherein the set value (K) is an integer. 3. The device according to claim 1 or 2, wherein the set value (K) is set to different values for the forward direction and backward direction of the automatic guided vehicle.