JPS62182811A - Electromagnetically guided automatic traveling vehicle - Google Patents

Abstract

PURPOSE:To ensure the good guidance for a drive course including two routes branching out and joining with each other by adding an intersection position stop means and a spin-turn means to a guiding means. CONSTITUTION:A guiding means M4 contains an intersection position stop means M7 and a spin-turn means M8. The means M7 functions to stop a car M2 at the position where another crossing electromagnetic guide line M6 is detected by a magnetic detection means M3 at an intersection where two routes cross with each other almost rectangularly on a drive course excepting for a case where an electromagnetically guided automatically traveling vehicle travels straight. While the means M8 turns the car M2 stopped by the means M7 up to the position where an electromagnetic guide line M1 along which the car M2 is so far guided is detected.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an electromagnetic induction type automatic driving vehicle, and more specifically, the present invention relates to an electromagnetic induction type automatic driving vehicle that can suitably perform guidance on a running road where two routes diverge and merge. Regarding guided autonomous vehicles.

[Conventional technology] In recent years, electromagnetic systems that automatically travel along paths formed by electromagnetic induction wires that have been buried or laid in advance on the road surface have been developed for the purpose of transporting goods within factories, safe deposit boxes, large-scale stores, etc. Guided autonomous vehicles (so-called driverless vehicles) are becoming more popular. Such an electromagnetic induction type automatic driving vehicle uses a pickup coil or the like to detect a magnetic field generated around an electric current (induced current) of a predetermined frequency flowing through an electromagnetic induction wire, and automatically travels along a driving path. Therefore, 2
On a driving road where there are intersections where routes diverge and merge, a means is required for the electromagnetic induction automatic vehicle to determine which route to take.

Therefore, conventionally, in order to perform a branch at a branch point, a vehicle departs from the taxiway before the branch point and travels along a pre-programmed route to the route after the branch. (1) in the official gazette "Autonomous Driving Vehicle"), two electromagnetic induction wires are installed in advance along a branch route and guidance is conducted in one direction, or the frequency of the induced current flowing through the electric la induction wire is adjusted. Various types of electromagnetic induction type automatic driving vehicles have been proposed, including ones that switch direction and guide the vehicle in one direction.

[Problems to be Solved by the Invention However, these electromagnetic induction type automatic driving vehicles had the following problems.

(1) If a branch is made by deviating from the electromagnetic induction line before the branch point, sufficient safety may not be ensured because the line will deviate from the electromagnetic induction line, even if only temporarily.

(2) In addition, in the case where two electric VI1 induction wires are laid in advance, an extra electric LA induction wire is required for the entire running route length, and the labor and man-hours for burying or laying the electromagnetic induction wire are increased. Not only does this increase, but it is also necessary to select one of the electromagnetic induction wires to flow an induced current as the vehicle travels, complicating control. Furthermore, each time a branch point changes due to a change in the route, two 45 electromagnetic induction lines had to be dissected and treated, which required a lot of effort.

(3) In the case of switching the frequency of the induced current, there is a problem in that the electromagnetic induction automatic driving vehicle must be equipped with a device that switches and detects two frequencies. Also,
Two initiators are required to send an induced current to the electromagnetic induction wire, and two electric fi1 induction wires are also required, as described above (2).
Similar problems were also made with the aim of providing a running vehicle.

Structure of the Invention [Means for Solving the Problems] In order to achieve the above object, the present invention has the following structure as a means for solving the problems. That is, two magnetic detection means M3 each detect the strength of the magnetic field generated by the electric vi1 guiding wire M1 forming the running path at two predetermined locations on the left and right sides of the vehicle M2, and the strength of the detected left and right magnetic fields. A guiding means M4 for guiding and controlling the vehicle M2 along the traveling route based on the following: In the electromagnetic induction automatic driving vehicle, the guiding means M4 is located at an intersection where the two traveling routes intersect at a substantially right angle. intersection position stopping means M7 for stopping the vehicle M2 at a position where the two magnetic detection means M3 reach the other intersecting electromagnetic guide line M6 at an intersection where a direction other than straight forward is selected; The vehicle M2 that has been
an electromagnetic induction type automatic device characterized by comprising a "spin turn means M8" for turning the electric fii guiding wire M1 guided by the electric fii on the spot to a position where it is detected by the two magnetic detection means M3. The configuration of the running vehicle is the same.

Here, the electromagnetic induction wire M1 (M6) forming the running path is
Any electric wire that is buried or laid in the road surface and generates a magnetic field by passing an induced current of a predetermined frequency can be used.In particular, wires that are laid on the road surface can easily adapt to changes in the running route.

The magnetic detection means M3 detects the strength of the magnetic field generated around the electromagnetic induction wire Ml (M6), and
It can be installed in two places on the left and right sides of the As such a magnetic detection means M3, one using a pickup coil, an SDMEN air sensor using a magnetoresistive effect, one using a Hall element, etc. are known. The guiding means M4 is
The vehicle M2 is guided and controlled along the running route based on the strength of the left and right magnetic fields sandwiching the electromagnetic induction wire M1 detected by the two magnetic detection means M3. In the present invention, the intersection position stopping means It is equipped with M7 and spin turn means M8. These are Discly-1 and
Although it can be realized by a simple circuit configuration, it can also be realized as a logic operation circuit using a microcomputer or the like.

The intersection position stopping means M7 is used to stop the vehicle M2 at an intersection where two routes intersect at approximately right angles, except when the electromagnetic induction type automatic driving vehicle is traveling straight.
This is a means for stopping the vehicle at the position detected by the magnetic detection means M3, and in response to a command transmitted superimposed on the mark plate installed in front of the intersection or the induced current of the electric m-guide wire M1, It can be configured to determine an intersection and stop the vehicle M2 at a position where the magnetic detection means M3 detects an induced current flowing in another electromagnetic induction wire M6. The magnetic detection means M3 is installed at a position a predetermined distance apart from the electromagnetic induction wire M1, and since the normally guided electromagnetic induction wire M1 is not directly under the magnetic detection means M3, other The electromagnetic induction wire M6 can be easily detected.

In addition, from the aspect of driving safety at intersections, there is no problem in configuring the vehicle to stop at intersections even when going straight.

The spin turn means M8 turns the vehicle M2 stopped by the intersection position stop means M7 on the spot to a position where the electromagnetic guide line M1 through which the vehicle M2 was previously guided is detected by the magnetic detection means M3. Yes, it may be realized using a drive system (two-wheel speed difference control system) that rotates the left and right independently driven wheels for running in the opposite direction, or it may be realized using a power system dedicated to spin turns. .

[Function] The electromagnetic induction type automatic traveling vehicle of the present invention having the above-mentioned configuration reduces the magnetic field generated in the electromagnetic induction wire M1 formed as a running path by
It is detected by the magnetic detection means M3 disposed on the left and right sides of the vehicle M2, and based on the magnetic field strength by the guiding means M4,
Vehicles are guided and controlled along the driving route, but at an intersection where the two driving paths intersect at approximately right angles and where the N magnetic guidance type automatic driving vehicle chooses to proceed other than straight ahead, the electromagnetic guidance is activated by the intersection position stop means M7. The vehicle M2 is stopped at a position where the magnetic detecting means M3 reaches another electromagnetic guiding wire M6 that intersects with the guiding wire M1, and the stopped vehicle M2 is then stopped by the spin turn means M8 and the magnetic detecting means M3 detects the electromagnetic guiding wire. M1
Rotate it on the spot until it is detected.

Therefore, at an intersection where two routes intersect, the electromagnetic induction type automatic vehicle of the present invention does not need to prepare multiple electromagnetic induction wires or switch the induction frequency depending on the selected route, and it is not necessary to change the route at the intersection. Work to perform well.

[Examples] In order to further clarify the configuration of the present invention described above, preferred embodiments of the present invention will be described next. Figure 2 shows
An explanatory diagram showing the guidance course of an electromagnetic induction unmanned vehicle as an embodiment of the present invention, FIG.
FIG. 4 is a perspective view showing the first component, and FIG. 4 is a block diagram showing the electrical system.

The electromagnetic induction type unmanned vehicle 1 of this embodiment runs on a course (driving path) shown in FIG. 2, and the course is formed in a loop shape by one electric IIA guide wire 2.

An induced current of a predetermined frequency is passed through the electromagnetic induction wire 2 by one oscillator 3, and the alternating current causes the magnetic field generated around the electromagnetic induction wire 2 to be detected, and the electromagnetic induction type unmanned center 1 runs on the course.

Mark plates are placed at various places on the course, and 6-bit marks provide necessary information to each electromagnetic induction unmanned vehicle.
to communicate. For example, as shown in FIG. 2, station 5 uses a 2-bit mark plate 7a, right turn instructions use a 3-bit mark plate 7b, and stop 2 operations and 1800 turns use mark plays 1 to 7C.
t, work, and retreat are each represented by the mark plate 7d, and are transmitted to the electromagnetic induction type unmanned vehicle 1.

Although permanent magnets are used for the marks of mark plays 1 to 7a to 7d in this embodiment, they may be formed by drawing out the electromagnetic induction wire 2 to the course magnet to form a loop. In such a system, the electromagnetic induction type unmanned vehicle 1 can easily detect the marks of the mark plays 1 to 1 by turning off the proximity switch A using a reed switch.

As shown in FIG. 3, the electromagnetic induction type unmanned vehicle 1 is equipped with a battery 7 as a driving power source, receives power from a battery, and operates an electronic control device 10 and an electromagnetic induction wire 2. 4 pickup coils 1 that detect the surrounding magnetic field
2.13, 14, 15, mark plates 7a to 7d
a mark plate sensor 18 consisting of a group of proximity switches that detects a bumper sensor 22, 23 that detects the contact of an object with the front and rear bumpers 20, 21, drive units 30, 31 that independently drive the left and right wheels 24 and 26; 4
It is composed of auxiliary casters 33, 34, 35, 36, etc. In addition, in Fig. 3, the electromagnetic induction unmanned vehicle 1
The body 38 is drawn by an imaginary line (two-dot chain line) for convenience of illustration.

The electronic control device 10 includes pickup coils 12 to 1.
5, drive units 30, 31, etc., and guides the vehicle along the electromagnetic guide line 2.

Therefore, next, the configuration of the electronic control unit U10 will be explained. As shown in FIG. 4, the electronic control device 10 amplifies and processes the detection signals of the pickup coils 12 to 15,
It is composed of a discrete circuit that controls and drives the drive units 30 and 31, and a travel control circuit 40 that includes a well-known CPU or the like.

The traveling control circuit 40 includes CPLJ41. ROM42゜RA
It is mainly composed of M43 etc., and via bus 45,
These and interrupt input port 47. Mark play 1 to input circuit 48. A detection signal input port 49° is interconnected with the travel path detection amplifier control output port 1-51, the function generation control output port 52, and the like.

The CPU 41 of the travel control circuit 40 executes multiple controls according to the program stored in the ROM 42, and outputs the pickup coils 12 to 15 via each output port.
Drive unit 1-30.3 based on the detection signal of
Controls the drive of 1.

The pickup coils 12 to 15 are connected to preamplifiers 61, 63 via double-pole, double-throw analog switches 60. The pickup coil that detects the magnetic field generated by the electromagnetic induction wire 2 can be guided more easily if it is located closer to the direction of travel than the drive shaft. The pickup coils 12, 13 are selectively connected to the preamplifier 61, 63 in the case of forward movement (toward), and the pickup coils 14, 15 are selectively connected to the preamplifier 61, 63 in the case of backward movement. Since the detection signals of the pickup coils 12 (14) and 13 (15) are signals equal to the frequency of the induced current passed through the electromagnetic induction wire 2 by the oscillator 3, they are preamplified by preamplifiers 6'l and 63, and then subjected to detection rectification. It is converted and amplified into a DC signal by amplifier circuits 65 and 67.

As shown in FIG. 5, the magnetic field generated around the electromagnetic induction wire is different depending on the position of the left pickup coil 12 (14) and the right pickup coil 13 (15). On the other hand, if the pickup coils 12 (14) and 13 (15) are running at the center, their absolute intensities will be equal, and in that case, the DC components of the detection signals of both pickup coils 12 (14) and 13 (15) will also have equal values. In addition, the traveling control circuit 40
The detection frequency of the detection rectifier amplifier circuits 65 and 67 is set via the road detection amplifier control output port 51.

Left and right pickup coils 12 (14>, 13 (15))
The signal obtained by subtracting the DC component of the detection signal is sent to the preamplifier 68.
Then, the signals obtained by adding the two signals are each amplified by the preamplifier 69, and then the former is input to the function generation circuit 70, and the latter is input to the road crossing detection circuit 71.

Left and right pickup coils 12 (14), 13 (15)
Since the difference signal reflects the deviation of the vehicle with respect to the electromagnetic induction wire 2, the function generating circuit 70 uses this signal to improve steering sharpness due to the difference in rotational speed between the left and right drive shafts 24 and 26. , a control function is generated to prevent minute hunting (vibration) from occurring. On the other hand, the CPU 41 of the travel control circuit 40 reads this differential signal via the detection signal panono board 49 to prepare for an emergency stop or the like in response to an unexpected movement of the vehicle.

On the other hand, when the running path detection circuit 71 comes over the electromagnetic induction wire 2 where the left and right pickup coils 12 (14) and 13 (15) intersect, the detection signal is greatly affected by the magnetic field generated by the electromagnetic induction wire 2. Since this change occurs, this is detected and notified to the travel control circuit 40.

The output of the function generating circuit 70 described above is input to two function generators 73 and 75. This function generator 73.7
5 is the CPU 41 via the function generation control output port 52.
It generates servo signals for servoing the left and right drive units 30 and 31 in response to commands from the drive units 30 and 31. That is, the target speed (digital 5) given from the travel control circuit 40
Based on the commands related to steering given from the function generating circuit 70, voltage signals are output to each of the steering systems that control the drive units 30, 31.

The voltage signal of the function generator 73 is sent to a control amplifier 77, a motor drive power amplifier 79 . Motor 81 of drive unit 30. The signal is output to the left wheel servo system, which includes an encoder 83 that detects the rotational speed of the motor as a pulse signal, and an F/V converter 85 that converts the output of the encoder 83 into a voltage. Similarly, the voltage signal of the function generator 75 is transmitted to a control amplifier 87, a motor drive power amplifier 89. motor 91
The pulse signal is output to the right wheel servo system consisting of an encoder 93 that detects the motor rotation speed as a pulse signal and an F/V converter 95. As a result, each drive unit 30.3
The motors 81 and 91 are each independently controlled at a speed commanded by the travel control circuit 40 and a rotation speed based on the steering determined from the deviation of the vehicle with respect to the electromagnetic induction wire 2, etc.

Next, regarding the process executed by the travel control circuit 40, the sixth
The description will be made based on the flowcharts shown in FIGS. The travel control circuit 40 of the electromagnetic induction unmanned vehicle 1 is connected to the station 5
After starting the vehicle, the travel control routine shown in FIG. 6 is repeatedly executed together with other control routines (not shown), such as emergency interruption processing based on whether or not an object has touched the bumpers 20, 21.

First, in step 100, a constant speed running command is outputted via the function generation control output port 52, and the left and right drive units 30, 31 are controlled to maintain constant speed running. In the subsequent step 110, it is determined whether the induction is being performed normally based on the difference between the output signals of the left and right pickup coils 12 and 13 input from the function generation circuit 70 through the detection signal input port 49. It will be done. If the vehicle deviates from the travel path formed by the electromagnetic induction wire 2, the outputs of the left and right pickup coils 12 and 13 will not be normal signals, and the travel control circuit 40 will detect this and control the vehicle. (step 120).

If the guidance is performed normally, the process proceeds to step 130, where the mark plate sensor 1f consisting of a group of proximity switches
18, it is determined whether or not the mark plate has been detected. If mark plate 1~ is not detected, the process moves to rNEXTJ and ends this control routine once. On the other hand, if a mark plate is detected, the process proceeds to step 140 and It is determined which instruction the mark play 1- gives.

In this embodiment, the mark plates include a mark plate 7b that instructs a right turn, and a mark plate 7C1 that instructs a stop 1 turn L1800 stop.

There is a mark plate 7d that instructs work and retreat, so
These judgments are made. Mark play 1-7b
When the mark plate 7C is detected, the process proceeds to step 150 to perform a right turn process, and when the mark plate 7C is detected, the process proceeds to step 160 to perform a stop/work/180
° Process the turn. On the other hand, mark plays 1-7d
When detected, the process proceeds to step 170 to perform stop/work/backward start processing, and then switch the analog switch 60 to the road width section control output boat 51 for road detection.
A switching process (step 180) is performed.

As a result, when reversing, the pickup coil 14.15
is used.

After processing any one of steps 150, 160, and 180 described above, JALG is sent to rNEXTJ, and this control routine ends.

Next, details of the above-mentioned right turn process will be explained. The right turn process starts from the process of slowing down the vehicle speed (step 200>). The vehicle speed is slowed down by changing the signal output from the function generation control output boat 52, and as a result, the mark plate 7b When a vehicle approaches a right-turning intersection, it slows down.As shown in FIG. In order to also detect the magnetic field generated by the other electromagnetic induction wire 2b, the addition 171 of both signals is performed.
(The driving road intersection detection circuit 71 accurately detects the position of the intersection based on the No. 2010. Therefore, this is a detection signal type)
By reading through the j port 49, the intersection can be known. In Fig. 8, the symbol ■ indicates that the polarity of the magnetic field occurs in the direction of ``], and the symbol ■ indicates that the polarity of the magnetic field occurs in the downward direction. .

The vehicle continues traveling at a slowed down speed until an intersection is detected (step 210), and is stopped when it detects the other intersecting electromagnetic guide line 2b (step 22).
0). Subsequently, the CPtJ41 of the travel control circuit 40 outputs the function generator 73.7 via the function generation control output port 52.
5, and outputs a control signal to the left and right drive units 30 and 31.
to rotate the wheels 24, 26 in opposite directions, here so that the vehicle turns to the right. The vehicle thus begins a spin turn (step 230).

At this time, the left and right pickup coils 12 and 13 move as indicated by the dashed line R in Fig. 8, and the vehicle moves approximately 9
At the point where it has rotated 0 degrees, it reaches the electromagnetic induction wire 2a that has been guiding up to that point. This is the pickup coil 12.
13, when the electromagnetic induction wire 2a is detected (step 240),
The spin turn ends (step 250). That Shun,
By outputting a signal instructing the function generators 73 and 75 to go straight (step 260>), the vehicle starts moving forward again and continues normal guidance by the electric vi1 guide wire 2 [). Steps 200 to 260 explained above
This means that a right turn has been made.

FIG. 9 is a graph showing changes in the output signals of the left and right pickup coils 12 and 13 and their added signals during right turn processing. , at time t1, the left and right pickup coils 12 and 13 have reached the electromagnetic induction line 2b, and at time t2, the left and right pickup coils 12 and 13 have reached the electromagnetic induction line 2a due to the spin turn, respectively. I hope you understand.

As explained above, the electromagnetic induction type unmanned vehicle 1 of this embodiment runs along a traveling path formed by a single electric m-guide wire 2 through which an induced current of a predetermined frequency is caused by a single transmitter 3. However, at an intersection of the electromagnetic guide line 2, when a direction other than straight ahead is selected by the mark plate, the direction of travel can be changed by stopping the vehicle at the intersection and then making a spin turn. Therefore, it is possible to change the branching direction of a vehicle simply by changing the mark plate, and furthermore, if each vehicle has a different meaning for the same mark plate, multiple electromagnetic It will also be possible to have guided unmanned vehicles take different routes.

Further, since the electromagnetic induction unmanned vehicle of this embodiment changes direction using a so-called spin turn, it can easily change direction even in a narrow passage.

Although one embodiment of the present invention has been described above, the present invention is not limited to this embodiment in any way. For example, it is possible to make a left turn or a 1800 turn at an intersection, and instead of a mark plate, an electromagnetic induction wire can be used. It goes without saying that the present invention can be implemented in various ways without changing the gist of the present invention, such as a configuration in which a command superimposed on the induced current flowing in 2 is used, and branching and merging at intersections are performed based on this command. be.

Effects of the Invention As detailed above, the electromagnetic induction automatic driving vehicle of the present invention can operate on a running path having an extremely simple configuration using a single electromagnetic induction wire through which an induced current of a single predetermined frequency is passed. , it is possible to suitably realize two-route branching and merging, which is an excellent effect. Therefore, there is no need for switching the induction frequency, etc., and both the device configuration and control can be simplified. In addition, it can flexibly and easily respond to changes in travel routes, etc.

Further, in the electromagnetic induction vehicle of the present invention, since the direction can be changed by rotating the vehicle, it is also possible to change the direction even in a deep space.

[Brief explanation of drawings]

FIG. 1 is a block diagram illustrating the basic configuration of the present invention, FIG. 2 is an explanatory diagram showing a course traveled by an electromagnetic induction vehicle as an embodiment of the present invention, and FIG. 3 is an electromagnetic induction vehicle as an embodiment of the present invention. FIG. 4 is a circuit diagram showing the electrical system, FIG. 5 is an explanatory diagram showing the relationship between the magnetic field generated around the electromagnetic induction wire and the pickup coil, and FIG. FIG. 7 is a flowchart showing a running control routine in the embodiment, FIG. 7 is a flowchart showing a right turn processing routine, and FIG. 8 is an explanatory diagram showing a right turn.
FIG. 9 is a graph showing how the output signal of the pickup coil changes when turning right. 1... Electromagnetic induction type unmanned vehicle 2... Electromagnetic induction wire 3... Shooter 7a, 7b, 7c, 7d-v-"y7ray)-10...
・Electronic control device 12.13.14.15...Pickup coil 1B
... Mark plate sensor 24.26 ... Wheel 30.31 ... Drive unit 40 ... Travel control circuit 81.91 ... Motor 83.93 ... Encoder

Claims (1)

[Scope of Claims] Two magnetic detection means for detecting the strength of the magnetic field generated by the electromagnetic induction wire forming the running path at two predetermined locations on the left and right sides of the vehicle, and the strength of the detected left and right magnetic fields. and a guiding means for guiding and controlling a vehicle along the traveling route based on the following, wherein the guiding means is configured to conduct an electromagnetic induction automatic driving vehicle at an intersection where the traveling route intersects two routes at approximately right angles other than going straight. is selected, the vehicle is moved to the intersection where the
intersection position stopping means for stopping the stopped vehicle at a position where the two magnetic detection means reach the other intersecting electromagnetic guide line; An electromagnetic induction type automatic traveling vehicle characterized by comprising: spin turn means for turning on the spot to a position where the electromagnetic induction line through which the vehicle was being guided is detected by the two magnetic detection means.