JPS6237709A - Traveling control method for unmanned carrier - Google Patents

Abstract

PURPOSE:To suppress the fishtailing phenomena and to secure a stable steeling action with an unmanned carrier by increasing the deviation amount delivered from a route sensor which functions to reduce the reference speed delivered from a speed command circuit in accordance with the difference of the revolving speed between right and left drive wheels. CONSTITUTION:A speed difference detector 20 obtains the difference of output between tachogenerators 9 and 13 and delivers it to a comparator 21. The comparator 21 supplies the steady signal S to a speed command circuit 22, a route sensor 28 and amplifier circuits 24 and 25 when the output of the detector 20 exceeds a set level. In such a constitution, the speed difference between both drive wheels 8 and 12 is small and no steady signal S is delivered in a linear drive mode. Therefore the gains of both circuits 24 and 25 are reduced. This suppresses the fishtailing phenomenon and stables the steering actions. While the speed difference between both wheels 8 and 12 increases when the unmanned carrier enters a corner part. Thus the signal S is delivered together with the reduced reference speed (v), the increased deviation amount DELTAv and increased gains of both circuits 24 and 25 respectively. Thus the steering responsiveness is increased and therefore the unmanned carrier can follow a curved drive route.

Description

[Detailed description of the invention] f) The present invention relates to a method for controlling the running of unmanned vehicles used in factory warehouses and the like.

[Prior art]

Left and right drive for unmanned cars! There is one that performs steering by giving a speed difference to IIIJfa. Although this steering system has advantages such as being able to perform spin turns, it has the disadvantages that the so-called tail shakes and squeals and the steering is unstable compared to systems that use an independent steering wheel. ing.

FIG. 2 is a block diagram of an unmanned vehicle that performs steering by giving a speed system to the left and right bodies (f)I. In this figure, 1 is a speed command circuit, and 1 is a speed command circuit.
Output. Further, 2 is a route sensor which detects deviation from a predetermined travel route and outputs a deviation Δji. To explain further, a steering guide wire that generates an alternating current magnetic field is laid along the driving route, and the route sensor 2 detects the alternating magnetic field, and if the vehicle does not go directly above the steering guide wire, As shown in FIG. 3, a deviation amount Δυ proportional to the deviations rt and t is output.

This deviation amount ΔV is supplied to the adder circuit 8, and simultaneously supplied to the adder circuit 5 via the inverting amplifier circuit 4 with a gain of -f. The adder circuit 8 adds the deviation amount ΔV to the reference speed V and calculates the JJO
The result is supplied to the motor 7 via the full speed reverse control circuit C1. The motor 7 drives the drive wheels 8 on one side under the control of the control circuit C1. Here, the control circuit CI is an amplifier circuit (
The tachometer generator 9 converts the rotational speed of the driving wheel 8 into a voltage (g) and feeds it back to the narrowing road 6. -ΔV is added to the speed control circuit 0.
1 to the motor 11. Motor 11? The drive wheel 12f on the other side is driven under the control of the i control circuit C8. Here, the control circuit C2 includes an amplifier circuit 10 and a tachometer generator 13, and the tachometer generator 18 converts it into a rotary compartment temperature pressure signal for the drive wheels 12 and feeds it back to the Jf4 width circuit 10.

In the above-mentioned purchase, when the vehicle is traveling on the traveling route, the output of the route sensor 2 is a guide, and therefore both driving wheels 8, 12 rotate at an equal angle of 4 degrees. However,
When the heavy vehicle deviates from the regression route due to disturbances, running resistance, or a difference in wheel diameter due to wear, the route sensor 2 outputs a deviation amount ΔV, which causes the left and right drive wheels to change speed. Given the difference, both vehicles are returned directly above the running route. When the vehicle 18 curves around a corner of the traveling route 14 as shown in FIG.
Travel on L4.

[Problem that the invention seeks to solve]

By the way, in the above-mentioned unmanned system that gives a speed difference to the left and right drive wheels for steering, as mentioned above, the tail (
This inherently has the drawbacks that the 1st phenomenon is more likely to occur and the steering is unstable. In order to suppress this butt-shooting phenomenon, it is possible to reduce the gain of the amplifier circuit 6.10, but by reducing the gain, the steering becomes stable when driving on a straight route, but when driving around corners. Since the drive wheels 8 have to travel at a higher speed than when traveling straight, there is a risk that the vehicle will go off-route due to insufficient steering gain.

In view of the above-mentioned circumstances, it is an object of the present invention to provide an unmanned driving control method that suppresses the tail loss phenomenon, stabilizes the steering, and prevents the vehicle from going off-route at corners.

[Means for solving problems]

In order to achieve the above object, the present invention provides the following (A), (B),
It is characterized by performing at least t of C1.

(5) Reduce the reference speed that is output from the speed command circuit.

Increase the amount of deviation output from the concave root sensor.

(C) Increase the gain of the amplifier circuit.

[Effect]

The above AL (B) according to the difference in rotational speed between the left and right drive wheels.
, (C1 (73 By performing at least l,
Improves followability at corners.

[Implementation row]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an unmanned system according to an embodiment of the present invention, and the same parts as in FIG. 2 are given the same reference numerals. In this figure, 2o is a speed difference detector, which calculates the output of the tachogenerators 9 and 13 and outputs it to the comparator 21.

The comparator 21 compares the output of the speed difference detector 2o with a preset value t"Ltt, and detects the speed difference dg2.
When the output of 0 is smaller than the setting jil<, the output is set to zero, while when the output of the speed difference detector 2o exceeds the setting value by 4, the steady signal S is sent to the speed command circuit 22, the route sensor 28 and It is supplied to the amplifier circuits 24 and 25.

The speed command circuit 22 corresponds to the speed command circuit l shown in FIG. 2 described above, and when the steady signal S is supplied, the reference speed g
Drop it on a small one. By making the reference speed clearer, the average speed of the left and right wheels becomes smaller, the turning radius of the unmanned vehicle becomes shorter, and the responsiveness of the steering increases.

The route sensor 28 corresponds to the route sensor 2 shown in FIG. 2 described above, and when supplied with the steady signal S, increases the ejection sensitivity of the travel route and makes the deviation amount ΔV a large value. As the deviation amount ΔV becomes larger, the speed difference between the left and right drives becomes larger, thereby increasing the responsiveness of the steering.

The amplifier circuits 24 and 25 correspond to the circuits IO and 6 shown in FIG. 2 described above, respectively. The gain of the amplifier circuit 24 and Z5 is variable, and the comparator 21
When the steady signal S is not supplied from the comparator 21, the value is low, but when the steady signal S is supplied from the comparator 21, it increases.

As the gain increases, the speed of the left and right drive wheels becomes sharper, and this increases the responsiveness of the steering.When driving in a straight line, the speed of the left and right wheels becomes faster.
The A degree difference given to the motion 11 @ is small, and the comparator 2
From 1 to 1, the steady-state power = S is never output. However, the 40 gain of the increase circuits 24 and 25 is small, the tail 4M+jt phenomenon is suppressed, and the n1 steering is stabilized. On the other hand, when the unmanned vehicle enters a part of the corner, the degree of uncertainty given to the left and right drive wheels increases, and as a result, the steady signal S is output from the comparator 21, and the reference vehicle V falls, and The eccentricity Δν increases, and the so-called g circuit 24
．． The gain of 25 is increased, the responsiveness of the steering is increased, and the unmanned vehicle is able to follow the curved FC driving route at some corners.

In addition, the W semi-operation v of the speed command circuit 22, 1, the deviation amount Δν of the root sensor 28, and the ladle 14 of the shoulder width circuit 24°25.
) is configured to increase or decrease t1 stepwise in response to the steady signal S, but it directly receives the output of the speed difference generator 20 and continuously increases as the output increases. Alternatively, it may be decreased.

In addition, in this embodiment, the steady signal S is simultaneously supplied to all of the speed command circuit 22, route sensor z3, and amplifier circuit 24. 25 may be supplied.

1-hi, *'4 The embodiment describes an unmanned vehicle traveling along a regressive route, but it is clear that A can also be applied to an autonomously traveling unmanned vehicle that does not follow a regressive route.

[Young fruit of invention]

As explained above, according to the present invention, the left and right torso 1L
According to the difference in rotational speed of wheels IIJ, the reference speed I! is output from the speed command circuit. Reduce IL.

CB+ Increase the amount of deviation output from the route sensor.

(C) Increase the +IJ gain of the amplifier circuit.

By doing at least one of the following, it is possible to reduce the gain of the arm/width circuit when driving in a straight line, suppressing the heeling phenomenon and stabilizing the steering, and also making it possible to stabilize the steering in some corners. Improves IR fit and eliminates off-route.

[Brief explanation of drawings]

Fig. 1 is a block diagram illustrating an unmanned vehicle according to an embodiment of the present invention, Fig. 2 is a block diagram illustrating a conventional unmanned vehicle, and Fig. 3 is a block diagram illustrating a conventional unmanned vehicle.
The graph showing Seki 1 series gold with Biankagui, Figure 9 is unmanned * 1f
FIG. 3 is a schematic diagram showing a state in which the vehicle No. 3 travels around a corner.

Claims (1)

[Claims] A speed command circuit that outputs a reference speed, a route sensor that detects a deviation in the vehicle position and outputs a speed deviation amount, and a speed command circuit that outputs a reference speed based on a value obtained by adding the deviation amount to the reference speed. A first period amplification circuit that controls the rotation of one drive means, and a second period amplification circuit that controls the rotation of the other drive means based on a value obtained by subtracting the deviation amount from the reference speed. Therefore, in an unmanned vehicle that travels by driving the left and right drive wheels individually by the one and the other drive means, the following (A), (
A driving control method for an unmanned vehicle, characterized by performing at least one of B) and (C). (A) Decrease the reference speed output from the speed command circuit. (B) Increase the amount of deviation output from the route sensor. (C) increasing the gains of the first and second period amplifier circuits;