JPS625416A - Controller for wire moving vehicle - Google Patents

Abstract

PURPOSE:To feed back automatically a moving vehicle at a start point or a passing one along a paid-out line and to lighten the burden imposed on a person by detecting the deviation of a signal line in a vertical direction against a moving one on high surfaces of the moving vehicle and correcting the deviation corresponding to the degree of bending of a passing route so as to steer. CONSTITUTION:Detecting plates 1 and 2 detecting the deviation of the vehicle 3 from the line 3 in a horizontal direction are jointed to the position detectors 7-1 and 7-2 of the controller of the wire moving vehicle with springs 8-1 and 8-2, and the contact with the line 3 is detected by contact plates 4 and 5. These detecting plates 1 and 2 are supported by guide plates 9-1 and 9-2, and the line 3 is paid out of a drum 10 or wound up. The dislocation in the vertical direction of the line 3 is detected by the detecting plates 1 and 2, and the output of the detector 7-1 is inverted 11 to add it to the output of the detector 7-2 in an adder circuit 12. An input 1 from the circuit 12 to a steering device 13 is set to Xmin<=i<=Xmax. Then the deviation corresponding to the degree of the passing route of the paid-out line 3 is corrected to steer.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a control device for a wired mobile vehicle that allows the wired mobile vehicle to return to a starting point or a passing point 4.

[Technical background of the invention and its problems]

Conventionally, the return of one-year-old vehicles and other remote-controlled vehicles has been carried out by human guidance or by using guides laid smoothly within the work environment.

However, guiding by humans places a burden on dogs due to the large human population, and it is necessary to install guides in advance in the working environment; however, no measures have been taken in the case that it is impossible to do so.

[Purpose of the invention]

This invention improves the above-mentioned drawbacks, and eliminates the burden on humans or operations such as laying a guide in the work environment, and it is possible to rebuild a sub-A wired mobile vehicle using the wire that the vehicle itself extends as a guide. The purpose is to provide

[1g essential point of the invention] This invention draws out a line of #1 #1 as it moves,
Or, when a wired mobile vehicle equipped with a winding wire travels through a forest to a certain point, and then returns while winding up the wire (=, in the direction perpendicular to the direction of movement within the moving plane of the mobile vehicle). 7cM t:
It is a control device for a wired moving vehicle configured to automatically return to a starting point or a passing point along the line.

〔Effect of the invention〕

According to this invention, when a wired moving vehicle returns from a destination, it is possible to return the vehicle to its starting point or to a passing point on the way to the vehicle without any human intervention or the laying of wires in the working environment. to get (= become)

[Embodiments of the invention]

FIG. 1 is a diagram showing an embodiment of the present invention. 1°2 is the number 9 for the position detector to detect the horizontal direction of line 3.
Among the attached detection plates, 4.5 is a contact plate for detecting contact with the wire 3. The wired moving vehicle is controlled by steering the vehicle 6 as shown in the figure so as to correct the deviation of the line 3 detected using the detection plate 1.2.

FIG. 2 is a view of the portion where position detection is performed from the input direction of FIG. 1, and illustrates the principle of position detection. After advancing to the point where the vehicle 6 gets off while letting out the gland 3, let's take a look at the time when I roll up the green 3 and return home.

As shown in FIG. 3, after the vehicle 6 has traveled in the α direction
When returning to the β direction after winding up the and presses the detection plate 1.The detection plate 1 moves in the γ direction, and the position detector 7-1 detects the amount of movement and converts it into the amount of deviation on the line 3.The detection plate 1 (
＝When the spring 8-1 is attached and the p line 3 leaves the detection plate, the detection plate 1 moves in the n direction (=moves, touching the original position 1 by 2. Even if there are two detection plates 2L, the same applies to The amount of deviation can be measured.

Figure 4 is a view of the position detection unit viewed from direction B in Figure 1. Detection+! L1 is supported across the guide portions 9-1, 9-2i. The wire 3 is fed out by the drum 10 and wound up. When the line 3- is not fed out enough and the line is at the position 3' in Fig.

Conversely, when the wire 3 comes into contact with the contact plate 4, the second wire 3 is wound onto the drum 10. In this way, the wire 3 is always connected to the contact plate 4, 5.
0 period (: held.

FIG. 5 is a circuit diagram for correcting the deviation of line 3.

The signal obtained by the position detector 7-1 is transferred to the inverting circuit INN.
By obtaining the sum with the signal of the position detector 7-2 by the addition circuit 12, the human power l of the steering i id 13 is x
Let min≦i≦X maX. Here the steering gear K13
gives a continuous and monotonous output (steering angle) in response to an input; for example, as shown in Figures II & 6, human power C: gives a proportional steering angle. In the WIG diagram, the minimum input value x min
For l2, 1 θmaX + maximum value x max gives 0m1LX for l2 (;

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view of an embodiment of the invention. If12 is a front view of the main part seen from the β direction in FIG. 1, and a circuit diagram for converting it to the steering angle shown in FIG. 3. 1.2...detection plate, 3...wire, 4,5...contact plate 7...tit detector, 11...inversion circuit 12...addition circuit, 13...steering Device. Agent Patent Attorney Nori Chika Ti Old <and 1 other person> 2nd
Figure , I3 Figure 4

Claims (1)

[Claims] In a wired moving vehicle, there is a mechanism for pulling out or winding up the wire as the moving vehicle moves, and a mechanism that prevents deviation of the wire perpendicular to the moving direction within the moving plane of the moving vehicle when winding the wire. 1. A control device for a wired mobile vehicle, comprising a mechanism that performs steering based on the detected deviation when detected, and is configured to perform steering while detecting the deviation and return to a starting point or a passed point.