JPS63108414A - Manual speed control method for unattended carrying vehicle - Google Patents

Abstract

PURPOSE:To attain suitable running control with inconvenience by applying an override in excess of 100% to an output when a steering angle is operate largely and applying an override less than 100% to an output when the angle is small. CONSTITUTION:A joy stick 1 is provided with two potentiometers operated in response to the operating angle in X, Y operating directions. The output of the X direction potentiometer relates to the direction control and the output of the Y direction potentiometer relates the speed control and the direction control, they are converted respectively into a digital value by an A/D converter 2 and the result is fed to an override adjusting device 3. When the operating position of the joy stick 1 is shown in the arrow in solid lines, an adjusting device 3 compares a Y direction component jy with a level setting value jy0 and applies the relation of jy'=alphajy0 in case of ji>jy0 to output jy' and to output jy in case of jy<=jy0. A running controller 6 applies running control arithmetic processing based on each input value to control the running of an unattended carrying vehicle. Thus, high speed control is applied with a large operating angle and fine control is applied with a small operating angle.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method for controlling the speed of an automatic guided vehicle that transports goods, for example in a factory, and in particular to a method for controlling the speed of an automatic guided vehicle in manual mode operation using a joystick. Regarding control method.

[Conventional technology]

Automated guided vehicles used to transport goods within factories use a joystick (control frame) when switched to manual operation.
operated by. The joystick operation explanatory diagram shown in FIG. 2 is a diagram illustrating the running state of the automatic guided vehicle in the operating direction when the joystick is viewed from above.

For example, if you push the joystick forward, you move forward, and if you push it forward and to the right, you move forward and turn clockwise. Also, the speed increases depending on the degree (angle) of the operation in the front and back direction.

In such an X)=1 stick, two potentiometers are placed near the fulcrum of its movement, and
In conjunction with the two orthogonal components of the stick's movement,
Each operates to obtain a voltage output depending on the degree of joystick operation. Generally, the resistance value of a potentiometer changes linearly with the operating angle. In particular, the output from the potentiometer in a joystick used to manually operate an automatic guided vehicle is linear (directly proportional) to the operating angle of the joystick. ). Of the two orthogonal components of the aforementioned potentiometer output, the one in the longitudinal direction is applied to the travel control device for speed control.

[Problem that the invention seeks to solve]

In the conventional manual speed control method for automatic guided vehicles,
The speed changes linearly with the joystick operation angle, and when you want to achieve high speed in a short time by fully operating the joystick, you can perform fine travel control by making small movements of the joystick. This has the disadvantage that it operates at high speed when desired.

Therefore, the object of the present invention is to compare the ν conversion value of the output voltage of the potentiometer of the joystick with a predetermined nine-level setting value, and if the ≦ conversion value is large, increase the override setting value; Based on the idea that the smaller the /D conversion value, the smaller the override setting value, when the joystick operating angle is operated at a large angle, the speed can be increased, and when the operating angle is operated at a small angle, sudden acceleration/deceleration can be achieved. The purpose is to allow the speed to change gradually without any problems.

[Means for solving problems]

In the present invention, as a means for solving the problem, when operating the automatic guided vehicle in manual mode using the joystick, a potentiometer connected to the joystick is used to control the joystick's operating position. Convert the output voltage to a digital value,
The digital value is compared with a preset level setting value, and when the digital value is larger than the level setting value, the digital value is operated so that the override exceeds the preset 100%, and the digital value is Provided is a manual speed control method for an automatic guided vehicle, which calculates the digital value so that it becomes an override of 1001 or less when the value is smaller than the level setting value, and controls the speed based on the calculated digital output value.

[For production]

If the above-mentioned method is used, when the operating angle of the joystick is operated greatly, the output voltage of the potentiometer 1 will be large, and the A/D conversion value of this output voltage will also exceed the large level setting value, so the conversion will be More than 1001 overrides are applied to the value.

For example, the ~city conversion value is multiplied by a value exceeding 1, and the speed of the automatic guided vehicle is controlled in accordance with this multiplied value, so that the automatic guided vehicle is controlled to travel at a high speed.

When the operating angle of the joystick is operated small from the neutral position, the output voltage of the potentiometer is small, and the A/D conversion value of the output voltage is also smaller than the Schillepel setting value, so the A/D conversion value is 1004 or less. For example, the width conversion value is multiplied by a value of 1 or less as a coefficient, and the speed of the automatic guided vehicle is controlled in accordance with this multiplied value to avoid sudden acceleration or deceleration.

〔Example〕

A block diagram of an apparatus for performing a manual speed control method for an automatic guided vehicle as an embodiment of the present invention is shown in FIG. 3, and FIG. 1 shows a flowchart showing the control process of the apparatus of FIG. 3. FIG. 4 shows the relationship between the operation of the joystick and the output voltage of the potentiometer.

A manual speed control device for an automatic guided vehicle according to an embodiment of the present invention includes a potentiometer 1 meter, a diagonal stick 1, A/b (
It is equipped with an analog/digital) converter 2, an override regulator 3, a level setter 4, an override setter 5, and a travel controller 6 that controls the speed and direction of the transport vehicle.

The joystick 1 includes two potentiometers that operate in accordance with operating angles in the X direction (perpendicular to the direction of travel of the transport vehicle) and the Y direction (direction of travel of the transport vehicle). The potentiometer output indicating the X direction component is related to directional control. The potentiometer output indicating the Y-direction component is 0, which is related to speed control and direction control. For example, if the operating position of the joystick is as indicated by the solid arrow in Figure 4, the Y-direction output, which is related to speed control, is 1 after conversion, which will be described later.
Indicated by y. The outputs from the two potentiometers mentioned above are converted into digital values in the converter 2. The output of the N raw converter 2 converted into a digital value is supplied to an override regulator 3. The override adjuster 3 compares ja of the input digital value with the value (jy,) of the level setter 4, and when the input digital value is large, the value set in the override setter 5 is used. (
α) and the input digital value ja are multiplied and the result is supplied to the travel controller 6. When the input digital value is equal to or smaller than the set value of the level setter, it is supplied to the travel controller 6 as is.

The above steps will be explained according to the flowchart of FIG. This step is shown starting from the output of the N raw converter 2 in the block diagram of FIG. When the Y-direction component jy of the output of the N raw converter 2 is input, it is compared with the level setting value j, and if jy>jyo, the process proceeds to the next step, where jl=α・jy is calculated. If jy≦jy0, jy is sent to the traveling control calculation processing step, skipping one step, as it is. The supplied jy/or jy is subjected to travel control calculation processing in the travel controller 6 to control the travel of the automatic guided vehicle.

The radius of the circle in Figure 4 represents the potentiometer output voltage of 1, which corresponds to the level setting value, and when this is exceeded, jy is multiplied by α and becomes jy/. It has the same effect as if

The override settings can be set by software, can be set from the keyboard as necessary, or can be fixed using the ROM 1.

〔Effect of the invention〕

According to the present invention, when the operating angle of the joystick is operated to a large extent, the speed of the automatic guided vehicle can be controlled at a higher speed, and when the operating angle is operated to be smaller than the neutral position, there is no sudden acceleration or deceleration. Fine control can be achieved by gradually changing the speed.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing a flowchart of the control process of a device implementing an embodiment of the present invention, Fig. 2 is a diagram illustrating the operation of a joystick, and Fig. 3 is a diagram showing an automatic guided vehicle implementing an embodiment of the present invention. FIG. 4, a block diagram of the manual speed control device, is a diagram illustrating the relationship between the operation of the joystick and the output voltage of the potentiometer. (Explanation of symbols) 1...Joystick, 2...Year Φ converter, 3...
・・Override adjuster, 4・Level setting device, 5・
...Override setting device, 6...Travel controller.

Claims (1)

[Claims] When operating an automated guided vehicle in manual mode using a joystick, an output voltage output from a potentiometer connected to the joystick corresponding to the operating position of the joystick is converted into a digital value by A/D conversion. Compare the digital value with a preset level setting value, and when the digital value is larger than the level setting value, calculate the digital value so that the override exceeds the preset 100%, When the digital value is smaller than the level setting value, the digital value is calculated so as to have an override of 100% or less, and the speed is controlled based on the calculated digital output value.
Manual speed control method for automated guided vehicles.