JPS63149708A - Travelling course controller for vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a remote switch mechanism, and more particularly to a remote switch mechanism for determining a specific switch code and thereby automatically switching the switch. This invention relates to an indicating member and a sensor.

(Prior Art) In my Canadian Patent No. 1.196.711 issued on November 12, 1985 and entitled ``Ground-based track tracking means and guidance sensor therefor'', I disclosed a guidance device for guiding a vehicle along a predetermined track path.This device uses a filament as a means for demarcating a predetermined track path for the vehicle, and is provided on the vehicle to detect the track path. A sensor and an IIM associated with the sensor for driving a vehicle along a predetermined track route are employed.

The primary use of the disclosed device is with continuous trackways without separate sideways or branches.

(Problems with the prior art) When automatic operation of a vehicle, such as a forklift truck, is desired, and when there are many branch roads and it is necessary to direct the vehicle to various routes, a forklift truck is placed adjacent to a trackway. It would be convenient if the vehicle had sensor means for detecting pre-coded control instructions, so that it could be used on multiple branch or main roads during the vehicle's operation to ensure that the vehicle completed its task. You can choose a specific trajectory from among them.

(Means for Solving the Problems) Therefore, the present invention relates to an operation control module (operation control section) that is installed in contact with a line defining a branched traveling path of a moving vehicle, and the module is arranged at intervals. It consists of a plurality of actuating elements arranged at predetermined positions. The actuating element may be made of gold KQ and is preferably magnetic.

The present invention further provides a device for controlling a traveling path of a moving vehicle having a traveling means so as to select one from among a plurality of predetermined branching roads; (a) the control module installed near the branching road; (b) A first detection means for metal attached to the vehicle that responds magnetically to the position of the line (track); (c) A second detection means for metal attached to the vehicle that responds magnetically to the module. means; (d) a first position detection means fixed to the first detection means for detecting the relative lateral position of the first detection means; (e) a second position detection means responsive to the second detection means; Position detection means; (f) A first means responsive to the first and second position detection means, which moves the operation means so that the travel path of the vehicle follows the linear road; and The present invention relates to a moving route control device for a vehicle, comprising: means for causing the vehicle to proceed to one of the branching routes when the second metal detection means and the position detection means are activated.

(Example) In FIG. 1, a vehicle 10 in the form of a forklift truck is shown moving along a main road 20 in the direction of arrow A. The main road 20 has several branches or side roads 201. 2
02. 221 and 722.

The main track 20, which is described in my earlier co-pending application, is essentially a metal wire, such as a wire, or a magnetic filament. The filaments are either fixed to the ground surface with a suitable adhesive or buried in the ground to protect them from wear and the like.

Control units such as frames 40 are placed at strategic positions along the main route and branch routes 20, and these units themselves may be on the ground surface or underground. In the drawings, both the filament 20 and the control frame 40 that make up the track are buried underground.

When a vehicle 1G such as a forklift vehicle passes through the control frame 40 as shown in FIG.
Upon detection of a zero code or signal, and depending on how sensor 50 is itself coded, vehicle 10 will veer to the appropriate next branch, such as branch 222 in FIG. In this example, and with respect to FIG. Turn to branch road 222
The vehicle 10 is loaded with cargo in order. In this way, by applying separate codes to each control frame 40, the vehicle can be programmed differently, thus entering or exiting a branch road as required.

FIG. 3 shows the layout of the floor control path of a factory, which has a travel path 20, a branch path from 201 to 212, a branch path from 221 to 232, a left loop 21, a right loop 22, , which join by a common axis 23 and branch toward a loading loop 24 and an unloading loop 25 . A turn control, stop and reverse control frame 45, preferably a control frame 40, is provided at various locations.

4 and 5, the control frame 40 has a rigid periphery 41 and mutually opposed holes 42 in which an action rod 43 or a reaction rod 44 slides.

Although five rods are shown in the frame 40, any number of rods may be used. In the illustrated implementation HPA,
The "action" rod 43 is made of metal, iron or magnetic material, and the "reaction" rod 44 is made of non-metal or non-magnetic material.Thus, by permutations and combinations of the action and reaction rods, the rods can be Acceptance is accepted 5
If there are one hole, there are 25 unique signals. By increasing the length of the frame so that it can accommodate more than five rod elements, frame 40 allows each branch 201 to 212 and 22
1 to 232 and can have a unique signal as well.

6, 7 and 8, a switch sensor or branch sensor 50 has a number of microswitches 51 addressed in banks, each microswitch having a magnet 52 at its other end.

If the magnet 52 is an electromagnet, an actuation line 53 is attached to activate it. A line 54 extends from each microswitch 51 and connects to the microprocessing unit MP-50 of the branch sensor.
-50 is shown as part of the switch senna control mechanism in FIG.

In FIG. 8, the direction of movement of the car is indicated by arrow T; in FIG. 6, the direction of movement of the car is out of the plane of the paper. For example, when the microswitch 52 is aligned on the appropriate position of the working rod 43 as shown in FIG.
2 "senses" the working rod 43 as movement of the vehicle 10. The electromagnet 52 is attracted in the direction of the rod 43 as shown by arrow 47, and the actual microswitch 51 is drawn in the direction of arrow 4.
8, which closes the microswitch circuit and thus sends "information" or code to the microswitch HP-50.

In FIG. 6, when the car 10 moves, the first.

The third, fourth and fifth microswitches 51 are lowered,
"Contact" is thereby performed. In another aspect,
The rod 43 is not provided, or is made of non-metallic, non-ferrous, or non-electromagnetic material. in any case,
Microswitch 512 is not in contact, and microswitch 511 . 513. 514 and 515 "contact".

With respect to the branch switch sensor control circuit of FIG.
The branch unit is connected to a circuit with a common battery 60 and a branch switch microbe processor HP-50. The microprocessor MP-50 itself is powered by a battery source 61, and the appropriate switch module or frame code is "sensed" by the microswitch sensor 51 and "matched" to the code of the microprocessor MP-50. Sometimes control pulses are sent through the electromechanical section S to control the speed of the vehicle, or through the electromechanical section to control the direction of the vehicle, or both. The car thus slows down, or as indicated by arrow 16 (FIG. 1),
0 and turn to the appropriate branch 222.

The stop control frame 45 has the same structure as that shown in FIG. 4, except that the order of the rods 43 and 44 is different.

Frame 45 sends signals to microprocessor MP-50 to stop and turn the vehicle.

An example along trajectory 20 will now be given, but it should be understood that other means for sensing trajectory position are also possible.

1-10, the linear track sensor 15 is located adjacent to the switch module or frame sensor 50.
is located. Magnetic iron or metal track 2
0 consists of a metal wire or a magnetic wire and serves as a predetermined path for the forklift vehicle 1G and functions as a wire 20 controlled by a sensor as explained below.

With reference to FIG. 10, the sensor 15 consists of an electromagnet generally indicated by the numeral 18, the electromagnet being ferrous or metal or ferromagnetic controlled I! The attraction to 20 is detected by two strain gauges SG1 and SG2. Each of the strain gauges SG1 and SG2 is connected to one of the branches of the Wheatstone bridge B, which forms part of the lower electrical circuit of FIG.

In Figure 12, two Wheatstone bridges B
1 and B2 are provided, which have fixed resistors in two of their arms and a strain gauge S in the other arm.
It has GI and SG2. A balancing resistor R is provided for "zero" balancing in each Wheatstone bridge.

Strain gauges SGI and SG2 detect lateral movement of magnet 18, as seen in FIG. The magnet 18 moves, for example, in the direction of the arrow. In FIG. 11, the magnetic or ferromagnetic line 20 is directly below it, that is, the first
One of the pseudo positions in Figure 1A is not immediately detected. Therefore, stress occurs in one of the gauges SGI, and strain occurs in the other gauge 5G2=. A misbalance of bridges B1 and B2 occurs, and the respective bridges Bl.

Each voltage from 82 is micro 10 series HP-
Reference numeral 15 controls the hydraulic circuit H and the flow valve V shown in FIG. 12. Mechanical advancement is adjusted so that the magnet 18 follows the filament 20.

Electromagnet 18 (which may be an electric magnet or a permanent magnet) is shown as a permanent magnet in FIGS. 10 and 11 for simplicity.
is supported by a horizontal rod 14 connected to a third strain gauge SG3, and the strain gauge SG3 is fixed to the case or housing 11 of the sensor 15 via the horizontal member 13. Housing 17 is supported on bracket element 16 and is mounted below vehicle 10 adjacent sensor 50 . Each of the strain gauges SGI and SG2 has two wires, not shown, which are each connected to a suitable Wheatstone bridge B according to the electrical circuit of FIG. To suit the ambient conditions, similar strain gauges S1 and S2 are arranged as shown in FIG.
connected to each one of the other arms. The latter strain gauge S is placed in the ambient air in such a way that no strain occurs, so that it "floats"; this is due to the ambient conditions, e.g. the temperature;
The drifting state is transmitted to Wheatstone Bridge, and it is made to balance with Wheatstone Bridge B.
It is thus designed to compensate for ambient conditions.

Thus all of the strain gauges S and SG are the same. Therefore, only when each strain gauge SG is suitably stressed or unstressed will a "true" voltage cross the upper and lower legs of the Wheatstone bridge, as is known in the art, and the true The differential signal of is sent to microbe set #j HP-15 for analysis.

Regarding FIG. 12 and the hydraulic element H in this figure, advance.

A reversing and conversion flow imitation valve FV1 is provided, which operates the reservoir 7 in response to commands from the microb[] sensor HP-15.
5 through the pump P. In FIG. 12 this valve FV is shown in its intermediate, non-communicating state.

At the top of Figure 12, there is a hydraulic cylinder 6 that controls the operation.
0 is shown. Therefore, typically the hydraulic cylinder 60
are in communication in only one direction with the flow control fork consisting of the free flow valve 50 and in parallel with the meter valve 51 at both opposite ends of the movable piston 61 . When the flow valve FV moves to the left or right according to a command from the microprocessor MP-15, the hydraulic cylinder 60 moves to pull or contract the piston. The operating link (not shown) is the piston rod 6
It is connected to 2 and operates. The electromagnetic device in FIG. 9 corresponds to this.

Those skilled in the art will appreciate that each of the microprocessors HP-15 and MP-50 are partitioned into a single microprocessor and that a programming device (not shown)
It will be appreciated that the robot can be connected to a microprocessor to freely direct the cars around the factory.

It will be appreciated by those skilled in the art that various embodiments are possible without departing from the scope of the invention as set forth in the claims.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of one embodiment of the invention; FIG. 2 is an elevational view of the moving vehicle, track and control (switch) means; FIG. 3 is a control module or control frame near the two-way intersection. FIG. 4 is a perspective view of a typical control l111-joule or frame; FIG. 5 is a cross-sectional view along line V-V of FIG. ;Figure 6 is the second
7 is a perspective view of the module sensor device of the vehicle; FIG. 8 is a partially cutaway sectional view showing the response of the actuating element of the sensor device of FIGS. 6 and 7. Figures: Figure 9 is an electrical connection diagram of the control circuit of the module sensor device; Figure 10 is a perspective view of an embodiment of the track sensor device used to follow the operating track; Figures 11 and 11; IIA
10 is an explanatory diagram along the line XI-XI in FIG. 10; FIG. 12 is a hydraulic circuit diagram showing means for controlling the route. In the drawing, number 10 is a car, 15 is a linear track sensor, and 2
0 is the traveling route (linear trajectory), 201. 202 is a side road, 4
3 is an action rod, 44 is a reaction rod, 45 is a stop control frame, 52 is an electromagnet, and MP-50 is a microprocessor. FIG, 5 and , 545 FIG, 6

Claims (1)

[Scope of Claims] 1. A device for controlling the traveling route of a moving vehicle having a traveling means so as to select it from among a plurality of predetermined branching roads, including: (a) a control installed near the branching road; module; (b) first metal detection means attached to the vehicle that magnetically responds to the position of the filament; (c) second metal detection means attached to the vehicle that responds magnetically to the module; (d) a first position detection means fixed to the first detection means for detecting the relative lateral position of the first detection means; (e) a second position detection means responsive to the second detection means; Means; (F) A first means responsive to the first and second position detecting means, the first means moving the advancing means so that the traveling path of the vehicle follows the linear path, and A vehicle travel route control device comprising: means for causing the vehicle to proceed to one of the branch roads when the second detection means and the position detection means are activated. 2. A device for controlling the traveling route of a moving vehicle having a traveling means to select from among a plurality of predetermined branching roads: (a) a control module disposed near the branching road; ) a control module having a plurality of magnetic actuating elements arranged at predetermined intervals; and (ii) at least one non-magnetic actuating element arranged between the intervals; (b) position of the filament; (c) a second magnetic detection means magnetically responsive to the module and attached to the vehicle; (d) a second magnetic detection means magnetically responsive to the module and attached to the vehicle; (d) said first magnetic detection means; A first position detection means fixed to the first magnetic detection means for detecting a relative lateral position: (E) A second position detection means responsive to the second detection means; (F) The first position detection means and a first means responsive to the second position sensing means, for moving the traveling means so that the path of the vehicle follows the linear path, and the second metal sensing means and the position sensing means. means for causing the vehicle to proceed onto one of said branching routes when activated. 3. A device for controlling the traveling route of a moving vehicle having a traveling means so as to select one of a plurality of predetermined branching roads: (a) a control module installed near the branching road; (b) Lines of metal material arranged side by side on the traveling surface in order to follow a predetermined traveling path; (c) A movable vehicle having a traveling means and configured to travel on the traveling surface so as to follow the traveling path; (d) a first magnetic means attached to the vehicle that magnetically responds to the position of the filament; (e) fixed to the first magnetic sensing means for detecting the relative lateral position of the first magnetic sensing means; (f) a second position detecting means that responds to the second detecting means; (g) a first means that responds to the first and second position detecting means, the advancing means means for moving the vehicle so that the path of travel of the vehicle follows the linear path, and causing the vehicle to proceed to one of the branch roads when the second metal sensing means and the position sensing means are activated; The vehicle's path control device. 4. A device for controlling the traveling path of a moving vehicle having a traveling means so as to select it from among a plurality of predetermined branching roads, including: (a) a control module installed near the branching road; (b) a predetermined branching road; (c) A movable vehicle that has a means of travel and is configured to travel on the travel surface so as to follow the travel path; (d) Lines (e) a first magnetic means fixed to the first magnetic sensing means for sensing the relative lateral position of said first magnetic means; one position detecting means; (f) a second position detecting means responsive to the second detecting means; (g) a first means responsive to the first and second position detecting means, which moves the advancing means; , a means for causing the vehicle to travel along the linear road, and for causing the vehicle to proceed to one of the branch roads when the metal second detection means and the position detection means are activated; (H) A traveling path control device for a vehicle, wherein the filament of the metal material is a magnetic filament. 5. A device for controlling the traveling route of a moving vehicle having a traveling means so as to select it from among a plurality of predetermined branching roads, including: (a) a control module installed near the branching road; (b) a predetermined branching road; (c) A movable vehicle that has a means of travel and is configured to travel on the travel surface so as to follow the travel path; (d) a first magnetic means attached to the vehicle that magnetically responds to the position of the filament; (e) fixed to the first magnetic sensing means for detecting the relative lateral position of the first magnetic sensing means; (f) a second position detecting means that responds to the second detecting means; (g) a first means that responds to the first and second position detecting means, the advancing means means for moving the vehicle so that the path of travel of the vehicle follows the lined path, and causing the vehicle to proceed onto one of the branch roads when the second metal sensing means and the position sensing means are actuated; (i) the first position sensing means is at least one strain gauge for stress responsive to the relative position of the magnetic means; a strain gauge electrically connected to the arms of the stone bridge; a voltage means applied to a first pair of arms of said bridge; a pair of conductors connected oppositely to a second pair of arms of said bridge for applying a voltage; a conductor conveying voltage via said second pair of arms to a microprocessor programmed to be voltage responsive; means for connecting said microprocessor to a flow control valve having forward, reverse and neutral hydraulic lines; ;
a liquid source connected to said flow valve; a pair of hydraulic pipes on opposite sides of the flow valve connected to opposite sides of a movable piston defined by a first hydraulic cylinder and having a rod; When the voltage applied to the second pair of arms has one polarity, the rod moves in the first direction, and when the voltage polarity is opposite, the rod moves in the opposite direction to the first direction, and the rod moves in the direction of the prime mover. A device that is connected to the link and thereby controls the path of the vehicle along the line. 6. The device according to claim 3, wherein the actuating rod is magnetic and the non-actuating rod is non-magnetic. 7. The device according to claim 4, wherein the actuating rod is magnetic and the non-actuating rod is non-magnetic. 8. The device according to claim 5, wherein the actuating rod is magnetic and the non-actuating rod is non-magnetic. 9. The device according to claim 5, wherein the actuating rod is magnetic and the non-actuating rod is non-magnetic.