JPS63186304A - Guiding device for unmanned vehicle - Google Patents

Abstract

PURPOSE:To omit a track or a guide line and to realize the guidance of an unmanned vehicle by providing plural laser light scanning devices on a floor surface with cross to a set route so that the unmanned vehicle decides the set route and the distance from it from the incident angle of each laser light for guiding steering operations. CONSTITUTION:The two elements received the laser light are set at positions Na and Nb distant from the center of a photodetecting element array 52. Thus the relationship between the incident angles thetaa and thetab of the laser light scanning device A and B is shown by equations I and II. A fixed distance (f) is defined between a slit 51 and the array 52 and the incident angles thetaa and thetab are calculated from positions Na and Nb. These distance (f) and angles thetaa and thetab can be prepared in the form of the table data. Then both angles thetaa and thetab, are related with the relationship between distances Xa and Xb of both device A and B against a set route Y as shown by an equation III. Therefore an unmanned vehicle can be driven along the route Y which is orthogonal to both device A and B as long as the relation of an equation IV is always secured for a controller of the unmanned vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a guidance device for an unmanned vehicle in an unmanned transportation system.

B0 Summary of the Invention The present invention provides a method for guiding an unmanned vehicle to a predetermined travel course and route, by providing a plurality of laser beam scanning devices on the ground floor surface intersecting the predetermined course, and in the unmanned vehicle, each laser beam scanning device is provided. By determining the set course and distance from the incident angle and performing guidance and steering based on this determination, it is possible to reliably guide unmanned vehicles without the need for tracks or taxiways.

C8 Conventional technology In an unmanned transportation system, a pre-programmed or set travel course and route can be changed by steering an unmanned vehicle along a taxiway installed on a track or on the ground floor, and the travel position and loading position can be changed. Acceleration/deceleration ranges and stopping positions are changed by drive control according to weight, allowing unmanned operation for cargo handling and various controls.

Among these, in the taxiway method, as shown in Figure 5, the unmanned vehicle M detects a taxiway buried vertically and horizontally in the ground and floor and performs steering control along the taxiway. In this method, a current is passed through the guideway as a guideline, and the unmanned vehicle M
A method in which the guide path is detected as an induced magnetic field on the side of the unmanned vehicle M. A method in which the guide path is detected as a guided magnetic field on the unmanned vehicle M side using a light reflective tape. A method in which the guide path is detected as an iron belt on the unmanned vehicle M side by a proximity magnetic sensor. etc.

Also, when changing course at an intersection, as shown in the figure,
The sign detector of the unmanned vehicle M detects the sign CPL at the intersection provided just before the intersection on the guideway, and based on this detection and a program command to change course at the intersection, the vehicle is steered in the commanded direction.

D0 Problems that the invention aims to solve In the conventional guidance system, it is necessary to install a track or a taxiway on the ground floor, which requires a large amount of installation cost and requires large-scale construction to change the layout. become. In this regard, the light-reflecting tape method is relatively simple, but it requires frequent maintenance because there is a risk of guiding failure due to contamination of the guiding path.

In addition, in conventional guidance systems, in addition to taxiways and tracks, intersection signs and acceleration/deceleration start position signs are installed on the ground floor.
Unmanned vehicles require these sign detection means, which poses a problem in that the guidance equipment becomes complicated and expensive.

E8 One means and operation for solving the problem The present invention has been made in view of the above problem, in which at least two laser beam scanning devices are installed on the ground floor in a direction intersecting the set course, The unmanned vehicle includes an incident angle detection means that detects the incident angle of the laser beam from each laser beam scanning device, and detects a positional deviation of the unmanned vehicle from the set course based on the difference in each incident angle, and controls steering along the set course. Detecting the positional deviation of the unmanned vehicle with respect to the position of each laser beam scanning device, that is, the set course, from the difference in the incident angle of the laser beam,
The unmanned vehicle is steered in a direction in which the amount of positional deviation becomes constant, and the unmanned vehicle is driven along the set course.

Further, the present invention includes a control means for detecting the distance to the laser beam scanning device from the difference in each incident angle and performing course change steering control at the course change position, and the distance to the laser beam scanning device position, that is, the course change is determined. The distance of the unmanned vehicle to the position is detected, the intersection position is determined from this distance, and the unmanned vehicle changes course.

F. Implementation example FIG. 1 is an apparatus configuration diagram showing an embodiment of the present invention.

A set course R (R+, R2, R3) is defined vertically and horizontally on the ground and floor, and laser beam scanning devices 1.2.3 are provided at three corners of each intersection position P of the set course R. These laser beam scanning devices 1.2, 3 are provided perpendicularly to the set course R.

For example, the laser beam scanning devices 1.2 are arranged at positions sandwiching the set course R1 in a direction perpendicular thereto. Each of the laser beam scanning devices 1, 2, and 3 emits laser beams that rotate horizontally at a constant speed on the floor surface, one of which emits laser beams in all directions, and the remaining two beams orthogonally. In the illustration, the laser beam scanning device 2 emits laser light in all directions, and the laser beam scanning device 1 emits laser light in the front and rear directions of the set course R. Angle o1-
and θ? The laser beam scanning device 3 emits a laser beam only in the range of , and the laser beam scanning device 3 has radiation angles θ3 and 0 that cover the longitudinal direction of the course R2.
Emit laser light only within the range of 4.

The unmanned vehicle 4 is equipped with a laser light detector 5 at the front of the heavy body that receives laser light from two laser light scanning devices arranged perpendicular to the set course R and detects the incident angle of both laser lights. The unmanned vehicle 4 is equipped with a control device that detects a set course based on the difference in the laser beam incident angle detected by the detector 5 and controls the steering toward the set course. Here, the set course is a direction along the set course R, which is the position of the two laser beam scanning devices that serve as the emission light sources of the received laser light. As shown in FIG. 2, the laser light detector 5 is configured to receive laser light from two laser light scanning devices A and B through a slit 51 with a light receiving element array 52 provided in the lateral direction of the vehicle body. In this configuration, among the elements of the light receiving element array 52, the laser beam is incident from the position of the element that received the laser beam from the laser beam scanning bag JA and the element that received the laser beam from the laser beam scanning device B, respectively. For example, if the two elements that receive the laser beam are at the element positions lNa and Nb from the center of the light-receiving element array 52, then the incident angles of the two laser beam scanning devices A and H are Oa and O.
There is the following relationship between b.

θa=ta "I f/Na...1111(1) θb=
tan= f/Nb * * a * (2) Here, since f is the fixed distance between the slit 51 and the light-receiving element array 52, the incident angle θ from the light-receiving element positions Na and Nb
It can be obtained by calculating a and θbt, or it can be prepared as table data.

Furthermore, the following relationship exists between the incident angles θa and Ob and the distances fiX a and X b of the laser beam scanning devices A and H with respect to the set course Y.

X a @tanθa=Xb*tanθb---(3)
Therefore, if the control device of the unmanned vehicle 4 maintains the constant relationship, the unmanned vehicle 4 can be caused to travel along the set course Y orthogonal to the laser beam scanning devices A and H.

For example, as shown in FIG.
For the arrangement of the light receiving element array 5? are not parallel, the relationships in equations (2) and (3) above do not hold, and the predetermined α
The steering control is performed in the direction of arrow T so that the vehicle returns to traveling along the set course Y.

Further, as shown in FIG. 4, when the light-receiving element array 52 deviates parallel to the set course Y, the above-mentioned relationship does not hold at this time as well, and it is corrected in the direction of the arrow T.

The control device of the unmanned vehicle 4 has a microcomputer as its control center, and performs drive control of the drive wheels by the drive system and steering control of the steered wheels by the steering system. Steering control along the set course is obtained by calculation according to the above-mentioned formula from the positions Na and Nb.

In addition to the above-mentioned control, the control device for the unmanned vehicle 4 includes:

From the detection signals of the laser beam incident angles from the two laser beam scanning devices A and B, the distance to the laser beam scanning device is detected, the course change position (intersection) is determined, and the course is changed at the course change position. Used for control. This will be explained in detail from the above equations (1) and (2).

Na11tarla=f e * * * (5) N
There is a relationship of beta θb=f ----(6),
In FIG. 2, the distance ML between the light receiving element array 52 of the unmanned vehicle and the laser beam scanning devices A and B is Xaetan 0a=L*
* * Conflict (7) X b e tanθb=L −
---There is a relationship as shown in (8). Therefore, L= f −Xa/Na= f ・Xb/N b−・−
From (9), the distance gIL can be determined from the light receiving element position Na or Nb. Therefore, by determining the distance from the distance glL to the location of the intersection, etc., and performing course change control at a predetermined position, the vehicle can head toward the set course that intersects. After the course change is completed, guidance is provided by detecting the angle of incidence on the laser beam scanning device that emits laser light on the set course.

Note that the course change method is performed, for example, by controlling the vehicle to travel a constant travel distance using a constant steering angle just before an intersection, so that the vehicle travels along an arcuate trajectory with a constant curvature.

As described above, according to this embodiment, three laser beam scanning devices are installed on the ground floor at the intersections of the set course, and the unmanned vehicle is guided along the set course by the laser light detector and control device of the unmanned vehicle. It is also possible to change course at an intersection, eliminating the need for conventional taxiways or tracks, and eliminating the need for various signs such as intersection signs and their detection means. Further, the course layout can be changed by simply changing the installation position of the laser beam scanning device.

In addition, in the example, a case was shown in which three laser beam scanning devices were installed at the intersection of the set routes, but this means that the three laser beam scanning devices can detect the approach of an unmanned vehicle from either the front or rear direction of the two intersecting routes. This is to obtain a laser beam that covers the area where there is no intersection or when the direction of approach of an unmanned vehicle is determined in one direction, two laser beam scanning devices that are perpendicular or intersect with the set course are installed at the intersection or It can be installed outside the driving range of unmanned vehicles.

Furthermore, the case where the laser beam scanning device changes its laser beam emission range depending on the set course has been shown.

This means that the wavelengths of each laser beam scanning device are different from each other.
Alternatively, by applying different modulation and having a configuration in which discrimination is performed on the unmanned vehicle side, it is possible to make the emission range omnidirectional and to create a system that prevents erroneous detection of laser light.

Further, the laser light detector is not limited to the configuration of a slit and a light receiving element array, and may be any structure as long as it can detect the incident angle of the laser light.

G0 Effects of the Invention As described above, the present invention provides at least two laser beam scanning devices that intersect with a set course, detects the set course from the difference in the incident angle of the laser beams on the unmanned vehicle side, and steers the vehicle along the set course. Since the control is performed, the equipment on the ground E side and the unmanned vehicle side can be simplified by eliminating the need for conventional taxiways or tracks, and it is possible to perform reliable guidance while making it easy to change the course layout on the ground side. effective.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of a device showing an embodiment of the present invention, FIG. 2 is a configuration diagram of a laser light detector, and FIGS. 3 and 4 show steering control modes for the laser beam incident angle in the embodiment. FIG. 5 is a schematic diagram of a conventional taxiway. l, 2.3... Laser beam scanning device, 4... Unmanned vehicle,
5... Laser light detector, 51... Slit, 52...
. . . Light receiving element array, R+, R2, R3 . . . Setting course, A, B . . . Laser beam scanning device. Fig. 1 Amount of broiled example 4 Fig. 1.2.3 ---- Laser beam J
-One Rolling Car 5---1---Rede Cursed Liquid Island δ Figure 4 Rede Koshu Shichicod-sama Proceedings Amendment (Voluntary) Discharge 6'P6'29"

Claims (2)

[Claims] (1) At least two laser beam scanning devices are installed on the ground floor in a direction intersecting the set course, and the unmanned vehicle has an incident angle detection means for detecting the incident angle of the laser beam from each laser beam scanning device; 1. A guidance device for an unmanned vehicle, comprising: a control means for detecting a positional deviation with respect to a set course based on a difference in each incident angle and controlling steering along the set course. (2) At least two laser beam scanning devices are installed on the ground floor in a direction intersecting the set course, and the unmanned vehicle has an incident angle detection means for detecting the incident angle of the laser beam from each laser beam scanning device; What is claimed is: 1. A guidance device for an unmanned vehicle, comprising: a control means for detecting a distance to a laser beam scanning device from a difference in each incident angle and performing course change steering control at a course change position.