JPS6391709A - Guide device for moving vehicle - Google Patents

Abstract

PURPOSE:To prevent a moving vehicle from traveling a route deviating from a guide line by setting a reference position corresponding to the boundary between a sense range and non-sense range according to the width of a sensor action area that an steering control sensor actually senses. CONSTITUTION:With a center CL in the horizontal width direction of the steering operation sensor 6 coinciding with a center in the horizontal width direction of a magnetic tape L, a position obtained by shifting the half M/2 of the width M of the sense range (a) in the right direction is initialized as the reference position SK. Simultaneously the operation of a steering motor is controlled so that a distance (l) between the boundary position K and the reference position SK can be approximate to zero. Thus the reference position can be associated with the boundary position being an actual position where the moving vehicle is positioned appropriately on the guide line. Thus the vehicle can be moved appropriately regardless of he variance of the width of the sense range in which the steering control sensor senses he sensor action area.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a guide line for guiding a moving vehicle that extends the width of the sensor operation area sensed by the steering control sensor on the moving vehicle in the width direction of the vehicle body. The steering control sensor is provided so as to bring the boundary position between the sensing range portion where the sensor operation area is sensed by the steering control sensor and the non-sensing range portion closer to a set reference position. The present invention relates to a guidance device for a mobile vehicle that is provided with a steering control means that performs steering control based on information detected by a control sensor.

[Conventional technology]

In the above-mentioned type of guiding device for a moving vehicle, when forming a moving vehicle guiding line, for example, a magnetic induction type in which the guiding line is formed with magnetic tape, or a guiding line is formed with light reflective tape. In either case, a magnetic induction type or an optical guidance type is used, but in both cases, the steering control sensor senses the sensor operation generated by magnetism, reflected light, etc. The area has a width in the width direction of the vehicle body.

In the case of a magnetic induction type, the steering control sensor is set to 0N10FF depending on whether or not it senses magnetism that is stronger than the set strength.
A plurality of magnetic sensing elements that output signals are arranged side by side in the width direction of the vehicle body, and in the case of an optical induction type, an image sensor is used to detect the area where the reflected light from the light reflective tape is received at a set intensity or higher. Based on the deviation between the boundary position of the sensing range and non-sensing range where the steering control sensor senses the sensor operation area formed by the magnetism and reflected light and the set reference position, The deviation of the moving vehicle in the width direction with respect to the guiding line for guiding the moving vehicle is detected.

In addition, since the sensor operation area is formed to have a width in the width direction of the vehicle body, the boundary position between the sensing range part where the steering control sensor senses the sensor operation area and the non-sensing range part is as follows. For one guidance line, there are two locations on the left and right in the width direction of the vehicle body, so when a moving vehicle is branched at an intersection where the driving route branches left and right, the border on either the left or right side is determined depending on the direction of the branch. It is necessary to switch between using position information as steering control information.

By the way, conventionally, for example, based on the design reference width of the mR line and the set darkness value for sensing the sensor operation area by the steering control sensor, with the center of the width direction of the steering control sensor as a reference, The reference position is previously set as the reference position by a distance corresponding to half the width of the sensor operation area formed by the guide line in the width direction of the vehicle body.

[Problem that the invention seeks to solve]

However, in the above conventional configuration, the reference position for determining the deviation in the width direction of the vehicle body with respect to the guidance line is based on the design reference width of the guidance line, the set darkness value for sensing the sensor operation area by the steering control sensor, etc. The width of the sensor operation area formed by the guidance line may change due to deterioration or performance variation due to use, and the steering control sensor for the guidance line may change. If a distance error occurs, the width at which the steering control sensor senses the sensor operation area will deviate from the initially set width, and the moving vehicle may not be located at the correct position with respect to the guidance line. Even if the steering control sensor senses the sensor operation area, there is a possibility that the boundary position between the sensing range portion and the non-sensing range portion may be deviated from a preset reference position.

As a result, the moving vehicle automatically travels along the wrong reference position, resulting in a disadvantage that the control accuracy of the steering control decreases.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent variations in the sensor operation area formed by the guide line, and to reduce the variation in the sensing range in which the steering control sensor senses the sensor operation area. To prevent a mobile vehicle from traveling at a position deviating from a guide line even if width variations occur.

[Means for solving problems]

A characteristic configuration of the moving vehicle guidance device according to the present invention is based on the width of the sensing range portion so that the boundary position coincides with the reference position when the moving vehicle is positioned at an appropriate position with respect to the guidance line. , a reference position setting means for setting the reference position is provided, and its functions and effects are as follows.

(Function) In other words, the reference position is set according to the boundary position between the sensing range part and the non-sensing range part according to the width of the sensor operation area actually sensed by the steering control information sensor. The reference position can be automatically corrected according to variations in the sensor operation area formed by the HM m line and variations in the width of the sensing range portion where the steering control sensor senses the sensor operation area.

〔Effect of the invention〕

Therefore, since the actual boundary position and the reference position when the moving vehicle is located at an appropriate position with respect to the guidance line can be completely differentiated, variations in the sensor operation area formed by the guidance line and steering control can be avoided. It has now become possible to accurately guide a moving vehicle regardless of variations in the width of the sensing range in which the sensor detects the sensor operation area.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 2, a magnetic tape (L) is attached to the road surface of the moving vehicle (A) so that the front side is the north pole and the back side is the south pole. The permanent magnets are installed along travel routes that have intersections (CRs) where they branch and merge, and the travel control information such as branch start points, branch end points, and stop points at the intersections (CRs) is transmitted using multiple permanent magnets. The mobile vehicle (
A mark (m) for indicating A) is provided on the road surface on the lateral side of the magnetic tape (L). In addition, a loading/unloading station (ST) is provided to be located on the side of the traveling route, and the moving vehicle (A) is provided with a station (ST) for moving the moving vehicle (A) in the branching/merging direction at the intersection (CR) or for stopping next. Command information for stations (ST), etc. is sent to the ground-side central control unit (
Ground side communication device (1a) for giving instructions from MC),
It is provided at the station (ST).

To explain the structure of the mark (m), six permanent magnets (n+a) to (mf) are placed in front and behind each other in the direction of movement of the moving vehicle (A), and the magnetic tape (L
), and the set position of each permanent magnet (ma) to (mf) is adjusted according to the travel control information instructed. The combination of the direction of the magnetic pole (N pole or S pole) and its presence/absence is set.

However, in FIG. 2, the six permanent magnets (ma) to (m
Two of f) are arranged on the left and right sides of the magnetic tape (L), and depending on the difference in their front and rear positions,
This example shows a case where the stop position and a branch start point and a branch end point at an intersection (CR) are distinguished and indicated.

To explain the configuration of the moving vehicle (A), as shown in FIGS. 1 and 2, a steering motor (
A running wheel (3), which also serves as a steering wheel, is supported by a drive motor (4) so that its direction can be changed freely, and a running wheel (3) that is supported by a drive motor (4) can be freely driven and stopped. A ring (5) is provided. Then, the magnetic sensing type steering control sensor (6) that detects the magnetic tape (L) is connected to the running wheel (3) with its detection surface facing downward of the vehicle body. A mark sensor (7) for detecting the mark (m) is attached to the front side of the running wheel (3) so that the direction can be changed integrally, and a mark sensor (7) for detecting the mark (m) is attached to the six magnetic sensing type proximity sensors that constitute the mark sensor (7). Sensors (7a) to (7f)
are located on the lower side of the vehicle body at positions corresponding to the arrangement of the permanent magnets (ma) to (mf).

Further, a vehicle body side communication device (1b) for the ground side communication device (1a) is provided on the side of the vehicle body facing the station (ST), and each of the sensors (6),
(7) Detection information from the communication device (la).

(1b) and determines the information instructed via the mobile vehicle (A
) is provided with a control device (8) which also serves as a steering control means (100). In FIG. 3, (9) is a drive device for the steering motor (2), (lO) is a drive device for the travel motor (4), and (11) is a drive device for the control device (8).
This is a setting device used to initialize various control information for the station (ST) or to manually set the next station (ST) to stop.

By controlling the steering based on the information detected by the sensors (6) and (7) and the information instructed via the communication devices (la) and (lb),
The mobile vehicle (A) is automatically run between the stations (ST) while automatically branching and merging along the designated travel route at the intersection (C12), and carrying out the work of transporting each load. It is configured to do this.

To explain the configuration of the steering control sensor (6), as shown in FIG. 1, it includes a plurality of magnetic sensing elements that output an ON signal when sensing north-pole magnetism with a set strength or higher. (S,) to (Sn) are provided side by side in the width direction of the vehicle body.

In other words, as shown in FIGS. 1 and 5, the mobile vehicle (A)
is located at an appropriate position relative to the magnetic tape (L), the center (CL) of the steering control sensor (6)
) That is, the plurality of magnetic sensing elements (Sl) to (Sn)
The element (Sc) located at the center of the width direction of the magnetic tape (L) is configured to be located on the center of the width direction of the magnetic tape (L), and the element (Sc) located at the center of the width direction of the magnetic tape (L)
) That is, the plurality of magnetic sensing elements (S+) to (Sn)
The sensor operation area (α) is formed as a magnetic field strength distribution corresponding to the magnetic strength that each detects magnetism and turns on.
The magnetic sensing elements inside the sensor are in the ONa″ state, and the magnetic sensing elements outside the sensor operation area (α) are in the OFa″ state.
It is designed to be in the F state.

Therefore, only the magnetic sensing elements located within the sensor operation area (α) are in the ON state, and the range in which the magnetic sensing elements in the ON state are located is the area in which the steering control sensor (6) is in the sensor operation area. The sensing range part (a) that senses the area (α) corresponds to the sensing range part (a), and the range outside this sensing range part (a) where the magnetic sensing element in the OFF state is located corresponds to the non-sensing range part (b). , and the position of a magnetic sensing element in an ON state adjacent to the magnetic sensing element in an OFF state corresponds to a boundary position (K) between the sensing range portion (a) and the non-sensing range portion (b). Become. however,
This boundary position (K) is the sensor operation area (α)
has a width (?'I) in the vehicle width direction, so there are two locations on both the left and right sides.

Then, the mobile vehicle (8) is positioned at an appropriate position relative to the magnetic tape (L), that is, the center (CL) in the width direction of the steering control sensor (6) is located at the magnetic tape (L).
L) is aligned with the center in the width direction, and a position shifted to the right by half (M/2) of the width (?I) of the sensing range portion (a) is set as the initial reference position (SK) in advance. At the same time, the boundary position (K) and the reference position (RE) are set.
The steering motor (
By controlling the operation of 2), the steering control is performed. However, as will be described in detail later, when driving in a section that curves to the left or when branching to the left at an intersection (CR), the reference position (SK) is set to the center of the steering control sensor (6). Set a position shifted to the left by half (M/2) of the width (1'l) of the sensing range portion (a) with respect to (CL) as a reference position (SX),
Then, the left boundary position (K) will be used.

That is, based on the width of the sensing range portion (a), half (M/2) of the width (gate) is set by the steering control sensor (6).
The reference position setting means (101) is configured by a process of setting a position shifted to either the left or right side from the element (Sc) located at the center (CL) of ) as the reference position (SK).

Incidentally, in this embodiment, when the moving vehicle (A) goes straight along the magnetic tape (L) or when branching to the right at the intersection (CR), the reference position (SK) is set to the right side. and, on the other hand, when branching to the left at the intersection (CR), the reference position (SK) is set to the left,
Therefore, even if the steering control sensor (6) detects a plurality of magnetic tapes (L) when passing through an intersection (CR), the vehicle can automatically travel without making a mistake on the travel route. be.

However, as will be described in detail later, when passing through an intersection (CR) where the travel route branches into three as shown in Fig. 2 along the central magnetic tape (Lc), the above-mentioned reference position ( SK) are set on both the left and right sides, and based on the positional relationship with the boundary positions (K) on both the left and right sides, it is possible to move straight along only the magnetic tape (Lc) located at the center.

Next, while explaining the operation of the control device (8) based on the flowchart shown in FIG.
0) and the configuration of the reference position setting means (Lot) will be described in detail.

That is, as the traveling command is given to the mobile vehicle (A), the vehicle (A) starts traveling, and the width (M) of the sensor operation area (α) is determined based on the position of the magnetic sensing element that has been turned ON. Measure (Step 7, Step 1, Step #2).

Next, based on the detection information of the mark sensor (7),
It is determined whether or not the mark (m) is detected, and if it is a stop mark, a stop process is performed to stop the moving vehicle (A) at a predetermined position, and the load at the station (ST) is stopped. The transfer work is performed, and all processing is suspended until a travel command is received (step #3 to step #5).

On the other hand, if the mark (m) is a mark for starting a branch at the intersection (CR), branching processing to be described later is performed. However, if the mark indicates the end of a branch, or if there is no mark (m), steering control is performed to automatically run along the left or right edge of the magnetic tape (L), as described later. The process branches to the process of performing (Step #6. Step #7).

Further, in order to determine whether to automatically travel along the left edge or the right edge of the magnetic tape (L), the communication device (L)
a) Determine whether or not the magnetic tape (L) on the next route to be traveled curves to the left based on the destination information instructed in (lb) and the travel route information stored in advance. (Steve 1B).

In the case of a left curve, the central magnetic sensing element (SQ
) to the left by half the width (M/2) of the sensing range part (a) is set as the reference position (S), and the left boundary position (K
Sc
) to the right by half the width (M/2) of the sensing range part (a) is set as the reference position (SK), and the right boundary position (K
) Right edge guide processing is performed to control steering based on the deviation of (step #9, step #10).

In other words, the width (M) of the sensor operation area (α) mentioned above
The reference position (shi) is determined based on the process of measuring the
The process of setting either the left or right side corresponds to the process of the reference position setting means (101).

To explain the right edge guide processing, it is determined whether or not there is a magnetic sensing element that is turned on on the right side of the reference position (SK), and if there is a magnetic sensing element that is turned on (see FIG. 6 (a)). is determined to be left-handed, and the reference position (
Distance (1) between SK) and the rightmost magnetic sensing element that is turned on, that is, the right boundary position (K)
The installation of the magnetic sensing elements is calculated based on the spacing and the number of elements up to the ONL position (S'Y FUB 111).
1° step #12).

If there is no magnetic sensing element turned ON to the right of the reference position (SK), it is determined whether there is a magnetic sensing element turned ON to the left, and if there is a magnetic sensing element turned ON (see Figure 6).
II) is determined to be a right-hand slip, and the reference position (SK
) to the magnetic sensing element that is first turned ON (step #13, step #14).

However, if there is no magnetic sensing element turned ON on either the left or right side of the reference position (SK), it is determined that a derailment has occurred and an emergency stop is performed (Step #15).
.

On the other hand, when performing left edge guide processing, the reference position (SK) and boundary position (K
) are located on the left side, first, it is determined whether or not there is a magnetic sensing element that is turned on to the right of the reference position (SK), and if there is a magnetic sensing element that is turned on on the right side (
(see FIG. 7(a)) is determined to be a shift to the right, and the distance H<1> to the magnetic sensing element that is first turned ON on the right side of the reference position (SK) is calculated (Step + 116. Step 2). #17).

If there is no τff air sensing element turned ON on the right side of the reference position (SK), it is determined whether there is a magnetic sensing element turned ON on the left side, as in the right edge guide process, and there is a magnetic sensing element turned ON. In the case (see FIG. 7 (b)), it is determined that the left side is off, and the leftmost one of the magnetic sensing elements that is turned on at the base f(t, position (S), that is, the left boundary position [ (K) Calculate the distance Nd(β) from (
Step 7 #18. Step 19).

However, if there is no magnetic sensing element turned ON on either the left or right side of the reference position (SK), it is determined that a derailment has occurred and an emergency stop is performed, as in the right edge guide process.

In each of the above-mentioned processes, the magnetic tape (L) is
) is within a preset tolerance, and if it is outside the tolerance, the direction of travel is determined based on the sign, that is, whether it is shifted to the left or right. Perform the left steering operation or right steering operation to correct. However, the distance (β) between the reference position (S) and the boundary position (K)
) is within the tolerance, the steering operation is stopped (step #20-7 step #24).

Thereafter, the process from step Ill described above is repeated until there are no more travel commands, and the vehicle is automatically driven.

Next, a branching process for automatically branching at the intersection (CR) will be explained.

As the sticker 6.7?7:/#7 determines that the moving vehicle (A) has arrived at the branch start point, the left and right pair of branch reference positions (SL) and (SR) are determined. The reference position T1. (Sx), sensor operation area (α
) is set at a position shifted from the magnetic sensing element (Sc) located at the center of the sensor by half (M/2) of the width (M) of
The branching direction (left, right, center) is determined based on the destination information instructed in and the travel route width stored in advance (step M25, step #26).

If the branching direction is either left or right, one of the branching reference positions (SL) and (SR) is set as the normal reference position (Sx) corresponding to the branching direction. If so, it branches to the right edge guide process from step #11, and if it branches to the left, it branches to the left edge guide process from the slap 1116, and the process branches to the left edge guide process from the slap 1116 to either the left or right end of the magnetic tape (L). By automatically traveling along the edge, the magnetic tape (L) is branched to the left and right while following the magnetic tape (L) (step 112
F, Futefu Ka28).

On the other hand, an intersection point (
CR), the pair of branching reference positions (
The center branch reference position i (S,
, -△), (SR+Δ), and based on the center branch reference position (SL-Δ), (S, l+Δ) and the detection information of the steering control general-purpose sensor (6), performs the shift calculation process for the center branch, which will be described later, and calculates nj
Misalignment with respect to the magnetic tape (L) at the center of j ((Y-X)
/2), and based on the size and direction G, determine the presence or absence of deviation and the direction of deviation, and then
The process branches to steps 2 to 24 for steering operation (step #29 to step #32).

To explain the deviation calculation process for the center branch, by determining how many blocks the sensor operation area (α) is, the moving vehicle (8) can detect the intersection point of the three branching magnetic tapes (L). Is it in the vicinity (see Figure 8 (a) #), is it in the middle after the start of the branch (see Figure 8 (b)), or is it near the end of the branch (see Figure 8 (b))? Figure 8 (see Nori), distinguish each (step #00 to step #102).

However, if there is no sensor operation area (α), it is determined that the train has derailed, and the process branches to the emergency stop process of step #15 described above.

If there are three blocks in the sensor operation area (α), set the center block as a reference block for determining the deviation, and if there are two blocks, select the one with the wider width (?'l). Set as reference block, I
If it is a block, set the block itself as a reference block (step #103 to step #1).
105).

Next, the left and right pair of center branch reference positions (St-
Δ>, Cs*+Δ) is ON in the reference block, and the reference position for left and right center branching (SL-Δ).

By determining whether (SR+Δ) is on the edge side of the reference block, it is determined whether the moving vehicle (A) is shifted to the left or right with respect to the central magnetic tape (Lc),
The distances (X) and (Y) are calculated.

In other words, the center branch reference position on the right side (S8+Δ
) is ONL within the reference block.
, and if the right center branch reference position (SR+Δ) is not on the right side of the reference block, the magnetic sensing element that is ONL on the right end side of the reference block and the reference position (SR+Δ) Distance from (×・=!R
) is calculated, and the right center branch reference position (S,
+Δ) is outside the reference block and on the right side of the reference block, the distance (X =+il!R) is calculated (step #106 to step #109).

Also, in the same way, the left center branch reference position (
If the magnetic sensing element located at SL-Δ) is ON in the reference block, and if the left center branch reference position (St, -Δ) is not on the left side of the reference block, the The distance (Y・) between the magnetic sensing element that is ONL on the left end side of the reference block and the reference position (SL-Δ)
-1L), and if the magnetic sensing element located at the left center branch reference position (SL-Δ) is outside the reference block and on the left side of the reference block, ONL is calculated at the left end side of the reference block. The distance (Y=+lt) between the current magnetic sensing element and the reference position (SL-Δ) is calculated (Steps 110 to 11113).

Then, based on the average ((Y - , Step '/Di, Step #32, based on the magnitude and direction of the deviation, steering control is performed so that the mobile vehicle (8) automatically travels only along the central magnetic tape (Lc). be.

Therefore, depending on the direction of the traveling route of the moving vehicle (A), the reference position (Sx) for determining the deviation with respect to the magnetic tape (L) is set as follows.
Since it is automatically set based on the width (piece) of the sensor operation area (α), the left and right ends of the magnetic tape (L) are It is possible to run the guide along the edge. Moreover, as mentioned above, the intersection with three branches (C12
), even when the width of the magnetic tape (L), that is, the number and width of the sensor operation area (α) changes, as in the case where the magnetic tape (Lc) is moved straight along the magnetic tape (Lc) located at the center. Automatically set reference position (SL-Δ)
, (SU+Δ) is set for steering control, so the moving vehicle (
A) can be induced accurately.

[Another example]

In the above embodiment, the case where the guide line is configured as a magnetic 33H2 formed using a magnetic tape (L) is exemplified, but the guide line is formed using a light reflective tape and the steering control sensor (6 ) may be configured as an optical guidance type using an image sensor, and the specific configuration of the guidance type can be changed in various ways.

Furthermore, in the above embodiment, the mark (m) for instructing the mobile vehicle (A) to provide various travel control information is formed by combining the magnetic pole arrangement of a plurality of permanent magnets and the presence or absence of the permanent magnet at the set position. For example, it may be configured as an optical system that instructs travel control information by combining the arrangement of pieces of light-reflecting tape, or the communication device (1a) on the ground side may be installed near a stop position or at an intersection. The specific configuration can be changed in various ways, such as by being provided near the junction point of the (CR) branch and merging point and instructing travel control information via this communication device (1a) and the communication device (lb) on the vehicle body side.

Further, the specific configuration of each part for automatically driving the mobile vehicle (A) can be changed in various ways depending on the configuration of the mobile vehicle to which the present invention is applied, and the present invention is not limited to the above embodiments. It's not something you can do.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings by the reference numerals.

[Brief explanation of the drawing]

The drawings show an embodiment of a guiding device for a moving vehicle according to the present invention,
FIG. 1 is a block diagram showing the configuration of the steering control means, FIG. 2 is a schematic plan view showing the configuration of the moving vehicle and the layout of the traveling route, FIG. 3 is a flow chart showing the operation of the control device, and FIG. 4 is a block diagram showing the configuration of the steering control means. A flowchart of the shift calculation process for center branching, Fig. 5 is an explanatory diagram of the sensor operation area, Fig. 6 (
A), (II) are explanatory diagrams showing the relationship between the reference position and the boundary position in the right edge guide process, FIG. 7 (A),
(B) is an explanatory diagram showing the relationship between the reference position and the boundary position in the left edge guide process, and FIGS. 8(A), (O), and (C) are explanatory diagrams of the sensor operation area at the center branch. (L)・・・Guidance line, (A)・・・・・・
Mobile vehicle, (6)...Sensor for steering control, (α)
...Sensor operation area, (a)...
Sensing range part, (b)...Non-sensing range part, (
K)...Boundary position, (limit)...Reference position, (100)...Steering control means, (101)
...Reference position setting means.

Claims (1)

[Scope of Claims] [1] The guiding line (L) for guiding the moving vehicle extends the sensor operation area (α) sensed by the steering control sensor (6) on the moving vehicle side in the width direction of the vehicle body. A boundary position ( K) is provided with a steering control means (100) for controlling the steering based on information detected by the steering control sensor (6) so as to bring the vehicle closer to the set reference position (S_K). The sensing range portion (
A guide device for a mobile vehicle, comprising a reference position setting means (101) for setting the reference position (S_K) based on the width of the vehicle. [2] The guiding line (L) is a magnetic tape, and the steering control sensor (6) is configured by arranging a plurality of magnetic sensing elements in the width direction of the vehicle body. guidance system for moving vehicles. [3] The guiding device for a moving vehicle according to claim 1, wherein the guiding line (L) is a light reflective tape, and the steering control sensor (6) is an image sensor.