KR900005428B1 - Speed adjusting method of returning vehicles - Google Patents

Abstract

The method for controlling the speed of the non-track unmanmed vehicle lead by a guide line detects the road state as a tracking data and a guidance factor and counts the ratio of the breaking away the guide line. The system comprises a data setting circuit (10) setting the running information, a sensor (20) detecting the track data from the guide line, a tracking error detector (30) calculating the deviation, a controller (40) controlling the speed, a driver (50) controlling the steering motor and engine motor and a power source (60) providing each circuit with the power.

Description

Speed control method of trolleyless autonomous vehicle

1 is a circuit diagram according to the present invention.

2 is a speed control flowchart according to the present invention.

* Explanation of symbols for main parts of the drawings

10: data setting unit 20: detection unit

30: tracking deviation detection unit 40: control unit

50: drive unit 60: power supply unit

The present invention relates to a speed control method of a trolleyless self-driving vehicle, and more particularly, to a method of controlling a speed by detecting a degree of deviation of an unmanned vehicle from a guide line of a trolleyless autonomous vehicle. will be. At present, the guidance method of the trolleyless self-driving vehicle includes electromagnetic wave induction method, optical detection method, metal detection method, mark detection method and laser detection method.

As described above, in order to minimize shaking during driving of the unmanned vehicle, the sensitivity and resolution of the induction method are improved.

As a driving system for improving the sensitivity and resolution as described above, DC servo A, C servo, and a detection driver (Direct Driver) are adopted to minimize driving shake of the unmanned vehicle.

In other words, the conventional trolley-type unmanned articulated transport vehicle was required to maintain the highest speed in the optimal driving state of the unmanned vehicle, depending on the driving data (Tracking Data), so the dynamometer had to be precise.

However, in the unmanned vehicle, the driving shake is generated differently according to the frictional force of the bottom surface and the unmanned vehicle to which the vehicle is traveling.

In particular, in the case of the driverless vehicle of the power wheel steering method of power, there is a problem that the speed is rather slow due to the continuous operation of the speed acceleration and deceleration.

Therefore, an object of the present invention is to detect the state of the driving surface by the guidance information (Guideance factor) adopted in the trolley-driven autonomous vehicle and the tracking data (Tracking Data) in which the driverless vehicle is shaken in accordance with the state of the driving floor surface speed It is to provide a speed control method to automatically adjust.

Another object of the present invention is to provide a speed control method for automatically decelerating the running speed when the unmanned vehicle exceeds the standard value of the degree of departure by counting the degree of departure from the guide line.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a circuit diagram of an unmanned carrier vehicle according to the present invention, which operates various operation switches and a track sensor for detecting tracking information of an unmanned vehicle, and a data setting unit for inputting or outputting speed data for driving information ( 10) and a detecting unit 20 for detecting track data according to the unmanned vehicle induction method from the induction line, and detecting a deviation amount of the tracking data of the unmanned vehicle currently running from the tracking data output from the detecting unit 20. The tracking deviation detection unit 30, the tracking data output from the detection unit 20 and the tracking deviation detection unit 30, and the deviation information from the guidance line are checked as the tracking deviation detection data, respectively, to control the traveling speed and Control unit 40 for controlling the system by the setting data set from the data setting unit 10, and output from the control unit 40 The driving unit 50 for controlling the steering motor or the PWS motor according to the traveling speed data and the control signal, and the power source of the unmanned vehicle, have a built-in battery, and the voltage thereof as a predetermined level for each circuit described above. It is composed of a power supply unit 60 for supplying the operating power, the tracking deviation detection unit 30 of the configuration may also be configured as a software package. In addition, the control unit 40 has a microprocessor and software for retrieving the tracking data and the tracking deviation detection data from the guidance line while processing the data input and output, and at the same time the driverless vehicle is separated from the guide line. Terminal line b1 of) is the power supply of the dynamometer, b2 is the operating power supply line of the circuit.

2 is a speed control flowchart according to the present invention, which sets the number of departure standard values at which the driverless vehicle is separated from the guide line, sets the driving speed to run along the guide line, and inputs the detection of the driving information from the guide line. Search for out of range.

In the process of searching for the deviation range, if the vehicle is within the deviation range, the set driving speed data is output to control the speed control of the driverless vehicle at the set traveling speed, and when the deviation is out of the allowable range, the deviation degree is increased and counted. Find out if the threshold has been exceeded.

In the search process, when the speed exceeds the standard value of departure, the deceleration travel speed data obtained by decelerating the travel speed is controlled by the output deceleration travel. First, the relationship between the trolleybus and the unmanned carriage is guided along the guideline. In order for a driverless vehicle to travel along an induction line, it must have a mechanical structure or power speed differential (PWS) that can be steered. That is, in order to smoothly perform even the force (F = mass m x acceleration a) of the unmanned vehicle currently running, the driving surface is driven to run with the frictional force.

At this time, when the driving speed is in the control range of the steering dynamometer output according to the state of the induction line it can minimize the shaking of the driverless vehicle.

If the friction coefficient of the driving floor becomes small due to water, moisture, or oil while driving with the above force, it will result in the adjustment command not being executed according to the weight of the driverless vehicle, and the driverless vehicle will be shaken. Derail from. If it is possible to detect that the friction coefficient of the driving floor decreases in the driverless vehicle, that is, if the driver's vehicle speed can be reduced by detecting that the driver's vehicle shake has occurred, as a result, the guidance degree per unit driving distance can be increased. It can be seen that since the precise control is performed, the shaking of the driving can be prevented.

Now outputting a tracking sensor operation signal capable of sensing the guidance information from the guidance line to the data setting unit 10 to the control unit 40 at the same time to allow the unmanned carriage from the guidance line, that is, the unmanned carriage is shaken When the number of times slipped from the induction line or the distance light and the traveling speed data are input as in the process of FIGs. 110 and 120, it is not shown by the motive force output from the power supply unit 60 (0). Outputs a predetermined control signal to the drive unit 50 so that the steering motor or the PWS motor can be controlled.

In addition, the control unit 40 starts to input the tracking data and the tracking deviation detection data output from the detection unit 20 and the tracking deviation detection unit 30. At this time, the detection unit 20 detects the driving information according to the unmanned vehicle induction method from the induction line of the unmanned vehicle, input to the tracking deviation detection unit 30 and the control unit 40, the tracking deviation detection unit 30 detects the detection The amount of deviation of the data of the driverless vehicle currently driving is detected from the tracking data to be input to the controller 40. Accordingly, the control unit 40 inputs tracking data indicating a state in which the driverless vehicle currently running in the process of FIG.

The control unit 40 inputs the driving information from the detection unit 20 as described in the 130th step is the deviation data of the track data input from the tracking deviation detection unit 30. The driving unit 50 is controlled to travel while checking the degree of departure of the driverless vehicle as shown in FIG.

If the departure of the driverless vehicle does not deviate from the departure range in the search process of FIG. 140, the internal counter that counts the degree of departure, that is, the number of departures or the distance, is reset in the process of FIG. The driving speed data set in the process of 120 is output to the driving unit 50 in the process of FIG.

The controller 40 outputting the driving speed data in step 160 searches whether the counter for counting the number of departures exceeds the standard value set in the second diagram 1100. At this time, it is determined that the search of 1100 does not exceed the standard value by the second degree 150 and resets the traveling speed data output in the process of the second degree 160 in the second degree 120. )do.

Therefore, the driverless vehicle is controlled by the controller 40 to be driven by the traveling speed data output in the process of FIG. 160, and the controller 40 detects the driving information and tracking detected by the detector 20 according to the induction method. The tracking deviation detection data output from the deviation detection unit 30 is input in step 2130.

As described above, the microcomputer in the control unit 40 that inputs the driving information and the tracking deviation detection data as described above may determine whether the deviation of the guidance line is out of the guidance line. The re-search is performed in the process of FIG. If the driving friction coefficient of the driverless vehicle decreases due to moisture, moisture, oil, etc. on the driving bottom of the driverless vehicle, the driving information output from the detector 20 and the track deviation detection data of the track deviation detector 30 are guide lines. If the range of departure from the internal counter that counts the degree of the distance or the number of departures, etc. is incremented in the process of FIG. In addition, the control unit 40 reads the content of the departure counter that counts the degree of departure as described above, the content of the departure counter incremented in the process of FIG. The comparison is made in the process of FIG.

If it is determined that the data counted up in the second degree 170 in the search process of the second degree 180 exceeds the standard value of the degree of deviation set in the second degree 110, the control unit 40 determines (120). The driving speed data set in the step of FIG. 2 is reduced in the process of FIG. 2, and the reduced driving data is output to the driving unit 50 in the process of 160. Therefore, the driving unit 50 causes the driving motor to rotate at low speed based on the traveling speed data output by decelerating from the control unit 40.

In addition, is the standard deviation value counting the degree of departure in the process of the second microcomputer 1100 in the control unit 40 outputting the driving data decelerated in the process of the second degree 160 to the driver 50? Rescan. The search determination of the 1100 is determined to have exceeded the standard value by the search process of 180, so that the controller 40 is detected by the traveling speed data output in the process of FIG. The driving information detected from the vehicle is input in the process of FIG.

In this case, the driving tracking data input in the process of FIG. 2 130 becomes data obtained by detecting a lot of induction information per unit driving distance by decreasing the speed by the process of FIG. The controller 40 controlling the driving of the driverless vehicle performs the driving of the driverless vehicle in a driving state within a deviation range.

Therefore, in step 130, the driving information is controlled by inputting a lot of guidance information per unit driving distance, and thus, in the searching process of FIG.

In addition, the controller 40 determines that the vehicle is traveling within the departure range in the process of FIG. 140. The controller 40 resets the counter that increased the degree of departure in the process of FIG. In operation 120, the driving speed data is initially output to the driving unit 50 in step 120 to increase the driving speed. Therefore, if the left and right shake (departure) of the driverless vehicle is out of the standard value, the speed of the unmanned vehicle runs while falling, and when the left and right shake is less than the standard value, the driving speed is raised to the designated driving speed.

As described above, the present invention counts the degree of deviation generated according to the condition of the road surface to be driven, and adjusts the speed according to the count value, thereby adjusting the slippage and the speed at the time of rapid rotation that the unmanned vehicle drive system cannot control. It can belong to and can automatically control the running speed when a mechanical shake occurs due to the loading conditions, which can alleviate the constraints of the unmanned vehicle application site, and at the same time has the advantage of preventing unreasonable movement of the unmanned vehicle.

Claims (1)

In the speed control method of the trolley-driven unmanned vehicle, the driving track data from the unmanned vehicle guidance line and the data setting unit 10 for setting the input and output of the operation information and the driving information of each operation switch and track sensor of the unmanned vehicle. A detection unit 20 for detecting an error, a tracking deviation detection unit 30 for detecting a deviation amount of current driving tracking data from data output from the detection unit 20, and data set from the data setting unit 10. The controller controls the system by controlling the driving speed data by checking the deviation from the guidance line as the driving track data and the tracking deviation detection data respectively output from the detection unit 20 and the tracking deviation detection unit 30. 40 and the steering motor or the PWS motor with a predetermined power source according to the control output of the traveling speed data of the controller 40. The driving unit 50 and the power source has a battery built-in battery and a power supply unit 60 for supplying the operating power of each of the circuits at the same time to the predetermined power supply to the data setting unit 10 to the induction line The first step of setting the standard value and the specified traveling speed of the deviation range of the allowable range from the predetermined range, and detects the driving state by the predetermined speed as the detection unit 20 to input the driving tracking data and the departure as the driving tracking data A second step of searching for an out of range, and a third step of resetting a counter counting the degree of departure when determining that the search determination of the second step is within a deviation range, and outputting the set traveling speed data; When the search determination of the second step is out of the departure range, the degree of departure is increased and the contents of the increase count are calculated in the first process. The fourth step of searching for exceeding the standard value of the degree of deviation, and the third step if the standard value is determined to be less than the standard value in the search determination of the fourth step. In the fifth step of outputting the search and the contents of the counter indicating the departure degree when outputting the traveling speed data in the third and fifth steps, if the deviation to the standard value of deviation is re-executed and the speed process of the first process And a sixth step of detecting and inputting running tracking data by the detection unit 20 when the accuracy standard value is exceeded and traveling by the traveling speed data of the fifth step, and re-executing from the second step. Control method.

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