JPH01219907A - Automatic running control system - Google Patents
Automatic running control systemInfo
- Publication number
- JPH01219907A JPH01219907A JP63045466A JP4546688A JPH01219907A JP H01219907 A JPH01219907 A JP H01219907A JP 63045466 A JP63045466 A JP 63045466A JP 4546688 A JP4546688 A JP 4546688A JP H01219907 A JPH01219907 A JP H01219907A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- wheels
- measuring means
- distance
- wall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
- 229910003682 SiB6 Inorganic materials 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、車体に設けられている車輪を操舵手段によっ
て操舵して、壁に沿って予め定める軌跡を辿るように走
行する自動走行制御方式に関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an automatic travel control system in which wheels provided on a vehicle body are steered by a steering means to travel along a wall along a predetermined trajectory.
従来の技術
典型的な先行技術では、車体が走行する軌跡に沿って誘
導無線アンテナを設けておき、このアンテナからの信号
を車体において受信して操舵を行なっている。Prior Art In a typical prior art, an inductive radio antenna is provided along the trajectory of a vehicle, and signals from this antenna are received at the vehicle to perform steering.
このような先行技術では、軌跡に沿って誘導無線アンテ
ナを付設しなければならず、設備費がかさむとともに、
そのような誘導無線アンテナを付設することが困難であ
る場所では実施することができない。In such prior art, it is necessary to install an inductive radio antenna along the trajectory, which increases equipment costs and
It cannot be implemented in locations where it is difficult to install such an inductive radio antenna.
他の先行技術では、車体の走行すべき目標軌跡として、
レーザ光などの光経路を設け、この光経路に沿って車体
が走行するように、操舵を行なう。In other prior art, as the target trajectory for the vehicle body to travel,
A light path such as a laser beam is provided, and the vehicle is steered so that it travels along this light path.
発明が解決しようとする課題
このような先行技術では、車体が走行すべき軌跡に沿っ
て光経路を形成しなければならず、設備費がかさむとと
もに、光は直進するので、屈曲した軌跡を形成すること
が困難である。Problems to be Solved by the Invention In such prior art, a light path must be formed along the trajectory of the car body, which increases equipment costs, and since the light travels straight, it is necessary to form a curved trajectory. difficult to do.
さらに池の先行技術として、特開昭６０ １１７１６８
があるけれども、送受信器を車体上で回転駆動するもの
であり、したがって可動部分を有し、耐久性などの点で
劣る。Furthermore, as a prior art of Ike, Japanese Patent Application Laid-Open No. 60-117168
However, the transmitter/receiver is rotated on the vehicle body, so it has moving parts and is inferior in terms of durability.
本発明の目的は、構成が簡単であり、希望する軌跡を辿
って車体を走行させることができる自動走行制御方式を
提供することである。SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic travel control system that has a simple configuration and allows a vehicle to travel along a desired trajectory.
課題を解決するための手段
本発明は、車体に設けられている車輪を操舵手段によっ
て操舵して走行を行なう自動走行制御方式において、
車体の前・後の左右に、それぞれ固着され、車体から外
側方の壁までの距離を測定する超音波距離測定手段と、
前記距離測定手段の出力に応答し、予め定める軌跡を辿
るように操舵手段を制御する制御手段とを含むことを特
徴とする自動走行制御方式である。Means for Solving the Problems The present invention provides an automatic driving control system in which wheels provided on a vehicle body are steered by a steering means to drive the vehicle. an ultrasonic distance measuring means for measuring the distance to a wall on either side; and a control means for controlling a steering means to follow a predetermined trajectory in response to the output of the distance measuring means. It is a control method.
また本発明では、操舵手段は、車輪のうち走行方向の前
輪のみおよび前輪と後輪とを同時に操舵することを特徴
とする。Further, the present invention is characterized in that the steering means steers only the front wheels in the running direction among the wheels, and simultaneously steers the front wheels and the rear wheels.
作 用
本発明に従えば、超音波距離測定手段が車体の前・後の
左右に合計４つそれぞれ固着されており、構成が極めて
簡単である。しかもこの距離測定手段は、車体から外側
方の壁までの距離を測定するものであり５したがって壁
から予め定めた距離を隔てるなどして、操舵を行なうこ
とができ、たとえば複雑に屈曲した軌跡を辿って自動走
行することができる。Function According to the present invention, a total of four ultrasonic distance measuring means are fixed to each of the front and rear left and right sides of the vehicle body, and the configuration is extremely simple. Moreover, this distance measuring means measures the distance from the vehicle body to the outer wall.5 Therefore, it is possible to perform steering at a predetermined distance from the wall, for example, to steer a vehicle with a complexly curved trajectory. You can follow it and drive automatically.
実施例
第１図は、本発明の一実施例の車体ｌの簡略化した平面
図である。車体１には進行方向２の前方側の左右に車輪
Ｗｌ、Ｗ２が設けられ、後方側の左右には車輪Ｗ３．Ｗ
４がそれぞれ設けられる。Embodiment FIG. 1 is a simplified plan view of a vehicle body l according to an embodiment of the present invention. The vehicle body 1 is provided with wheels Wl and W2 on the left and right sides of the front side in the traveling direction 2, and wheels W3. W
4 are provided respectively.
これらの車輪Ｗ１〜Ｗ４のうち、前輪Ｗｌ、Ｗ２は角変
位して操舵することができる。前輪Ｗｌ。Among these wheels W1 to W4, the front wheels Wl and W2 can be steered by angular displacement. Front wheel Wl.
Ｗ２または後輪Ｗ３．Ｗ４は、駆動手段３によって駆動
され、これによって自走することができる、車体１の前
・後の左右には、超音波距離測定手段８１〜Ｓ４がそれ
ぞれ固定される。車体１の参照符Ｇは、車輪Ｗ１〜Ｗ４
の路面との接触位置を頂点とする仮想長方形の図心を通
る鉛直線上にあり、また距離測定手段８１〜Ｓ４を頂点
とする仮想長方形の図心を通る鉛直線上にある。車体１
の軸線４は、参照符Ｇを通り、左側の距離測定手段３１
゜Ｓ３を通る仮想直線、および距離測定手段Ｓ２゜Ｓ４
を通る仮想直線にそれぞれ平行である。W2 or rear wheel W3. W4 is driven by the drive means 3 and can thereby move by itself. Ultrasonic distance measuring means 81 to S4 are fixed to the front and rear left and right sides of the vehicle body 1, respectively. Reference mark G of the vehicle body 1 indicates wheels W1 to W4.
It is on a vertical line passing through the centroid of a virtual rectangle whose apex is the contact position with the road surface, and also on a vertical line passing through the centroid of a virtual rectangle whose apex is the distance measuring means 81 to S4. Vehicle body 1
The axis 4 of passes through the reference G and the distance measuring means 31 on the left
゜Virtual straight line passing through S3 and distance measuring means S2゜S4
Each is parallel to the imaginary straight line passing through.
車体１の前左部に取付けられている距離測定手段Ｓ１は
、車体１の外側方に軸線５を中心として前後に角度α／
２だけ広がりをもって超音波を発射し、壁６からの反射
波を検出し、これによって距離測定手段Ｓ１と壁６との
最短距離を測定する。The distance measuring means S1 attached to the front left part of the vehicle body 1 is configured to move outwardly of the vehicle body 1 at an angle α/
Ultrasonic waves are emitted with a spread of 2, and reflected waves from the wall 6 are detected, thereby measuring the shortest distance between the distance measuring means S1 and the wall 6.
第２図を参照して、距離測定手段Ｓ１は第２図（１）で
示される超音波信号を外側方に発射させる。反射波は距
離測定手段Ｓｌによって第２図（２）で示されるように
時間Ｔ１だけ遅れて受信される。この時間Ｔ１に対応し
た距離測定手段Ｓ１と壁６との間の最短距離を、上述の
ように検出測定する。残余の距離測定手段８２〜Ｓ４も
また、前述の距離測定手段Ｓ１と同様な構成を有し、車
体１の外側方に向けて超音波を発生して距離を測定する
。Referring to FIG. 2, the distance measuring means S1 causes an ultrasonic signal shown in FIG. 2 (1) to be emitted outward. The reflected wave is received by the distance measuring means Sl with a delay of time T1 as shown in FIG. 2(2). The shortest distance between the distance measuring means S1 and the wall 6 corresponding to this time T1 is detected and measured as described above. The remaining distance measuring means 82 to S4 also have the same configuration as the distance measuring means S1 described above, and measure distance by generating ultrasonic waves toward the outside of the vehicle body 1.
第３図は、第１図に示された実施例の電気的構成を示す
ブロック図である。距１１１ｉ測定手段８１〜Ｓ４の出
力は演算回路７に入力され、この演算結果に基づき前輪
ｗ１．ｗ２は操舵手段８によって操舵され、これによっ
て設定回路９において設定された軌跡を辿って車体１が
走行する。FIG. 3 is a block diagram showing the electrical configuration of the embodiment shown in FIG. 1. The outputs of the distance 111i measuring means 81 to S4 are input to the calculation circuit 7, and based on the calculation results, the front wheels w1. w2 is steered by the steering means 8, whereby the vehicle body 1 travels along a trajectory set in the setting circuit 9.
第４図は車体１が壁６，６ａ間を走行する状態を示す水
平断面図であり、第５図はその縦断面図である。車体１
の車輪Ｗ１〜Ｗ４は、壁６．６ａ間の路面１０上を走行
する。左右の壁６，６ａ間の中心線は参照符１１で示さ
れており、この中心線１１と、車体１の参照符Ｇとの間
の距ｌｌ！ｉｙは距離測定手段Ｓｌ〜Ｓ４によって検出
される璧６゜６ａまでの距離を１１〜１４とするとき、
第１式％式％
車体１の参照符Ｇを通る軸１１４と壁６，６ａの中心線
１１とのなす角度θは第２式で示されるとおりである。FIG. 4 is a horizontal sectional view showing the state in which the vehicle body 1 runs between the walls 6 and 6a, and FIG. 5 is a vertical sectional view thereof. Vehicle body 1
The wheels W1 to W4 run on the road surface 10 between the walls 6.6a. The center line between the left and right walls 6, 6a is indicated by reference numeral 11, and the distance ll! between this center line 11 and reference mark G of the vehicle body 1! iy is when the distance to the wall 6°6a detected by the distance measuring means Sl to S4 is 11 to 14,
First Formula % Formula % The angle θ formed by the axis 114 passing through the reference mark G of the vehicle body 1 and the center line 11 of the walls 6, 6a is as shown in the second formula.
ここでＬは、距離測定手段ＳＬ、３３間の車体１の軸線
４に沿う距離であり、この距離りは距離測定手段Ｓ２，
３４間の車体１の軸線４に沿う距離に等しい、なお第１
図では距離測定手段Ｓｌ。Here, L is the distance along the axis 4 of the vehicle body 1 between the distance measuring means SL, 33, and this distance is the distance between the distance measuring means S2, 33.
34, which is equal to the distance along the axis 4 of the vehicle body 1 between
In the figure, distance measuring means Sl.
Ｓ２間の車***置の軸線４に垂直方向の距離はＷで示さ
れ、この距離Ｗは距離測定手段Ｓ３，３４間の車***置
の軸線４に垂直方向の距離に等しい。The distance in the direction perpendicular to the axis 4 of the vehicle body position between S2 is indicated by W, and this distance W is equal to the distance in the direction perpendicular to the axis 4 of the vehicle body position between the distance measuring means S3 and 34.
第６図は右側の壁６ａだけが存在するときにおける車体
１の走行状態を示す水平断面図であり、第７図はその縦
断面図である。車体１の参照符Ｇと右側の壁６ａとの間
の距離ｙｒは第３式で示されるとおりである。FIG. 6 is a horizontal sectional view showing the running state of the vehicle body 1 when only the right side wall 6a is present, and FIG. 7 is a vertical sectional view thereof. The distance yr between the reference mark G of the vehicle body 1 and the right wall 6a is as shown by the third equation.
車体１の軸線４と壁６ａとのなす角度θは第４式で示さ
れるとおりである。The angle θ between the axis 4 of the vehicle body 1 and the wall 6a is as shown by the fourth equation.
第８図は車体１の左側の壁６だけが存在するときにおけ
る車体１の走行状態を示す水平断面図であり、第９図は
その縦断面図である。車体１の参照符Ｇと壁６との間の
距離ｙｌは第５式で示されるとおりであり、その車体１
の軸線４と壁６との成す角度θは第６式に示されるとお
りである。FIG. 8 is a horizontal sectional view showing the running state of the vehicle body 1 when only the left side wall 6 of the vehicle body 1 is present, and FIG. 9 is a vertical sectional view thereof. The distance yl between the reference mark G of the vehicle body 1 and the wall 6 is as shown in the fifth equation,
The angle θ formed between the axis 4 and the wall 6 is as shown in Equation 6.
−１１＋１３
θ＝ｓｉｎ−’（１・・・（６）
演算回路７（第３図参照）は、距離測定手段８１〜Ｓ４
からの出力に応答して、左右に壁６，６ａが存在すると
きには、第１式および第２式の演算を行ない、また車体
１の右側のみに壁６ａが存在するときには前述の第３式
および第４式の演算を行ない、車体１の左側に壁６のみ
が存在するときには第５式および第６式の演算を行なう
。このようにして距離ｙ、ｙｒ、ｙｅを演算するととも
にｓｉｎθを演算して求める。-11+13 θ=sin-'(1...(6) The arithmetic circuit 7 (see FIG. 3) uses the distance measuring means 81 to S4
In response to the output from , when walls 6 and 6a exist on the left and right sides, the first and second equations are calculated, and when the wall 6a exists only on the right side of the vehicle body 1, the above-mentioned third equation and The fourth equation is calculated, and when only the wall 6 exists on the left side of the vehicle body 1, the fifth and sixth equations are calculated. In this way, the distances y, yr, and ye are calculated, and sin θ is calculated and determined.
車体１の予め定める目標軌跡に対応する距離ｙｒｅｆ、
ｙｒｌ、ｙｌ １は設定回路９から導出され、演算回路
７からの検出された距離ｙ、ｙｒ。distance yref corresponding to a predetermined target trajectory of the vehicle body 1;
yrl, yl 1 is derived from the setting circuit 9 and is the detected distance y, yr from the arithmetic circuit 7.
ｙｌとは引算回路１３において引算され、ゲインＧｙを
有する増幅回路１４に与えられる。演算回路７からのｓ
ｉ ｎθを表わす信号はゲインＧθを有する増幅回路
１５に与えられる。増幅回路１４゜１５の出力は引算回
路１６に与えられる。これによって操舵角Ｓを表わす信
号を操舵手段８に与える。操舵手段８は車輪Ｗｌ、Ｗ２
を角変位して操舵を行なう。ここでいう操舵角Ｓは、第
１図に示されるようにたとえば車輪Ｗ１の車軸に垂直な
平面が車体１の軸線４と成す角度をいう。yl is subtracted in a subtraction circuit 13 and provided to an amplifier circuit 14 having a gain Gy. s from arithmetic circuit 7
A signal representing i nθ is applied to an amplifier circuit 15 having a gain Gθ. The outputs of the amplifier circuits 14 and 15 are applied to a subtraction circuit 16. This gives a signal representing the steering angle S to the steering means 8. The steering means 8 includes wheels Wl and W2.
Steering is performed by angularly displacing the The steering angle S here refers to the angle that a plane perpendicular to the axle of the wheel W1 forms with the axis 4 of the vehicle body 1, for example, as shown in FIG.
こうして前述の第４図および第５図に示されるように車
体１が左右の壁６．６ａ間で走行する場き、第１式およ
び第２式に基づき、操舵角Ｓが第７式のように求められ
る。ここで第４図および第５図のように、車体１の軌跡
に対応する距離ｙ１は壁６．６ａ間の中心線１１からの
距離を表わす。In this way, when the vehicle body 1 runs between the left and right walls 6.6a as shown in FIGS. 4 and 5, the steering angle S is determined as shown in the seventh equation based on the first and second equations. is required. Here, as shown in FIGS. 4 and 5, the distance y1 corresponding to the trajectory of the vehicle body 1 represents the distance from the center line 11 between the walls 6.6a.
５＝Ｇｒ（ｙｌ ｙ）Ｇθ・ＳｉＢ６ ・（７）
また前述のように第６図および第７図に示されるように
車体１の右側にのみ壁６ａがある場き、第８式の演算が
行なわれ°て操舵角Ｓが定められる。5=Gr(yl y)Gθ・SiB6・(7)
Further, as described above, when the wall 6a exists only on the right side of the vehicle body 1 as shown in FIGS. 6 and 7, the calculation of equation 8 is performed to determine the steering angle S.
５＝Ｇｙ （−３’ｒｌ＋ｙｒ）−ａθ−５ｉｎθ
−（８）ここで車体１の軌跡を表わす距離ｙ’ｒｌは壁
６ａからの距離である。5=Gy (-3'rl+yr)-aθ-5inθ
-(8) Here, the distance y'rl representing the trajectory of the vehicle body 1 is the distance from the wall 6a.
さらにまた第８図および第９図に示されるように車体１
の左側にのみ壁６がある場合、その壁６からの距離ｙｌ
１を設定することによって第９式で示される操舵角Ｓ
が得られる。Furthermore, as shown in FIGS. 8 and 9, the vehicle body 1
If there is a wall 6 only on the left side of , the distance yl from that wall 6
By setting 1, the steering angle S expressed by the 9th equation
is obtained.
５＝Ｇｒ （ｙｊ！ １ ｙｌ ） Ｇθ−５ｉｎ
θ ・（９）本発明の他の実施例として前輪Ｗｌ、Ｗ
２を操舵することができるように構成するだけでなく、
さらに、後輪Ｗ３．Ｗ４もまた操舵手段８によって操舵
するように構成することも可能である。この場合、第１
３図に示されるように予め定める目標とする軌跡２０に
沿って車体１を走行させるために前輪ｗ１．ｗ２は操舵
角Ｓｆだけ角変位し、後輪Ｗ３．Ｗ４は操舵角Ｓｒだけ
角変位させ、車体１の軸線４に平行な直線に関して左側
の角変位を正とし、右側の角変位を負として、操舵角Ｓ
ｆ。5=Gr (yj! 1 yl) Gθ-5in
θ・(9) As another embodiment of the present invention, front wheels Wl, W
In addition to being configured to be able to steer 2,
Furthermore, rear wheel W3. W4 can also be configured to be steered by the steering means 8. In this case, the first
As shown in FIG. 3, the front wheels w1. w2 is angularly displaced by the steering angle Sf, and the rear wheels W3. W4 is angularly displaced by the steering angle Sr, and with respect to a straight line parallel to the axis 4 of the vehicle body 1, the angular displacement on the left side is positive and the angular displacement on the right side is negative, and the steering angle S
f.
Ｓｒを演算して求める。第１３図（１）は、車体１の軸
線４と目標とする軌跡２０とのなす角度θがほぼ零であ
るときの状態を示す、第１３図（２）は、車体１の参照
符Ｇが目標とする軌跡２０上にごく近接している状態を
示す、第１３図（３）および第１３図（４）は、車体１
が目標とする軌跡２０から離れているときの操舵状態を
示す。車輪Ｗ１〜Ｗ４が前輪Ｗｌ、Ｗ２と後輪Ｗ３．Ｗ
４との２つの各対毎に個別に操舵されるように構成する
ことによって、前輪Ｗｌ、Ｗ２だけで操舵を行なう場合
よりも、良好な制御性が得られる。Calculate and find Sr. FIG. 13(1) shows the state when the angle θ between the axis 4 of the vehicle body 1 and the target trajectory 20 is almost zero. FIG. 13(2) shows the state when the reference mark G of the vehicle body 1 is 13(3) and 13(4), which show the state in which the vehicle body 1 is very close to the target trajectory 20.
This shows the steering state when the vehicle is away from the target trajectory 20. The wheels W1 to W4 are the front wheel Wl, W2 and the rear wheel W3. W
By configuring each pair of wheels Wl and W2 to be individually steered, better controllability can be obtained than when steering is performed only with the front wheels Wl and W2.
前述の第４図、第５図および第１０図に示されるように
左右の壁６，６ａ間を走行するとき、前輪Ｗｌ、Ｗ２の
操舵角Ｓｆは第１０式で示されるように、また後輪Ｗ３
．Ｗ４の操舵角Ｓｒは第１１式で示されるように演算さ
れる。When driving between the left and right walls 6, 6a as shown in FIGS. 4, 5 and 10, the steering angles Sf of the front wheels Wl and W2 are as shown in equation 10, and Ring W3
．． The steering angle Sr of W4 is calculated as shown in Equation 11.
５ｉ＝Ｇｙ （ｙｌ−３／） Ｇθ・ｓ ｉ ｎθ
、・、（１０）Ｓｒ＝Ｇｙ （ｙｌ ３’） ＋Ｇ
θ−５ｉｎθ 、−、（１１）また第６図、第７図お
よび第１１図で示されるように車体１の右側にのみ壁６
ａがあるとき、前輪Ｗｌ、Ｗ２の操舵角Ｓｆは第１２式
で示されるように、また後輪Ｗ３．Ｗ４の操舵角Ｓｒは
第１３式で示されるように演算される。5i=Gy (yl-3/) Gθ・sinθ
, , (10) Sr=Gy (yl 3') +G
θ-5inθ, -, (11) Also, as shown in FIGS. 6, 7, and 11, there is a wall 6 only on the right side of the vehicle body 1.
a, the steering angles Sf of the front wheels Wl, W2 are as shown in equation 12, and the rear wheels W3. The steering angle Sr of W4 is calculated as shown in Equation 13.
５ｆ＝Ｇｙ （ｙｒｌ＋ｙｒ） Ｇθ−ｓ ｉ ｒｓ
θ、、、 （１２）Ｓｒ＝Ｇｙ （−ｙｒｌ ＋ｙｒ）
＋Ｇθ−ｓ ｉ ｎθ −、−（１３）さらにまた第８
図、第９図および第１２図で示されるように車体１の左
側にのみ壁６が存在するとき、前輪Ｗｌ、Ｗ２の操舵角
Ｓｆは第１４式で示されるように、また後輪Ｗ３．Ｗ４
の操舵角Ｓｒは第１５式で示されるように操舵される。5f=Gy (yrl+yr) Gθ−s i rs
θ,,, (12) Sr=Gy (-yrl +yr)
+Gθ−s i nθ −, −(13) Furthermore, the eighth
9 and 12, when the wall 6 exists only on the left side of the vehicle body 1, the steering angles Sf of the front wheels Wl, W2 are as shown in equation 14, and the steering angles Sf of the rear wheels W3. W4
The steering angle Sr of is steered as shown in Equation 15.
５ｆ＝Ｇｙ ＜ｙｌ １−ｙｌ ）−Ｇθ・ｓ ｉ ｒ
ｔθ −（１４）Ｓｒ＝Ｇｙ ＜ｙｌ １−ｙｅ ）
＋Ｇθ・Ｓｉｎθ 、・（１５）こうして車体１を希望
する軌跡に沿って走行させることができるようになる。5f=Gy<yl 1-yl)-Gθ・s ir
tθ − (14) Sr=Gy < yl 1-ye )
+Gθ·Sinθ, (15) In this way, the vehicle body 1 can be made to travel along the desired trajectory.
本発明は、たとえば水路内でその水路を清掃するロボッ
トなどに関連して実施されるだけでなく、その他店範囲
に実施することができる。The invention can be implemented, for example, in conjunction with a robot cleaning a waterway in a waterway, but also in other areas of a store.
発明の効果
以上のように本発明によれば、簡単な構成で屈曲した予
め定める軌跡に車体を走行させることが容易に可能にな
る。Effects of the Invention As described above, according to the present invention, it is possible to easily make the vehicle body travel along a predetermined curved trajectory with a simple configuration.
第１図は本発明の一実施例の車体１の簡略化した平面図
、第２図は距離測定手段Ｓ１の動作を説明するための波
形図、第３図は第１図で示された実施例の電気的構成を
示すブロック図、第４図は車体１が壁６，６ａ間を走行
する状態を示す水平断面図、第５図はその縦断面図、第
６図は右側の壁６ａだけが存在するときにおける車体１
の走行状態を示す水平断面図、第７図はその縦断面図、
第８図は車体１の左側の壁６だけが存在するときにおけ
る車体１の走行状態を示す水平断面図、第９図はその縦
断面図、第１０図は前述の第４図および第５図のように
車体１の両側に壁６，６ａが存在するときの走行状態を
示す水平断面図、第１１図は第６図および第７図のよう
に車体１の右側にのみ壁６ａが存在するときの走行状態
を示す水平断面図、第１２図は第８図および第９図に示
されるように車体１の左側にのみ壁６が存在するときに
おける走行状態を示す水平断面図、第１３図は走行方向
の前輪Ｗｌ、Ｗ２だけでなく、後輪Ｗ３、Ｗ４をも操舵
して走行を行なう本発明の他の実施例の簡略化した平面
図である。
１・・・車体、２・・・走行方向、３・・・駆動手段、
４・・・軸線、６，６ａ・・・壁、７・・・演算回路、
８・・・操舵手段、９・・・設定回路、１４．１５・・
・増幅回路、Ｗ１〜Ｗ４・・・車輪、８１〜Ｓ４・・・
距離測定手段代理人 弁理士 画数 圭一部
第 １ 図
第２図
第３図
第４図
第６図
第８０
第１３図
（３’）（４）FIG. 1 is a simplified plan view of a vehicle body 1 according to an embodiment of the present invention, FIG. 2 is a waveform diagram for explaining the operation of the distance measuring means S1, and FIG. 3 is an embodiment of the vehicle body 1 shown in FIG. 1. A block diagram showing the electrical configuration of the example, FIG. 4 is a horizontal sectional view showing the state in which the vehicle body 1 runs between walls 6 and 6a, FIG. 5 is a vertical sectional view thereof, and FIG. 6 is only the right wall 6a. Vehicle body 1 when there is
7 is a horizontal sectional view showing the running state of the vehicle, and FIG. 7 is a vertical sectional view thereof.
FIG. 8 is a horizontal sectional view showing the running state of the vehicle body 1 when only the left side wall 6 of the vehicle body 1 is present, FIG. 9 is a longitudinal sectional view thereof, and FIG. 10 is a diagram similar to the aforementioned FIGS. 4 and 5. 11 is a horizontal sectional view showing the running state when walls 6, 6a exist on both sides of the vehicle body 1, as shown in FIG. 6 and FIG. 7, the wall 6a exists only on the right side of the vehicle body 1. 12 is a horizontal sectional view showing the running state when the wall 6 exists only on the left side of the vehicle body 1 as shown in FIGS. 8 and 9, and FIG. 2 is a simplified plan view of another embodiment of the present invention in which not only the front wheels Wl and W2 in the running direction but also the rear wheels W3 and W4 are steered to drive the vehicle. 1... Vehicle body, 2... Running direction, 3... Drive means,
4... Axis line, 6, 6a... Wall, 7... Arithmetic circuit,
8... Steering means, 9... Setting circuit, 14.15...
・Amplification circuit, W1-W4...Wheel, 81-S4...
Distance Measuring Means Agent Patent Attorney Number of Strokes Keiichi No. 1 Figure 2 Figure 3 Figure 4 Figure 6 Figure 80 Figure 13 (3') (4)
Claims (2)
舵して走行を行なう自動走行制御方式において、 車体の前・後の左右に、それぞれ固着され、車体から外
側方の壁までの距離を測定する超音波距離測定手段と、 前記距離測定手段の出力に応答し、予め定める軌跡を辿
るように操舵手段を制御する制御手段とを含むことを特
徴とする自動走行制御方式。(1) In an automatic driving control system in which wheels installed on the vehicle body are steered by a steering means, wheels fixed to the front and rear left and right sides of the vehicle body, and the distance from the vehicle body to the outer wall. An automatic travel control system comprising: an ultrasonic distance measuring means for measuring the distance; and a control means for controlling a steering means to follow a predetermined trajectory in response to the output of the distance measuring means.
び前輪と後輪とを同時に操舵することを特徴とする特許
請求の範囲第１項記載の自動走行制御方式。(2) The automatic travel control system according to claim 1, wherein the steering means steers only the front wheels in the traveling direction or simultaneously the front wheels and the rear wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63045466A JPH0810406B2 (en) | 1988-02-26 | 1988-02-26 | Self-driving car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63045466A JPH0810406B2 (en) | 1988-02-26 | 1988-02-26 | Self-driving car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01219907A true JPH01219907A (en) | 1989-09-01 |
| JPH0810406B2 JPH0810406B2 (en) | 1996-01-31 |
Family
ID=12720152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63045466A Expired - Fee Related JPH0810406B2 (en) | 1988-02-26 | 1988-02-26 | Self-driving car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0810406B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04145507A (en) * | 1990-10-05 | 1992-05-19 | Shikoku Sogo Kenkyusho:Kk | Travel controller for self-traveling work wagon |
| JPH08286747A (en) * | 1995-04-14 | 1996-11-01 | Minolta Co Ltd | Auton0mous running vehicle |
| US6102147A (en) * | 1997-04-15 | 2000-08-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| JP2007310866A (en) * | 2006-05-16 | 2007-11-29 | Samsung Electronics Co Ltd | Robot using absolute azimuth and map creation method using it |
| JP2017216933A (en) * | 2016-06-07 | 2017-12-14 | 国立研究開発法人農業・食品産業技術総合研究機構 | Agricultural vehicle and vehicle control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58101205U (en) * | 1981-12-26 | 1983-07-09 | 三菱重工業株式会社 | Unmanned vehicle guidance system |
| JPS59140520A (en) * | 1983-01-31 | 1984-08-11 | Sumitomo Electric Ind Ltd | Running control system |
| JPS59122607U (en) * | 1983-02-07 | 1984-08-18 | 三菱電機株式会社 | unmanned automated guided vehicle |
| JPS62105206A (en) * | 1985-10-31 | 1987-05-15 | Yokogawa Electric Corp | Guiding device for unmanned guided vehicle |
| JPS62221707A (en) * | 1986-03-24 | 1987-09-29 | Toshiba Corp | Gyro-guide type unmanned carrier |
-
1988
- 1988-02-26 JP JP63045466A patent/JPH0810406B2/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58101205U (en) * | 1981-12-26 | 1983-07-09 | 三菱重工業株式会社 | Unmanned vehicle guidance system |
| JPS59140520A (en) * | 1983-01-31 | 1984-08-11 | Sumitomo Electric Ind Ltd | Running control system |
| JPS59122607U (en) * | 1983-02-07 | 1984-08-18 | 三菱電機株式会社 | unmanned automated guided vehicle |
| JPS62105206A (en) * | 1985-10-31 | 1987-05-15 | Yokogawa Electric Corp | Guiding device for unmanned guided vehicle |
| JPS62221707A (en) * | 1986-03-24 | 1987-09-29 | Toshiba Corp | Gyro-guide type unmanned carrier |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04145507A (en) * | 1990-10-05 | 1992-05-19 | Shikoku Sogo Kenkyusho:Kk | Travel controller for self-traveling work wagon |
| JPH08286747A (en) * | 1995-04-14 | 1996-11-01 | Minolta Co Ltd | Auton0mous running vehicle |
| US6102147A (en) * | 1997-04-15 | 2000-08-15 | Honda Giken Kogyo Kabushiki Kaisha | Automatic steering system for vehicle |
| JP2007310866A (en) * | 2006-05-16 | 2007-11-29 | Samsung Electronics Co Ltd | Robot using absolute azimuth and map creation method using it |
| JP2017216933A (en) * | 2016-06-07 | 2017-12-14 | 国立研究開発法人農業・食品産業技術総合研究機構 | Agricultural vehicle and vehicle control method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0810406B2 (en) | 1996-01-31 |
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