JPH09146641A

JPH09146641A - Method for controlling automated guided vehicle

Info

Publication number: JPH09146641A
Application number: JP7334093A
Authority: JP
Inventors: Shiyomei Chin; 曙銘陳; Ikuya Toya; 郁也刀谷
Original assignee: Nippon Yusoki Co Ltd
Current assignee: Nippon Yusoki Co Ltd
Priority date: 1995-11-28
Filing date: 1995-11-28
Publication date: 1997-06-06

Abstract

PROBLEM TO BE SOLVED: To perform steering control by discriminating a linear track and a circular track by operating the curvature radius of guide line from the induced voltage of three pickup coils fixed at the lower part of car body. SOLUTION: A perpendicular coordinate system O-XY is taken at a representative car body point O of an automated guided vehicle, and lateral displacements x1, x2 and x3 are detected by three lateral displacement sensors S1, S2 and S3 at coordinate positions y1, y2 and y3 on the Y axis. The track can be instantaneously expressed circular from these detected values, and a radius γ, lateral displacement quantity δ and azimuth angle deviation θ of car body are calculated by following equations; γ=√((x2-x0)<2> +(y2-y0)<2> ), δ=√(x0<2> +y0<2> )-γ and θ=tan<-1> (y0/x0). When the radius can not be found, it is discriminated that the vehicle travels on the linear track.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、３個のピックアップコ
イルで得た信号でステアリング制御する無人搬送車の制
御方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for an automatic guided vehicle, in which steering control is performed by signals obtained from three pickup coils.

【０００２】[0002]

【従来の技術】従来、無人搬送車の前後に誘導線との横
変位を検出するための横変位検出用センサー２個を用
い、車体代表点の横変位および姿勢角ズレを検出し、与
えられた軌道を直線とみなして車体の追従制御を行う方
法と、直線軌道時には無人搬送車の前後に備えた２個の
横変位を検出するための横変位検出用センサを用いて直
進走行の制御をし、また、エンコーダ、ジャイロ等を備
え、円弧軌道に入ると走行方式をガイド式走行から自律
走行へと切り換える制御方法とがあった。2. Description of the Related Art Conventionally, two lateral displacement detection sensors for detecting a lateral displacement with a guide wire are used in front and rear of an automated guided vehicle to detect a lateral displacement and a posture angle deviation at a representative point of a vehicle body and to provide them. A method of performing tracking control of the vehicle body by regarding the track as a straight line, and a straight traveling control using a lateral displacement detection sensor for detecting two lateral displacements provided in front of and behind the automated guided vehicle during a straight track In addition, there is a control method that includes an encoder, a gyro, and the like, and switches the traveling system from guided traveling to autonomous traveling when entering an arcuate trajectory.

【０００３】[0003]

【発明が解決しようとする課題】従来の技術の前者は、
無人搬送車の前後に誘導線との横変位を検出するための
横変位検出用センサを２個だけ用いる場合にあっては、
軌道に関する情報が得られないため、軌道制御時の制御
則は軌道を直線として行われ、円弧が含まれる軌道に対
しては追従が困難である。The former of the prior art is
In the case of using only two lateral displacement detection sensors for detecting the lateral displacement with the guide wire before and after the automatic guided vehicle,
Since information about the trajectory cannot be obtained, the control law at the time of trajectory control is performed with the trajectory as a straight line, and it is difficult to follow the trajectory including an arc.

【０００４】後者は円弧軌道に入ると走行方式をガイド
式から自律走行（プログラム走行）に切り換える制御方
法にあっては、直進走行から旋回走行に切り換える位置
を知らせる装置や、自律走行時の無人搬送車の位置およ
び方位が演算できるジャイロやエンコーダー等の装置が
必要とされる。The latter is a control method for switching the traveling system from the guide system to the autonomous traveling (program traveling) when entering the arcuate track. For example, a device for notifying the position where the traveling is changed from the straight traveling to the turning traveling, and the unmanned conveyance during the autonomous traveling. A device such as a gyro and an encoder that can calculate the position and direction of the vehicle is required.

【０００５】[0005]

【課題を解決するための手段】本発明は、走行路面に埋
設した誘導線に沿って自動操舵・走行するガイド式無人
搬送車において、該ガイド式無人搬送車の車体下部の前
後一列に３個のピックアップコイルを所定の間隔を空け
て固定し、該３個のピックアップコイルの誘起電圧値か
ら、誘導線の曲率半径を演算し、曲率半径が演算してで
てこない場合は直線走行と、曲率半径が演算してでてき
た場合にはその曲率半径に応じた曲線でステアリング制
御を行うようにして、上述の課題を解決したものであ
る。DISCLOSURE OF THE INVENTION The present invention is a guided automatic guided vehicle that automatically steers and runs along a guide line buried in a road surface. The pickup coils are fixed at a predetermined interval, the radius of curvature of the guide wire is calculated from the induced voltage values of the three pickup coils, and if the radius of curvature cannot be calculated, straight running and curvature When the radius is calculated, the steering control is performed with a curve according to the radius of curvature, and the above-mentioned problem is solved.

【０００６】他には、走行路面に埋設した誘導線に沿っ
て自動操舵・走行するガイド式無人搬送車において、該
ガイド式無人搬送車の車体下部の前後一列に３個のピッ
クアップコイルを所定の間隔を空けて固定し、直進時に
は該３個のピックアップコイルの内の前後２個のピック
アップコイルで得た信号で、旋回時には３個のピックア
ップコイルで得た信号でステアリング制御を行うように
するものもある。In addition, in a guide type automatic guided vehicle that automatically steers and runs along a guide line buried in the road surface, three pickup coils are provided in a row in the front and rear under the body of the guided automatic guided vehicle. Steering control is performed by fixing the signals at a fixed interval and using the signals obtained by the front and rear two pickup coils of the three pickup coils when traveling straight and the signals obtained by the three pickup coils when turning. There is also.

【０００７】[0007]

【実施例】本発明の原理を図１に基づき説明すると、図
１は本発明の原理図で、無人搬送車の車体代表点Ｏに直
角座標系Ｏ−ＸＹをとり、３個の横変位センサＳ１、Ｓ
２およびＳ３がＹ軸上にあり、それぞれのＹ軸上の座標
位置をｙ1 、ｙ２およびｙ３とし、それぞれのＹ軸上の
座標位置ｙ1 、ｙ２およびｙ３における横変位センサＳ
１、Ｓ２およびＳ３で検出した軌道との横変位をｘ１、
ｘ２およびｘ３とすると、これら横変位センサＳ１、Ｓ
２およびＳ３で検出した横変位検出値から瞬時に軌道が
円で表現でき、例えばその円の半径をｒ、中心はＯ−Ｘ
Ｙ座標系でｘ０、ｙ０とする。DESCRIPTION OF THE PREFERRED EMBODIMENTS The principle of the present invention will be described with reference to FIG. 1. FIG. 1 is a principle diagram of the present invention. A rectangular coordinate system O-XY is set at a vehicle body representative point O of an automated guided vehicle, and three lateral displacement sensors are provided. S1, S
2 and S3 are on the Y axis, and the coordinate positions on the Y axis are y1, y2, and y3, and the lateral displacement sensor S at the coordinate positions y1, y2, and y3 on the Y axis, respectively.
1, the lateral displacement with respect to the trajectory detected in S2 and S3 is x1,
Given x2 and x3, these lateral displacement sensors S1, S
The trajectory can be instantly represented by a circle from the lateral displacement detection values detected in 2 and S3. For example, the radius of the circle is r, and the center is OX.
Let x0 and y0 in the Y coordinate system.

【０００８】中心はＯ−ＸＹ座標系でｘ０、ｙ０で、半
径ｒの円は下記数１のとおりとなる。The center is x0, y0 in the O-XY coordinate system, and a circle having a radius r is as shown in the following formula 1.

【数１】横変位センサＳ１、Ｓ２およびＳ３で検出した軌道との
横変位をｘ１、ｘ２およびｘ３においても同一の円弧上
にあるから下記数２、数３および数４が成立する。(Equation 1) Since the lateral displacements with respect to the trajectory detected by the lateral displacement sensors S1, S2 and S3 are also on the same arc at x1, x2 and x3, the following equations 2, 3 and 4 are established.

【数２】 (Equation 2)

【数３】 (Equation 3)

【数４】上記連立方程式をｘ０およびｙ０について解くと、(Equation 4) Solving the above simultaneous equations for x0 and y0,

【数５】 (Equation 5)

【数６】ｘ０およびｙ０の値が求まったから半径ｒを数３から求
めると、(Equation 6) Since the values of x0 and y0 have been obtained, the radius r can be calculated from Equation 3,

【数７】横変位量δを求めると、(Equation 7) When the lateral displacement δ is calculated,

【数８】また、車体の方位角ずれθを求めると、(Equation 8) Moreover, when the azimuth deviation θ of the vehicle body is calculated,

【数９】 (Equation 9)

【０００９】[0009]

【発明の効果】上述のそれぞれの数式から、３個の横変
位センサＳ１、Ｓ２およびＳ３で検出した軌道との横変
位をｘ１、ｘ２およびｘ３が求まると、数７から半径が
求まると円弧軌道を走行しているのであり、半径が求ま
らない場合（即ち計算値が無限大）には直線軌道を走行
していることになり、非常に簡単な構成で直線軌道と円
弧軌道とを識別することができる。From the above formulas, when the lateral displacements with respect to the trajectories detected by the three lateral displacement sensors S1, S2 and S3 are obtained as x1, x2 and x3, the radius is obtained from the equation 7, and the arc trajectory is obtained. If the radius cannot be obtained (that is, the calculated value is infinite), it means that the vehicle is traveling on a straight track, and it is possible to distinguish between a straight track and an arc track with a very simple configuration. can do.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明の原理図を示す。FIG. 1 shows the principle of the present invention.

【符号の説明】[Explanation of symbols]

１無人搬送車 1 Automated guided vehicle

Claims

【特許請求の範囲】[Claims]

【請求項１】走行路面に埋設した誘導線に沿って自動
操舵・走行するガイド式無人搬送車において、該ガイド
式無人搬送車の車体下部の前後一列に３個のピックアッ
プコイルを所定の間隔を空けて固定し、該３個のピック
アップコイルの誘起電圧値から、誘導線の曲率半径を演
算し、曲率半径が演算してでてこない場合は直線走行
と、曲率半径が演算してでてきた場合にはその曲率半径
に応じた曲線でステアリング制御される無人搬送車の制
御方法。1. In a guided automatic guided vehicle that automatically steers and runs along a guide line buried in a road surface, three pickup coils are provided at predetermined intervals in front and rear rows below the body of the guided automatic guided vehicle. The radii of curvature were calculated by calculating the curvature radii of the induction wires from the induced voltage values of the three pickup coils, and when the curvature radii did not reach, straight running and the curvature radii were calculated. In some cases, the steering method is controlled by a curve according to the radius of curvature of the automated guided vehicle.

【請求項２】走行路面に埋設した誘導線に沿って自動
操舵・走行するガイド式無人搬送車において、該ガイド
式無人搬送車の車体下部の前後一列に３個のピックアッ
プコイルを所定の間隔を空けて固定し、直進時には該３
個のピックアップコイルの内の前後２個のピックアップ
コイルで得た信号で、旋回時には３個のピックアップコ
イルで得た信号でステアリング制御する無人搬送車の制
御方法。2. A guide type automatic guided vehicle that automatically steers and travels along a guide line buried in a road surface, and three pickup coils are provided at predetermined intervals in a row in the front and rear of the lower part of the body of the guided automatic guided vehicle. Leave it open and fix it.
A control method for an automated guided vehicle, in which steering control is performed by signals obtained by two pickup coils before and after the pickup coil and signals obtained by three pickup coils when turning.