JPS59168512A - Control method for position of traveling object - Google Patents
Control method for position of traveling objectInfo
- Publication number
- JPS59168512A JPS59168512A JP58042883A JP4288383A JPS59168512A JP S59168512 A JPS59168512 A JP S59168512A JP 58042883 A JP58042883 A JP 58042883A JP 4288383 A JP4288383 A JP 4288383A JP S59168512 A JPS59168512 A JP S59168512A
- Authority
- JP
- Japan
- Prior art keywords
- ultrasonic
- guided vehicle
- unmanned guided
- traveling
- controller
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 17
- 238000001514 detection method Methods 0.000 claims description 12
- 230000005855 radiation Effects 0.000 abstract 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000005674 electromagnetic induction Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は無人誘導車等の移動物体の位置を制御する位
置制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a position control method for controlling the position of a moving object such as an unmanned guided vehicle.
周知のように、工場、倉庫等において荷物の搬送を行な
う無人誘導車は、走行路上に布設されたレールオたけ電
磁誘導線に誘導されて移動する。As is well known, unmanned guided vehicles that transport cargo in factories, warehouses, etc. move by being guided by rail-operated electromagnetic guide lines installed on a running path.
また、無人誘導車の荷物の積み降し等を行なうステーシ
ョンには、光線または誘導磁気信号を発する装置を設け
、この信号によシ無人誘導車を停車させるようになって
いる。In addition, a station for loading and unloading luggage of the unmanned guided vehicle is equipped with a device that emits a light beam or a guided magnetic signal, and this signal causes the unmanned guided vehicle to stop.
例えば第１図は従来の電磁誘導方式による無人誘導車シ
ステムの一構成例を示す図である。この図において符号
ＩＦｉ無人誘導車であり、無人誘導車１０走行路上には
電磁誘導線２が埋設されている。さらに走行路に面して
ステーション３ ａ 、 ３ｂが各々設けられておシ、
ステーション３ａ、３ｂに面する走行路には各々電磁誘
導線４ａ、４ｂが埋設されている。一方、無人誘導車１
には磁気センサが設けられており、電磁誘導線２の誘導
磁気を検出しつつ移動し、また各ステーション３ａ。For example, FIG. 1 is a diagram showing a configuration example of an unmanned guided vehicle system using a conventional electromagnetic induction method. In this figure, the symbol IFi denotes an unmanned guided vehicle, and an electromagnetic guide wire 2 is buried on the traveling path of the unmanned guided vehicle 10. Further, stations 3a and 3b are provided facing the running route, respectively.
Electromagnetic induction wires 4a and 4b are buried in the running paths facing the stations 3a and 3b, respectively. On the other hand, unmanned guided vehicle 1
is provided with a magnetic sensor, and moves while detecting the induced magnetism of the electromagnetic induction wire 2, and each station 3a.
３ｂにおいては電磁誘導線４ ａ ＋ ４ ｂの誘導磁
気を検出して停車する。3b, the train detects the induced magnetism of the electromagnetic induction wires 4a + 4b and stops.
ｋころでこの様な従来のレールまたは電磁誘導方式によ
る無人誘導車システムだおいては、走行路の全長にわた
ってレールまたは電磁誘導線を布設しなければならず、
地上工事が極めて大樹かシになってコストが重みまた走
行路やステーションの変更あるいけ追加も容易でないと
いう問題があった。In such conventional rail or electromagnetic induction unmanned guided vehicle systems, rails or electromagnetic guide lines must be laid over the entire length of the travel path.
There were problems in that the ground work was extremely large and expensive, and it was not easy to change or add tracks to running routes or stations.
この発明は上述した事情に鑑み、走行路面にレールまた
は電磁誘導等を布設する必要が無く、かつ、走行路の変
更を容易に行うことができる移動物体の位置制御方法を
提供するもので、移動物体と移動物体の走行コース近傍
とのいずれか一方に超音波発振器を、他方に超音波セン
サを設け、中央制御装置の制御のもとに超音波発振器か
ら放射された超音波を超音波センサで検出し、この検出
結果に基づいて、移動物体の位置を制御することを特徴
としている。In view of the above-mentioned circumstances, the present invention provides a method for controlling the position of a moving object, which does not require the installation of rails or electromagnetic induction on the running road surface, and can easily change the running route. An ultrasonic oscillator is installed on one side of the object and the vicinity of the travel course of the moving object, and an ultrasonic sensor is installed on the other side, and the ultrasonic sensor emits the ultrasonic waves emitted from the ultrasonic oscillator under the control of a central controller. It is characterized by detecting the moving object and controlling the position of the moving object based on the detection result.
以下、図面を参照してこの発明の一実施例について説明
する。第２図はこの発明による方法を適用した無人誘導
車システムの構成を示す図である。An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing the configuration of an unmanned guided vehicle system to which the method according to the present invention is applied.
この図において符号５は予め定められた走行路に従って
走行する無人誘導車（移動物体）であわ、この無人誘導
車５には受信装置６、超音波発振器７、駆動装置８が各
々設けられている。受信装置６はアンテナ６ａを介して
久方される高周波から信号成分を抽出し、次いで、得ら
れた信号を解読し、この解読結果に基づいて超音波発振
器７および駆動装置８へ各々指示を与える。超音波発振
器７は受信装置６からの指示に従って超音波信号を作成
し、超音波送波器７ａへ出方する。！た、駆動装置８は
受信装置６からの指示に従って無人誘導車５０図示せぬ
動輪装置およびステアリング機構を駆動する。In this figure, reference numeral 5 denotes an unmanned guided vehicle (moving object) that travels along a predetermined running route, and this unmanned guided vehicle 5 is provided with a receiving device 6, an ultrasonic oscillator 7, and a driving device 8. . The receiving device 6 extracts signal components from the high frequency waves emitted through the antenna 6a, then decodes the obtained signal, and gives instructions to the ultrasonic oscillator 7 and the driving device 8, respectively, based on the decoding results. . The ultrasonic oscillator 7 creates an ultrasonic signal according to instructions from the receiving device 6, and outputs it to the ultrasonic transmitter 7a. ! Further, the drive device 8 drives the driving wheel device and steering mechanism (not shown) of the unmanned guided vehicle 50 in accordance with instructions from the receiving device 6.
次に、符号ＡおよびＢは各々無人誘導車５の走行コース
近傍の所定位置に設置された超音波センサであり、その
出力がケーブル９ａ、９ｂを介して中央制御装置１ｏへ
供給される。中央制御装置１０は第３図に示すようにＣ
’ＰＵ （中央処理装置）１１と、ＲＯＭ（リードオン
リメそり）１２とＲＡＭ（ランダムアクセスメモリ）１
３と送信装置１４と、受信回路１５ａ 、１５ｂとから
構成されている。この場合、ＣＰＵＩＩＨシステム全体
を制御すると共に各種の演算を行うものでパスライン１
６を介して各部と接続されている。ＲＯＭ１２けＣＰＵ
ＩＩで用いられるプログラムが記憶されているメモリ、
ＲＡＭＩ ３Ｕ無人誘導車５の走行ルートに関するデー
タ等が記憶されるメモリである。送信装置１４はＣＰＵ
Ｉ １から出力される、無人誘導車５に対する各種の信
号を高周波信号に重畳させてアンテナ１０ａから出力す
る装置でちる。受信回路１５ａおよび１５ｂは各々超音
波センサＡおよびＢから供給される受信信号が一定レベ
ルを趨えた時これを検知し、受信パルスＰ１およびＰ２
を各々ＣＰＵＩＩへ供給する。Next, symbols A and B are ultrasonic sensors installed at predetermined positions near the travel course of the unmanned guided vehicle 5, and their outputs are supplied to the central controller 1o via cables 9a and 9b. As shown in FIG.
'PU (Central Processing Unit) 11, ROM (Read Only Memory) 12 and RAM (Random Access Memory) 1
3, a transmitting device 14, and receiving circuits 15a and 15b. In this case, it controls the entire CPU IIH system and performs various calculations, and the pass line 1
It is connected to each part via 6. ROM12 CPU
A memory in which programs used in II are stored;
RAMI 3U This is a memory in which data regarding the driving route of the unmanned guided vehicle 5 is stored. The transmitting device 14 is a CPU
It is a device that superimposes various signals for the unmanned guided vehicle 5 outputted from I1 onto a high frequency signal and outputs it from the antenna 10a. The receiving circuits 15a and 15b detect when the received signals supplied from the ultrasonic sensors A and B exceed a certain level, and transmit received pulses P1 and P2.
are supplied to each CPU II.
次に、上述した無人誘導車システムの動作を説明する、
まず、中央制御装置１１において無人誘送信装置１４を
介してアンテナ１０ａから発信する。この信号は無人誘
導車５の受信回路６にょっ丁受信、解読され、この解読
結果にしたがって、超音波発信器７へ超音波放射の指示
が与えられる。Next, the operation of the above-mentioned unmanned guided vehicle system will be explained.
First, in the central control device 11, a signal is transmitted from the antenna 10a via the unmanned invitation transmitting device 14. This signal is immediately received and decoded by the receiving circuit 6 of the unmanned guided vehicle 5, and according to the decoding result, an instruction to emit ultrasonic waves is given to the ultrasonic transmitter 7.
超音波発振器７はこの指示を受け、超音波送波器７ａか
ら超音波を放射する。放射された超音波は超音波センサ
ＡおよびＢによって各々受波され、超音波センサＡおよ
びＢから各々受信信号が受信回路１５ａ、１５ｂへ供給
される。受信回路１５ａおよび１５ｂは各々受信信号が
一定しベルヲ超えた時点で受信パルスＰ１．Ｐ２をｃＰ
Ｕｌｌへ出力する。The ultrasonic oscillator 7 receives this instruction and emits ultrasonic waves from the ultrasonic transmitter 7a. The emitted ultrasonic waves are received by ultrasonic sensors A and B, respectively, and received signals from ultrasonic sensors A and B are supplied to receiving circuits 15a and 15b, respectively. The receiving circuits 15a and 15b each receive a received pulse P1. when the received signal becomes constant and exceeds the bell. P2 to cP
Output to Ull.
一方、ＣＰＵ１１は超音波放射を指示する信号を出力し
た時点（なお、この時点は超音波送信器７ａカ・ら超音
波が放射される時刻に略等しい）から時間計測を開始し
、受信パルスＰ１．Ｐ２が供、給されるまでの時間ＴＡ
、Ｔｓを各々計測する。On the other hand, the CPU 11 starts time measurement from the time when it outputs a signal instructing ultrasonic emission (this time is approximately equal to the time when ultrasonic waves are emitted from the ultrasonic transmitter 7a), and receives the received pulse P1. ．． Time TA until P2 is supplied
, Ts are measured respectively.
なお、第Ｖ図（イ）に超音波放射を指示する信号の出力
タイミングを示し、また１口）および（ハ）に各々受信
パルスＰ１．Ｐ２および時間ＴＡ、ＴＢを示す。Incidentally, FIG. P2 and times TA and TB are shown.
ここで、時間１人、ＴＢは各々無人誘導車５と超音波セ
ンサＡ、Ｂとの間の超音波伝播時間である。Here, time per person and TB are the ultrasonic propagation times between the unmanned guided vehicle 5 and the ultrasonic sensors A and B, respectively.
次にＣＰＵＩ １は以下の過程によって無人誘導車５の
位置を検出する。すなわち、まず、時間ＴＡ。Next, the CPU 1 detects the position of the unmanned guided vehicle 5 through the following process. That is, first, time TA.
ＴＨに各々超音波の伝播速度Ｖを乗算して無人誘導車５
と超音波センサＡ、Ｈの各々との距離ＴＡ・ｖＸ’ｐＢ
−ｖを求める。次に第５図に示すように超音波センサＡ
の位置を中心とし、半径Ｔ Ａ−Ｖの円ＣＡと、超音波
センサＢの位置を中心とし、半径ＴＢ−■の円ＣＢとの
交点ｘ 、 ｘ’の座標を求める。ここで、交点ｘ 、
ｘ’の一方が無人誘導車５の位置となる。次ＫＣＰＵ
ＩＩは無人誘導車５の移動範囲と超音波センサＡ、Ｂの
位置関係から、例えば超音波センサＡ、Ｂを結ぶ直線の
左側にある交点Ｘを無人誘導車５の位置（座標）として
検出する。The unmanned guided vehicle 5 is obtained by multiplying TH by the propagation velocity V of each ultrasonic wave.
Distance TA・vX'pB between and each of ultrasonic sensors A and H
- Find v. Next, as shown in Fig. 5, the ultrasonic sensor A
The coordinates of the intersections x and x' of a circle CA with a radius TA-V centering on the position of and a circle CB with a radius TB-■ centering on the position of the ultrasonic sensor B are determined. Here, the intersection x,
One side of x' is the position of the unmanned guided vehicle 5. NextKCPU
II detects, for example, the intersection X on the left side of the straight line connecting ultrasonic sensors A and B as the position (coordinates) of the unmanned guided vehicle 5 from the movement range of the unmanned guided vehicle 5 and the positional relationship of the ultrasonic sensors A and B. .
以上が無人誘導車５の位置検出の過程である。The above is the process of detecting the position of the unmanned guided vehicle 5.
次に、無人誘導車５の走行コースをＲＡＲ，’ｌｌＢ内
に収録する過程を説明する。この場合、無人誘導車５を
手動によシ予め定められた走行コースに沿って走行させ
る。この手動走行の間、ＣＰＵ１１は一定時間（例えば
７秒間）おきに上述した方法で無人誘導車５の位置を検
出し、この検出結果を順次ＲＡＭ１３１Ｃ収録する。第
を図はこの収録過程における記憶データ例を示す図であ
シ、この図において、ｔ＝ｏ、 ハ λ・・・は各々
０秒後（スタート時点）、７秒後、２秒後・・・の意味
であυ、またＴＡおよびＴＢは７秒毎に検出された無人
誘導車５と超音波センサＡおよびＢとの間の超音波伝播
時間である。ここで、例えばスタート時点（ｔ＝０）か
ら３秒後に無人誘導車５がステーションに達したとする
と、操作者が操作スイッチ（図示略）をオンとする。Ｃ
ＰＵＩＩはこの操作スイッチの操作を検出し、第２図に
示すように３秒後の次に、ＲＡＭ１３に収録した走行コ
ースに関するデータに基づいて無人誘導車５を自動走行
させろ過程を説明する。この場合まず無人誘導車５を手
動によジスタート位置へ配置し、そして、スタート釦（
図示略）を押す。ＣＰＵＩ １はこのスタート釦の操作
を検知し、スタート信号を無人誘導 ゛車５へ送
出する。このスタート信号は無人誘導車５の受信装置６
によって受信、解読され、受信装置６から駆動装置８ヘ
スタート指令が出力される。Next, the process of recording the travel course of the unmanned guided vehicle 5 in RAR,'llB will be explained. In this case, the unmanned guided vehicle 5 is manually driven along a predetermined travel course. During this manual running, the CPU 11 detects the position of the unmanned guided vehicle 5 at regular intervals (for example, 7 seconds) using the method described above, and sequentially records the detection results in the RAM 131C. Figure 5 shows an example of stored data during this recording process. In this figure, t=o, λ... are 0 seconds later (start time), 7 seconds later, 2 seconds later... · means υ, and TA and TB are the ultrasonic propagation times between the unmanned guided vehicle 5 and the ultrasonic sensors A and B detected every 7 seconds. Here, for example, if the unmanned guided vehicle 5 reaches the station 3 seconds after the start time (t=0), the operator turns on the operation switch (not shown). C
The PUII detects the operation of this operation switch, and after 3 seconds, as shown in FIG. 2, explains the process of causing the unmanned guided vehicle 5 to travel automatically based on the data regarding the travel course stored in the RAM 13. In this case, first manually place the unmanned guided vehicle 5 to the start position, and then press the start button (
(not shown). The CPU 1 detects the operation of this start button and sends a start signal to the unmanned guided vehicle 5. This start signal is received by the receiving device 6 of the unmanned guided vehicle 5.
The signal is received and decoded by the receiving device 6, and a start command is outputted to the driving device 8.
これにより無人誘導車５が走行を開始する。ＣＰＵ１１
は上述したスタート信号を出力した時点以後、７秒毎に
無人誘導車５と超音波センサＡ、Ｂの各々との間の超音
波伝：播時間ＴＡ’、ＴＢ’を計測し、この計測結果と
ＲＡＭ１３内のデータとを比較する。そして、この比較
結果に従って無人誘導車５の走行を制御する。いま、例
えば７秒後の超音波センサ時間Ｔ Ａ’ ｌ Ｔ Ｂ’
が各々りＪ−、／２２であった°とすると、ＣＰＵ１１
はこのデータと第６図に示す７秒後のデータＴＡ＝りＱ
ｌＴＢ−／２０とを比較し、この比較結果から無人銹導
者５が７秒後の目的地点へ到達していないことを検知し
、加とＴＢとの差よシ大きいことから、超音波センサＡ
の方向へわずかに方向修正を行うよう指示する信号を無
人誘導車５へ出力する。また、ＣＰＵ１１はスタート時
点から３秒後にデータ（Ｏ、Ｏ）をＲＡＭ１３から読出
した時点で無人誘導車５へ停止を指示する信号を出力す
る。これによシ、無人誘導車５がステーションにおいて
停止する。再スタートは手動によシ行わせてもよく、あ
るいは一定時間経過後に自動的に行わせてもよい。以下
、上記動作が繰返えされ、これによシ無人誘導車５０走
行が自動的に制御される。As a result, the unmanned guided vehicle 5 starts traveling. CPU11
Measures the ultrasonic propagation times TA' and TB' between the unmanned guided vehicle 5 and each of the ultrasonic sensors A and B every 7 seconds after outputting the above-mentioned start signal, and calculates the measurement results. and the data in the RAM 13 are compared. Then, the traveling of the unmanned guided vehicle 5 is controlled according to this comparison result. Now, for example, the ultrasonic sensor time after 7 seconds T A' l T B'
are respectively J- and /22, then CPU11
is this data and the data after 7 seconds shown in Figure 6 TA=riQ
1TB-/20, and based on the comparison result, it was detected that the unmanned guide 5 had not reached the destination point after 7 seconds. A
A signal is output to the unmanned guided vehicle 5 instructing it to make a slight direction correction in the direction of. Further, the CPU 11 outputs a signal instructing the unmanned guided vehicle 5 to stop at the time when the data (O, O) is read from the RAM 13 three seconds after the start time. As a result, the unmanned guided vehicle 5 stops at the station. The restart may be performed manually or automatically after a certain period of time has elapsed. Thereafter, the above operation is repeated, and the travel of the unmanned guided vehicle 50 is thereby automatically controlled.
なお、上記実施例においては、説明を簡単にするため超
音波センサＡ、 Ｂを２箇所に設けたが、これを３箇
所以上の個所に設け、無人誘導車５に近い超音波センサ
の検出結果を選択することによシ広範囲な走行路面にお
いても高い精度で無人誘導車の位置を制御することがで
きる。また、上記実施例においては、中央制御装置１０
と無人誘導車５および超音波センサＡ、Ｂとは各々無線
および有線で接続されているが、これらの接続手段は無
線、有線、光等いずれの手段を用いてもよい。In addition, in the above embodiment, the ultrasonic sensors A and B were provided at two locations to simplify the explanation, but if these were provided at three or more locations, the detection results of the ultrasonic sensors near the unmanned guided vehicle 5 By selecting , the position of the unmanned guided vehicle can be controlled with high precision even on a wide range of road surfaces. Further, in the above embodiment, the central control device 10
The unmanned guided vehicle 5 and the ultrasonic sensors A and B are connected wirelessly and wired, respectively, but any means such as wireless, wired, optical, etc. may be used for these connection means.
次に無人ぎ導車５の位置を検出する他の位置検出方法に
ついて説明する。Next, another position detection method for detecting the position of the unmanned guided vehicle 5 will be explained.
（１］ 第２図に示す超音波センサＡ、Ｂの設置位置
に各々、第７図に示すようにコ個の超音波センサＡ１．
Ａ２．Ｂ１．Ｂ２を超音波の半波長程度離して設置し、
超音波センサＡ１．Ａ２に各々到達する超音波の位相差
から直＠Ｘ −Ａｔ （Ａ ２ ）の方向を検知し、
同様に超音波センサＢｌ、Ｂ２に各々到達する超音波の
位相差から直線Ｘ −Ｂ １（Ｂ２）の方向を検知し、
これら直＠Ｘ−Ａｘ。(1) At the installation positions of the ultrasonic sensors A and B shown in FIG. 2, there are installed ultrasonic sensors A1 and B as shown in FIG.
A2. B1. Place B2 at a distance of about half an ultrasonic wave wavelength,
Ultrasonic sensor A1. Detect the direction of direct @X − At (A 2 ) from the phase difference of the ultrasonic waves that each reach A2,
Similarly, the direction of the straight line
These direct @X-Ax.
Ｘ−Ｂ１の交点として無人誘導車５の位置を検出する。The position of the unmanned guided vehicle 5 is detected as the intersection of X-B1.
第ｒ図は上述した方向検出の原理を説明するための図で
あり、この図において矢印Ｙの方向に無人誘導車５があ
るとする。とこの場合、△ＡＩＡ２ＭにおいてＭ線Ａ１
−Ａ２は一定、直ｉＡ１−Ｍと直？Ａ２−Ｍとは直交す
ることから図に示す長さＬがわかれば△ＡＩＡ２Ｍが決
定され、無人誘導車５の方向、すなわちｌ Ａ ２ Ａ
ＩＭが決定される。したがって、超音波センサＡ１．
Ａ２に各々到達する超音波の位相差からＬを求めれば、
直線Ｍ−Ａ １（Ｘ−Ａ １）の方向を検出することが
できる。なお、第ｒ図における符号α１．α２は各々超
音波波形である。FIG. In this case, M line A1 at △AIA2M
-A2 is constant, direct iA1-M and direct? Since it is perpendicular to A2-M, if the length L shown in the figure is known, △AIA2M can be determined, and the direction of the unmanned guided vehicle 5, that is, l A 2 A
IM is determined. Therefore, ultrasonic sensor A1.
If L is calculated from the phase difference of the ultrasonic waves that each reach A2,
The direction of straight line M-A 1 (X-A 1) can be detected. Note that the symbol α1. α2 is an ultrasonic waveform.
（２）無人誘導車５０走行コース近傍の一個所に第７図
に示す超音波センサＡ１．Ａ２組を設置し、超音波セン
サＡｌ 、Ａ２に各々到達する超音波の位相差から直線
Ｘ−Ａ１の方向を検知し、また無人誘導車５と超音波セ
ンサＡ１との間の超音波伝播時間から距離Ｘ−Ａｌを検
知し、これらの検知結果に基づいて無人誘導車５の位置
を検出する。(2) The ultrasonic sensor A1 shown in FIG. A2 sets are installed, and the direction of the straight line The distance X-Al is detected from the distance X-Al, and the position of the unmanned guided vehicle 5 is detected based on these detection results.
（３）無人誘導車５の走行コース近傍の一個所に７個の
超音波センサを水平面内において回転可能に設け、この
超音波センサを回転させて超音波が最も大きなレベルで
受信される方向を検知し、この検知結果および無人誘導
車５と超音波センサとの間の超音波伝播時間からこの間
の距離を検知し、これらの検知結果に基づいて無人誘導
車５の位置を検出する。(3) Seven ultrasonic sensors are installed rotatably in a horizontal plane at one location near the travel course of the unmanned guided vehicle 5, and the ultrasonic sensors are rotated to determine the direction in which ultrasonic waves are received at the highest level. Based on this detection result and the ultrasonic propagation time between the unmanned guided vehicle 5 and the ultrasonic sensor, the distance therebetween is detected, and the position of the unmanned guided vehicle 5 is detected based on these detection results.
（４）無人誘導車５０走行コース近傍の一個所に多数の
超音波センサを環状に配置し、超音波が最も大きなレベ
ルで受信される超音波センサの位置から無人誘導車５の
方向を検知し、この検知結果および無人誘導車５と超音
波センサとの間の超音波伝播時間からこの間の距離を検
知し、これらの検知結果に基づいて無人誘導車５の位置
を検出する。(4) A large number of ultrasonic sensors are arranged in a ring at one location near the driving course of the unmanned guided vehicle 50, and the direction of the unmanned guided vehicle 5 is detected from the position of the ultrasonic sensor where the ultrasonic waves are received at the loudest level. The distance between the detection results and the ultrasonic propagation time between the unmanned guided vehicle 5 and the ultrasonic sensor is detected, and the position of the unmanned guided vehicle 5 is detected based on these detection results.
（５）以上（２）〜（４）の位置検出方法において無人
誘導車５に超音波センサを設け、走行コース近傍に超音
波発振器７を設けて無人誘導車５の位置を検出する。(5) In the position detection methods (2) to (4) above, the unmanned guided vehicle 5 is provided with an ultrasonic sensor, and the ultrasonic oscillator 7 is provided near the travel course to detect the position of the unmanned guided vehicle 5.
以上説明したように、この発明によれば、移動物体と移
動物体の走行コース近傍とのいずれか一方に超音波発振
器を、他力に超音波センサを設け、中央制御装置の制御
のもとに超音波発振器から放射された超音波を超音波セ
ンサで検出し、この検出結果に基づいて、移動物体の位
置を制御するようにしたので、走行路面てレールまたは
電磁前導線等を布設する必要が無くなシ、シたがってシ
ステム全体の価格が安価となシ、捷だ走行コースやステ
ーションの変更あるいは追加も極めて容易に行なうこと
ができる。As explained above, according to the present invention, an ultrasonic oscillator is provided on either the moving object or the vicinity of the traveling course of the moving object, and an ultrasonic sensor is provided on the other side, and the Ultrasonic waves emitted from an ultrasonic oscillator are detected by an ultrasonic sensor, and the position of a moving object is controlled based on the detection results, so there is no need to install rails or electromagnetic lead wires on the road surface. Therefore, the price of the entire system is low, and it is extremely easy to change or add a running course or station.
第１図は従来の電磁誘導方式による無人誘導車システム
の一構成を示す図、第２図はこの発明の方法を適用した
無人誘導車システムの一実施例の構成を示す図、第３図
は第２図の中央制御装置の構成を示すブロック図、第≠
、ｊ図は第２図の一実施例における超音波伝播時間にょ
シ位置を検出する方法を説明するための図、第６図は第
一、３図の一実施例においてＲＡＭＩ ａ内に収録され
るデータ例を示す図、第７．２図は超音波の位相差によ
シ位置を検出する方法を説明するための図である。
５・・・・・・無人誘導車、７・・・・・・超音波発振
器、ｌ。
・・・・・・中央制御装置、Ａ、Ｂ・・・・・・超音波
センサ。FIG. 1 is a diagram showing the configuration of an unmanned guided vehicle system using a conventional electromagnetic induction method, FIG. 2 is a diagram showing the configuration of an embodiment of an unmanned guided vehicle system to which the method of the present invention is applied, and FIG. Block diagram showing the configuration of the central control device in Figure 2, Part ≠
, j is a diagram for explaining the method of detecting the ultrasonic propagation time and position in one embodiment of FIG. 2, and FIG. FIG. 7.2 is a diagram illustrating a method of detecting the position based on the phase difference of ultrasonic waves. 5...Unmanned guided vehicle, 7...Ultrasonic oscillator, l. ... Central control unit, A, B ... Ultrasonic sensor.
Claims (1)
制御する移動物体の位置制御方法において、前記移動物
体と前記移動物体の走行コース近傍とのいずれか一方に
超音波発振器を、他方に超音波センサを設け、前記超音
波発振器から放射された超音波を前記超音波センサで検
出し、この検出結果に基づいて、前記移動物体の位置を
制御することを４′！徴とする移動物体の位置制御方法
ΩA method for controlling the position of a moving object that automatically controls the position of the moving object under the control of a central control device, wherein an ultrasonic oscillator is installed in either the moving object or near the travel course of the moving object, and the other 4'! An ultrasonic sensor is provided in the ultrasonic oscillator, the ultrasonic sensor detects the ultrasonic wave emitted from the ultrasonic oscillator, and the position of the moving object is controlled based on the detection result. A method for controlling the position of a moving object based on
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58042883A JPS59168512A (en) | 1983-03-15 | 1983-03-15 | Control method for position of traveling object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58042883A JPS59168512A (en) | 1983-03-15 | 1983-03-15 | Control method for position of traveling object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59168512A true JPS59168512A (en) | 1984-09-22 |
Family
ID=12648432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58042883A Pending JPS59168512A (en) | 1983-03-15 | 1983-03-15 | Control method for position of traveling object |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59168512A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007108188A (en) * | 2005-01-12 | 2007-04-26 | Matsushita Electric Works Ltd | Line of flow measurement system |
| JP2007127663A (en) * | 2005-01-12 | 2007-05-24 | Matsushita Electric Works Ltd | Flow line measuring system |
| JP2007183286A (en) * | 2007-03-09 | 2007-07-19 | Matsushita Electric Works Ltd | System for measuring flow line |
| JP2007187676A (en) * | 2007-03-09 | 2007-07-26 | Matsushita Electric Works Ltd | Flow line measuring system |
| JP2010019857A (en) * | 1998-11-10 | 2010-01-28 | Luidia Inc | Transmitter pen positioning system |
| WO2018168219A1 (en) * | 2017-03-17 | 2018-09-20 | 株式会社東芝 | Position locating system, position locating method, and computer program |
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-
1983
- 1983-03-15 JP JP58042883A patent/JPS59168512A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4808845B2 (en) * | 1998-11-10 | 2011-11-02 | ルイディア インコーポレイテッド | Transmitter pen positioning system |
| JP2010019857A (en) * | 1998-11-10 | 2010-01-28 | Luidia Inc | Transmitter pen positioning system |
| JP4569565B2 (en) * | 2005-01-12 | 2010-10-27 | パナソニック電工株式会社 | Flow line measurement system |
| JP2007127663A (en) * | 2005-01-12 | 2007-05-24 | Matsushita Electric Works Ltd | Flow line measuring system |
| JP2007108188A (en) * | 2005-01-12 | 2007-04-26 | Matsushita Electric Works Ltd | Line of flow measurement system |
| JP2007187676A (en) * | 2007-03-09 | 2007-07-26 | Matsushita Electric Works Ltd | Flow line measuring system |
| JP4569584B2 (en) * | 2007-03-09 | 2010-10-27 | パナソニック電工株式会社 | Flow line measurement system |
| JP4710855B2 (en) * | 2007-03-09 | 2011-06-29 | パナソニック電工株式会社 | Flow line measurement system |
| JP2007183286A (en) * | 2007-03-09 | 2007-07-19 | Matsushita Electric Works Ltd | System for measuring flow line |
| WO2018168219A1 (en) * | 2017-03-17 | 2018-09-20 | 株式会社東芝 | Position locating system, position locating method, and computer program |
| JP2018155662A (en) * | 2017-03-17 | 2018-10-04 | 株式会社東芝 | Position locating system, position locating method, and computer program |
| CN108966667A (en) * | 2017-03-17 | 2018-12-07 | 株式会社东芝 | Location position system, position calibration method and computer program |
| US10724996B2 (en) | 2017-03-17 | 2020-07-28 | Kabushiki Kaisha Toshiba | Position location system, position location method, and non-transitory computer readable storage medium |
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