JPS62162117A - Controller for advancing direction of mobile body - Google Patents
Controller for advancing direction of mobile bodyInfo
- Publication number
- JPS62162117A JPS62162117A JP61002990A JP299086A JPS62162117A JP S62162117 A JPS62162117 A JP S62162117A JP 61002990 A JP61002990 A JP 61002990A JP 299086 A JP299086 A JP 299086A JP S62162117 A JPS62162117 A JP S62162117A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic field
- moving body
- moving
- steering
- magnet
- 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
- 238000001514 detection method Methods 0.000 claims description 23
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Navigation (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〕 本発明は移動体の進行方向の制御装置に関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a device for controlling the direction of movement of a moving object.
従来、工場における無人搬送車両、工事現場における無
人走行車両等の移動体の進行方向を制御する方法として
は、誘導線を移動体の走行路に宿って埋設し、この誘導
線に交流１Ｍ、流を流し、一方移動体には車両の左右に
前記訪４線からの磁界を検出する検出コイルを配設し、
この左右の検出コイルの検出レベルか等しくなるように
移動体の進行方向を制御（操舵制御）する方法かある。Conventionally, as a method for controlling the traveling direction of moving objects such as unmanned guided vehicles in factories and unmanned vehicles at construction sites, a guide wire is buried in the travel path of the moving object, and a 1M AC current is applied to the guide wire. On the other hand, detection coils are installed on the left and right sides of the vehicle to detect the magnetic field from the four wires,
There is a method of controlling the traveling direction of the moving body (steering control) so that the detection levels of the left and right detection coils are equal.
〔発明が解決しようとする間０１点）
しかし、上記誘導線を用いる方法は、誘２４線の埋設に
手間かかかり、また走行経路を容易に変更することかで
さないという欠点かある、本発明は上記実情に艦みてな
されたもので、誘導線を敷設せずに簡易に移動体の進行
方向を制？Ｖすることかできる移動体の進行方向の制御
暮墨な提供することを目的へする。[01 points while the invention is trying to solve the problem] However, the method using the guide wire described above has the disadvantage that it takes time to bury the guide wire and it is not possible to easily change the running route. The invention was made in consideration of the above-mentioned situation, and it is possible to easily control the direction of movement of a moving object without installing guide lines. The purpose of the present invention is to provide a system for controlling the direction of movement of a moving object.
本発明によれは、移動体の左右に配設した第１および第
２の検出コイルと、前記移動体の進行方向に関連した１
箇所以上の地点より前記第１および第２の検出コイルに
誘導起電圧を誘起させろ磁界を発生する磁界発生手段と
、前記第１および第２の検出コイルが検出した誘導起電
圧か一致するように前記移動体の進行方向を制御する操
舵手段とを具えたことを特徴としている。According to the present invention, first and second detection coils disposed on the left and right sides of the moving body, and a detection coil related to the moving direction of the moving body are provided.
Induce an induced electromotive voltage in the first and second detection coils from a point or more so that the induced electromotive force detected by the magnetic field generating means for generating a magnetic field and the first and second detection coils match. The vehicle is characterized by comprising a steering means for controlling the traveling direction of the moving body.
ｙＪ記第１および第２の検出コイルによって検出されろ
誘導起電圧は、前記移動体か前記磁界発生手段に対して
所定の姿勢、すなわち所定の進行方向を向いているとき
に一致する。したがって、第１および第２の検出コイル
によって検出される誘導起電圧か一致するように移動体
の進行方向を制御することにより、移動体を所定の進行
方向に走行させることができる。The induced electromotive voltages detected by the first and second detection coils coincide when the moving body is in a predetermined attitude with respect to the magnetic field generating means, that is, facing in a predetermined traveling direction. Therefore, by controlling the traveling direction of the moving body so that the induced electromotive voltages detected by the first and second detection coils match, the moving body can be caused to travel in a predetermined traveling direction.
以下、本発明を添付図面を参照して詳細に説明する。 Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
止す、第２図を用いて本発明な原理的に説明する。同図
において、磁石１０は指向性のある磁界を発生するもの
で、モータ等の適宜手段により磁石１０の中心Ｏに関し
て角速度ωで等速回転するように構成されている。一方
、移動体２０には、車両の左右に検出コイル２１および
２２が配設されている。The principle of the present invention will now be explained using FIG. In the figure, a magnet 10 generates a directional magnetic field, and is configured to rotate at a constant angular velocity ω about the center O of the magnet 10 by an appropriate means such as a motor. On the other hand, in the moving body 20, detection coils 21 and 22 are arranged on the left and right sides of the vehicle.
ここで、磁石１０の中心Ｏと検出コイル２１゜２２の中
心Ｐとを結ぶ彪分の方向（矢印Ａ）を移動体２０の目標
進行方向とし、移動体２０の向き（矢印Ｂ）を現在の進
行方向とする。また、矢印ＡとＢとの成丁角をθ、線分
ＯＰをｒ、検出コイル２１．２２間の距離を２１とする
と、検出コイル２１および２２にそれぞれ発生する誘導
起電圧■１およびＶ２は、次式
％式％
この第（１）式からも明らかなように目標進行方向と移
動体２０の進行方向とが一致し、θ＝００とき、Ｖ、＝
Ｖ、となる。逆に、Ｖ１＝ Ｖ、となるように移動体２
０の進行方向を操舵制御すれは、移動体２０は目標点０
に向って走行することになる。Here, the direction of the diagonal (arrow A) connecting the center O of the magnet 10 and the center P of the detection coil 21° 22 is set as the target traveling direction of the moving body 20, and the direction of the moving body 20 (arrow B) is set as the current direction. The direction of travel. Also, if the angle between arrows A and B is θ, the line segment OP is r, and the distance between the detection coils 21 and 22 is 21, then the induced electromotive voltages 1 and V2 generated in the detection coils 21 and 22, respectively, are , the following formula %Formula % As is clear from this equation (1), when the target traveling direction and the traveling direction of the moving body 20 match and θ=00, V,=
V, becomes. Conversely, move the moving body 2 so that V1=V.
If the moving direction of 0 is controlled by steering, the moving body 20 will move to the target point 0.
will be driving towards.
第１図は本発明装置の一実施例を示すブロック図である
。検出コイル２１および２２は、回転する磁石１０から
の磁界に誘起され、前記第（１）式に示した誘導起電圧
■、およびＶ、をそれぞれ検出する。これらの誘導起電
圧ｖ１および■２はそれぞれ整流回路２３および２４に
加えられ、ここで整流されたのち比較器２５に加えられ
る。FIG. 1 is a block diagram showing an embodiment of the apparatus of the present invention. The detection coils 21 and 22 are induced by the magnetic field from the rotating magnet 10, and detect the induced electromotive voltages {circle around (1)} and V, respectively, shown in equation (1) above. These induced electromotive voltages v1 and 2 are applied to rectifier circuits 23 and 24, respectively, where they are rectified and then applied to a comparator 25.
移動体２０が磁石１０に向って走行している場合、比較
器２５は右側の検出コイル２１の検出レベルか左側のも
のよりも太さくなると右方向への操舵指令を出力し、左
側の検出コイル２２の検出レベルが右側のものよりも太
き（なると左方向への操舵指令を出力する。When the moving body 20 is traveling toward the magnet 10, the comparator 25 outputs a steering command to the right when the detection level of the right detection coil 21 or the diameter of the detection coil 21 on the left becomes larger than that of the left detection coil, and outputs a steering command to the left. If the detection level of 22 is thicker than that of the right side, a steering command to the left is output.
比較器２５から出力される上記操舵指令は操舵装置２７
に加えられ、操舵装置２７はこの入力する操舵指令に基
づいて移動体２０の舵角を制御する。The above steering command output from the comparator 25 is sent to the steering device 27.
The steering device 27 controls the steering angle of the mobile body 20 based on the input steering command.
なお、移動体２０が磁石１０から遠ざかる場合には、上
記の場合と操舵指令の方向を逆にすればよいか、この場
合の走行制御系は不安定である。したがって、好ましく
は磁石に向って走行するように本装置を適用した方がよ
い。また、移動体の走行距離が長くなる場合には、回転
する磁石を予定走行路に点在させ、移動体の移動につれ
て順次回転起動させればよい。Note that when the moving body 20 moves away from the magnet 10, the direction of the steering command may be reversed from the above case, or the travel control system in this case is unstable. Therefore, it is preferable to apply the present device so as to travel toward the magnet. Furthermore, when the travel distance of the mobile object is long, rotating magnets may be scattered along the planned travel route and rotated sequentially as the mobile object moves.
第３図は本発明の他の実施例を示すもので、２つの回転
する磁石１）．１２を用いた場合に関して示している。FIG. 3 shows another embodiment of the invention, in which two rotating magnets 1). The case where 12 is used is shown.
この場合、磁石１）と１２とを同一の特性のものを使用
し、かつ、角速度ω１とω２を等しくすると、移動体２
０は、磁石１）と１２の中点０′に向って操舵制御され
ることになる。また、磁石１）と１２との相対回転速度
を変化させることにより、移動体２０を曲進制御するこ
とができる。In this case, if the magnets 1) and 12 have the same characteristics and the angular velocities ω1 and ω2 are made equal, the moving body 2
0 will be steered toward the midpoint 0' between magnets 1) and 12. Further, by changing the relative rotational speed between the magnets 1) and 12, the moving body 20 can be controlled in a curved direction.
第４図は本発明の更に他の実施例を示すもので、磁石の
代わりに送信コイルを用いた場合に関して示している。FIG. 4 shows still another embodiment of the present invention, in which a transmitting coil is used instead of a magnet.
すなわち、送信コイル１３．１４にそれぞれ交流電源１
５．１６から交流電流を流し、送信コイル１３．１４か
ら指向性を持った交番磁界を発生するようにしている。That is, AC power supply 1 is connected to transmitting coils 13 and 14, respectively.
An alternating current is passed through the transmitter coils 13 and 16, and a directional alternating magnetic field is generated from the transmitter coils 13 and 14.
そして、障害物２７が存在する場合には、まず送信コイ
ル１３のみを駆動し、移動体２０が送信コイル１３に十
分近づいたのち、送信コイル１３の駆動を停止し、送信
コイル１４を駆動することにより、障害物２７を避ける
ように移動体２０の進路を変更することができる。もち
論、２つの送４ａコイルを使用し、これらの送信コイル
への電流の周波数若しくはレベルを変更することにより
移動体の曲進制御も可能である。If an obstacle 27 exists, first, only the transmitting coil 13 is driven, and after the moving object 20 approaches the transmitting coil 13 sufficiently, the driving of the transmitting coil 13 is stopped, and the transmitting coil 14 is driven. Accordingly, the course of the moving body 20 can be changed to avoid the obstacle 27. Of course, it is also possible to control the movement of the moving object by using the two sending coils 4a and changing the frequency or level of the current to these sending coils.
以上説明したように本発明によれば、上述のように回転
する磁石あるいは送信コイルの磁界発生手段を適所に配
置するだけで移動体を所望の進行方向に走行させろこと
ができ、誘尋森を埋設する場合に比べて手間かかからず
、また磁界発生手段の配置位置または磁界発生手段の起
動順序を変更することにより容易に移動体の走行経路を
変更することか可能である。また、移動体への搭載装置
は誘導線を用いる＠６・と同等のものを使用するため、
例えは訪専緑から離れて褥び誘導線に戻る場合等におけ
る走行に本発明は容易に適用できろ。As explained above, according to the present invention, a moving object can be made to travel in a desired direction by simply arranging the rotating magnet or the magnetic field generating means of the transmitting coil in the appropriate position, and the moving object can be moved in a desired direction. It requires less time and effort than burying the magnetic field generating means, and it is possible to easily change the running route of the moving object by changing the arrangement position of the magnetic field generating means or the activation order of the magnetic field generating means. In addition, since the equipment to be mounted on the moving body is equivalent to @6, which uses a guide wire,
For example, the present invention can be easily applied to driving when the driver leaves the visiting green and returns to the bed guide line.
第１図は本発明の一実施例を示すブロック図、第２図は
本発明の詳細な説明するために用いたは略図、第３図お
よび第４図はそれぜれ本発明の他の実施例を説明するた
めに用いた概略図である。
１０．１）．１２・・・磁石、１３．１４・・・送信フ
ィル、１５．１６・・・交流電源、２０・・・移動体、
２１．２２・・・検出コイル、２３．２４・・・整流回
路、２５・・・比較器、２６・・・操舵装置。
コ
第１図
第２区FIG. 1 is a block diagram showing one embodiment of the present invention, FIG. 2 is a schematic diagram used to explain the present invention in detail, and FIGS. 3 and 4 each show other embodiments of the present invention. FIG. 3 is a schematic diagram used to explain an example. 10.1). 12... Magnet, 13.14... Transmission filter, 15.16... AC power supply, 20... Mobile object,
21.22... Detection coil, 23.24... Rectifier circuit, 25... Comparator, 26... Steering device. Figure 1 Section 2
Claims (3)
イルと、 前記移動体の進行方向に関連した１箇所以 上の地点より前記第１および第２の検出コイルに誘導起
電圧を誘起させる磁界を発生する磁界発生手段と、 前記第１および第２の検出コイルが検出し た誘導起電圧が一致するように前記移動体の進行方向を
制御する操舵手段とを具えた移動体の進行方向の制御装
置。(1) First and second detection coils arranged on the left and right sides of the moving body, and an induced electromotive force applied to the first and second detection coils from one or more points related to the traveling direction of the moving body. A moving object comprising: a magnetic field generating means for generating an induced magnetic field; and a steering means for controlling the moving direction of the moving object so that the induced electromotive voltages detected by the first and second detection coils match. Directional control device.
る磁石と、この磁石を等速回転させ、前記指向性のある
磁界を水平方向に回転させる手段とからなる特許請求の
範囲第（１）項記載の移動体の進行方向の制御装置。(2) The magnetic field generating means comprises a magnet that generates a directional magnetic field, and a means for rotating the magnet at a constant speed to horizontally rotate the directional magnetic field. 1) The device for controlling the moving direction of a moving body as described in item 1).
ルからなる特許請求の範囲第（１）項記載の移動体の進
行方向の制御装置。(3) The device for controlling the traveling direction of a moving body according to claim (1), wherein the magnetic field generating means comprises a transmitting coil through which an alternating current is passed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61002990A JPS62162117A (en) | 1986-01-10 | 1986-01-10 | Controller for advancing direction of mobile body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61002990A JPS62162117A (en) | 1986-01-10 | 1986-01-10 | Controller for advancing direction of mobile body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62162117A true JPS62162117A (en) | 1987-07-18 |
Family
ID=11544815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61002990A Pending JPS62162117A (en) | 1986-01-10 | 1986-01-10 | Controller for advancing direction of mobile body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62162117A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4902032B1 (en) * | 2011-03-17 | 2012-03-21 | 茂治郎 清水 | Transmitter for detecting moving object in tube, moving object in tube, and moving object detecting system in tube |
| JP2018112538A (en) * | 2017-01-12 | 2018-07-19 | 株式会社Ｎｔｔドコモ | Position estimation system |
| JP2020071788A (en) * | 2018-11-01 | 2020-05-07 | 株式会社エヌエー | Sensor system for carrying machine and control method for carrying machine |
-
1986
- 1986-01-10 JP JP61002990A patent/JPS62162117A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4902032B1 (en) * | 2011-03-17 | 2012-03-21 | 茂治郎 清水 | Transmitter for detecting moving object in tube, moving object in tube, and moving object detecting system in tube |
| JP2018112538A (en) * | 2017-01-12 | 2018-07-19 | 株式会社Ｎｔｔドコモ | Position estimation system |
| JP2020071788A (en) * | 2018-11-01 | 2020-05-07 | 株式会社エヌエー | Sensor system for carrying machine and control method for carrying machine |
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