JPH01200417A - Travel control system for traveling object - Google Patents

Abstract

PURPOSE:To realize each travel of a traveling object even though this object gets out of a prescribed course by using a memory means storing a map, a distance sensor and an angle calculation means to forma travel control system for the traveling object which travels repetitively within an area enclosed by a wall while changing its traveling directions. CONSTITUTION:When a traveling object 11 is positioned at a travel start point 20 in a travel area enclosed by a wall, a map of the travel area is stored in a memory means 18 and a wall vertical to the traveling direction of the object 11 is distinguished from other walls. Then, a travel distance measuring means 12 is reset to complete the preparation for measurement and the rectilinear travel of the object 11 is started. When the object 11 hits the wall, the travel of the object 11 is stopped by reference to the map stored in the means 18. Then, an entering angle shift of the object 11 is detected by the distance sensors 10a and 10b and an angle calculation means 17. While a drive means 14 is driven by the signal received from a CPU 19 and the position of the object 11 is corrected to the direction vertical to the wall. In addition, the object 11 can be turned by 180 deg. via a turning angle measuring means 13 and the object 11 can travel in all courses.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Field of Application) The present invention relates to a travel control system for a moving object that repeatedly travels within a travel area surrounded by walls while changing direction in a reciprocal travel process. .

(Prior Art) Generally, when a moving body that reciprocates within a designated travel area travels entirely within the travel area, it is necessary to move the mobile body accurately in a straight line. However, accurate straight-line travel is not possible due to meandering caused by irregularities in the traveling road surface and changes in frictional resistance between the moving body and the traveling road surface.

To this end, there has conventionally been a control method that uses a gyro to detect the azimuth of the running direction, compares it with the azimuth stored in the running program, and then controls the mountain pass.

This control method requires high precision for the gyro itself that detects the azimuth angle, which poses problems in terms of cost and longevity.

Therefore, by using a rate gyro that detects the angular velocity of the steering wheel in place of the gyro that determines the azimuth angle, it is possible to solve problems such as zero cost life and the like in the control system using the gyro described above. However, in the case of the control method using this rate gyro, the running direction is determined by integrating the steering angular velocity, so there may be errors in the direction at the start of running or after turning, and there may be detection errors during the course. If this occurs, the error remains integrated until the end, which may cause the running direction to deviate significantly at the start of travel or after turning.It is better not to travel back and forth within a designated travel area, but rather to travel across the entire area. In the above-mentioned travel control system for a moving object, due to errors in the traveling direction at the start of traveling or after turning, or detection errors during the course of the vehicle, there is a region (part) in which the vehicle does not travel. There was a drawback of making a part). The present invention has been made to solve the above-mentioned problem, and with a simple control means, when driving within the entire designated driving area, it is impossible to run again by driving in the area where it was not possible to travel. The purpose is to eliminate the area.

In order to achieve the above-mentioned object, the traveling control method for a moving body of the present invention repeats a reciprocating stroke while changing direction, and moves from one end of the traveling area surrounded by walls to the other end. a storage means for storing a map; at least a pair of distance sensors disposed on the moving object; an angle calculation means for calculating an angle between the distance sensor and the wall; Central processing that determines that the moving body has deviated from the predetermined course when it faces the opposing wall, corrects the deviation, and if it deviates in the direction in which it is not traveling, once again controls traveling on the course that it has not traveled. It is characterized by having a means.

(Function) With this configuration, even if the moving object deviates from the predetermined course while traveling forward, when it reaches a wall, the angle is corrected and the object does not travel within the travel area. everywhere,
All can be run.

(Example) Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing one embodiment of the present invention. In the figure, the distance sensors 10a and 10b use ultrasonic sensors, and the ultrasonic waves touch the wall and the distance sensor 10a.

The distance is calculated from the time it takes to go back and forth between the iob. The distance sensors 10a and 10b are mounted 9 on the front surface of a moving body 11 shown in a plan view of the moving body in FIG. 2 at a constant distance d. Further, in the moving object 11, a rotary encoder is used as a moving distance measuring means 12 for measuring the moving distance of the moving object 11, and a turning angle measuring means 13 for measuring the turning angle of the moving object 11. It is attached to a distance measuring wheel (not shown), and the travel distance ψ is determined from the rotational speed of this wheel. However, in order to measure the turning angle, these wheels are installed at a location different from the turning center point. The driving means 14 is installed in the movable body 11 so as to cause the movable body 11 to travel straight, move laterally, and turn. The microcomputer 15 includes distance sensors 10a, 10b, and moving distance measuring means 12.
, an input/output circuit (Ilo) 16 that performs input/output to the turning angle measuring means 13 and the driving means 14, and an angle calculating means (R) that calculates the angle with the wall when the moving body 11 reaches the wall.
OM) 17 and a storage means (R) for storing a map of the driving area.
AM ) 18 and a central processing unit (CPU) 19 , the map of the driving area written in the memory of the storage means (R, M) 18 and the map read from the input section of the input/output circuit 16 The information is processed by a central processing unit (CPU) 19, and the processed information is again sent to the output section of the input/output circuit 16, which drives the driving means 14 to perform straight travel, lateral movement, and turning. Further, a map of the driving area is inputted and stored in the storage means 18 in advance.

Next, in the above configuration, the operation of this embodiment will be explained with reference to the operation flowchart of the moving body of this embodiment shown in FIG. First, the moving body 11 is located at a movement starting point within a running area surrounded by walls as shown in the plan view of FIG. At this time,
A map within the driving area is stored in the storage means 18 (
Step 30). Then, a wall that is perpendicular to the traveling direction of the moving body 11 is distinguished from other walls (step 31). Next, the moving distance measuring means 12 is reset to prepare for measuring the moving distance (step 32), and the moving body 11 starts traveling in a straight line (step 33). (Step 34), judging from the map stored in the storage means 18, the straight line traveling is stopped (Step 35).
). Although the moving object 11 is supposed to be moving straight, it actually turns to the left or right from the straight direction depending on the road surface condition. Therefore, when a vertical wall is reached, the angle of entry into the wall may deviate slightly from 90°. The approach angle with this wall is determined by distance sensors 10a, 10
As shown in the plan view of the approach angle with the wall in FIG. As shown in the plan view of the moving procedure of the moving body in FIG. 14 to correct the position of the moving body 11 perpendicular to the wall (step 37). The moving body 11 is.

The moving object moves laterally in the direction of the traveling area 21 where it was unable to travel (the direction in which it traveled by - degrees) so as to cover all the traveling area 21 where it could not travel (if there is no area where it could not travel, the moving object moves in the next traveling direction). horizontal movement by a width of 11) (step 38). Next, the turning angle measuring means 3 is reset to prepare for measuring the turning angle (step 39), and the moving body 11
is rotated 180° (step 40).

The above process from step 32 to step 40 is performed on the moving body 11.
However, the vehicle continues to travel back and forth while changing direction until it has completely traveled within the travel area surrounded by walls.

By operating as described above, even if the moving body 11 deviates from the running course, the angle is corrected when it reaches a wall, and the moving body 11 can travel entirely within the running area.

In the above embodiment, rotary encoders were used as the moving distance measuring means and the turning angle measuring means.

Other contact or non-contact methods may also be used.

Further, any number of distance sensors may be attached as long as it is two or more.

〔Effect of the invention〕

As described in detail above, according to the present invention, even if a moving object deviates from a predetermined course while traveling, the angle is corrected when it reaches a wall, and there is no place where it does not travel within the traveling area, and all can run.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the moving body travel control system of the present invention, FIG. 2 is a plan view showing the moving body of the present invention, and FIG. 3 is a block diagram showing the traveling control method of the moving body of the present invention. FIG. 4 is a flowchart showing the operation of an embodiment of the method; FIG. 4 is a schematic diagram showing the running of the moving body according to the present invention; FIG. 5 is a schematic diagram showing the approach angle of the moving body to the wall according to the present invention; FIG. 6 is a plan view showing the traveling procedure of the moving body according to the present invention. 10a, 10b...Distance sensor 11...Moving body 12...Moving distance measuring means 13...Turning angle measuring means 17...Angle calculating means 18...Storing means 19...Central processing unit Agent Patent Attorney Nori Ken Chika Yudo Hiroshi UjiFigure 1Figure 2Figure 4Figure 5Figure 6

Claims (1)

[Claims] In a movable body that repeats a reciprocating journey while changing direction and travels from one end side to the other end in a travel area surrounded by a wall, a storage means storing a map of the travel area, and a storage means disposed in the mobile body. at least one pair of distance sensors; an angle calculating means for calculating an angle with a wall using the distance sensor; A traveling control method for a moving body, characterized by comprising: a central processing means for determining the deviation, correcting the deviation, and once again controlling traveling on a course that is not being traveled when the deviation is in a direction in which the vehicle is not traveling. .