JPH0370802B2 - - Google Patents

Description

[Detailed description of the invention] Technical field The present invention relates to a guided driving method for an unmanned vehicle.

Conventional technology Conventionally, in the electromagnetic induction type unmanned vehicle shown in FIGS. 1 to 3, the drive wheels 1
The road surface on which the steering wheel a and the steered wheel 1b pass is locally damaged.
For this reason, on relatively soft roads such as asphalt roads, only the areas where the wheels pass are dented.
Even if the bottom surface of the unmanned vehicle's body is in contact with the road surface, or even if the bottom surface of the body is not in contact with the road surface, the height of the steering control pickup coils 2a and 2b arranged on the bottom surface of the vehicle body is lower than the set value with respect to the guide line L. As a result, the control condition became unstable, which caused the inconvenience of having to periodically repair the road surface or relay it with hard concrete.
In addition, it was also uncomfortable for other general vehicles due to the unevenness.

Purpose This invention was made to solve the above problem, and its purpose is to run an unmanned vehicle in a state displaced from a regular track and while changing the state of displacement over time. An object of the present invention is to provide a guided driving method for an unmanned vehicle that can prevent local damage to a specific road surface on which wheels pass and stabilize a control state.

Configuration In order to achieve the above object, the present invention calculates a steering signal by calculating a traveling trajectory signal based on guide line detection from a steering controller and a trajectory change signal whose output level changes over time from a trajectory change circuit. Based on the steering signal, the unmanned vehicle travels while being displaced from the normal traveling trajectory, and the displacement state is changed over time.

Embodiment Hereinafter, an embodiment of a guided driving method for an unmanned vehicle embodying the present invention will be described with reference to the drawings. In addition,
In the unmanned vehicle of the present invention, the same members as those in the conventional unmanned vehicle will be designated by the same reference numerals and the description thereof will be omitted.

First, the configuration of the steering controller M for an unmanned vehicle will be explained with reference to FIG. Amplifiers 3a and 3b are connected respectively. Further, both amplifiers 3a, 3b have detection voltages e1, e
A comparator C1 is provided to compare C2 and C1.
1 outputs a deviation voltage e3 as a running track signal. The comparator C1 has
A comparator C2 is connected to the comparator C2, and a sine wave oscillator 4 as a trajectory changing circuit is connected to the switch SW1.
is connected to the deviation voltage e3 and the oscillator 4 through
The steering voltage e5 as a steering signal is determined by comparing the sinusoidal voltage e4 as a trajectory change signal outputted from
is now being output. Further, a servo amplifier 5 is connected to the comparator C2, and the amplifier 5
A steering output voltage e6 is output from the steering motor 6 to the steering motor 6.

Next, the operation of an unmanned vehicle equipped with the steering controller M configured as described above will be explained.

Now, with the switch SW1 turned on, a magnetic field due to the low frequency current of the guide wire L is detected by the pickup coils 2a and 2b. At this time, if the coils 2a, 2b are deviated from the guide wire L, the voltages induced in the coils 2a, 2b are different, and these are amplified by AC amplifiers 3a, 3b, respectively. Further, detection voltages e1 and e2 are outputted from the same amplifiers 3a and 3b, both voltages e1 and e2 are inputted to the comparator C1, respectively, and a deviation voltage e3 is outputted.

On the other hand, the sine wave oscillator 4 outputs an extremely low frequency sine wave voltage e4 of 1 Hz or less, which is input to the comparator C2 together with the deviation voltage e3.
2 outputs the steering voltage e5 as a meandering signal,
Unmanned cars meander. Further, the opening/closing of the switch SW1 is performed by a signal from an on-vehicle control device (for example, a microcomputer), but when the switch is turned OFF, the sine wave voltage e4 is no longer input to the comparator C2, and the comparator The steering voltage e5 is output from C2 as a straight-line running signal, and the unmanned vehicle runs normally, that is, runs along the guide line L.

In this way, in the embodiment, the detection voltage e3 corresponding to the amount of deviation in the left and right direction and the sine wave voltage e4 from the sine wave oscillator 4 are added and this is output as the steering voltage e5 as a meandering signal, and the servo control Since the steering output voltage e6 is outputted from the amplifier 5 to the steering motor 6, the unmanned vehicle is meandered at the same cycle as the oscillator 4. By setting the amplitude of the voltage e4 to an appropriate level, the unmanned vehicle can meander stably.

For this reason, the trajectory of the wheels is not concentrated in a fixed area, but is dispersed over a certain width, so that damage to the road surface can be prevented. In addition, between certain points, for example, as shown in Figure 5, the exit A of the factory
The vehicle may meander only on the asphalt road surface from the entrance B to the entrance B of another factory.

Application Example As shown in FIG. 6, instead of the sine wave oscillator 4 that outputs the sine wave voltage e4, it is also possible to provide a low voltage circuit 7 as a trajectory changing circuit that outputs a constant voltage. In other words, when the constant voltage circuit 7 outputs a positive constant voltage e7 via the switch SW2, the vehicle shifts slightly to the right and the switch SW2 outputs a positive constant voltage e7.
When a negative constant voltage e8 is output through 3,
Try to drive slightly to the left.

In addition, although FIG. 6 shows a method of detecting the amount of deviation of the vehicle using a pair of left and right pickup coils 2a and 2b, the method of detecting the amount of lateral deviation or inclination of the vehicle is not limited to this. This invention is effective regardless of the method used.

Effects As described in detail above, the present invention differs from the conventional electromagnetic induction method in which unmanned vehicles travel on the same track along guide lines laid on the road surface. Moreover, since the wheels drive while changing their displacement state, the wheels do not always pass at the same position on the road surface, making it difficult to form ruts. Therefore, the pick-up coil and vehicle speed sensor installed on the underside of the unmanned vehicle are placed on the road surface. This can prevent collisions or unstable control of unmanned vehicles. Furthermore, since there are no unevenness on the road surface for other general vehicles passing on the same road surface, riding comfort and cargo stability can be achieved.

[Brief explanation of drawings]

Figure 1 is a front view showing the road surface condition before the unmanned vehicle starts running, Figure 2 is a front view showing the condition where only the road surface where the wheels pass is dented when the unmanned vehicle is driven for a long period of time, and Figure 3 is a bottom structural diagram of the unmanned vehicle, and FIG. 4 is a block circuit diagram of the steering controller M of the present invention.
FIG. 5 is a plan view showing the traveling trajectory of the unmanned vehicle of the present invention, and FIG. 6 is a block circuit diagram showing an example of application of the present invention. A sine wave oscillator 4 as a track change circuit, a constant voltage circuit 7, and a deviation voltage e as a running track signal
3. Sine wave voltage e4 as a trajectory change signal, constant positive or negative voltages e7, e8, switch
SW1 to SW3, guide line L, steering controller M.

Claims (1)

[Scope of Claims] 1. A guided driving method for an unmanned vehicle in which the steering controller M causes the unmanned vehicle to travel along a guiding line L, comprising: a traveling trajectory signal e3 based on the detection of the guiding line L from the steering controller M; Trajectory change circuit 4, 7
A steering signal e5 is output by calculating the trajectory change signals e4, e7, and e8 whose output levels change over time, and based on the steering signal e5, the unmanned vehicle is displaced from the normal traveling trajectory. , and a guided driving method for an unmanned vehicle, characterized in that the vehicle travels while changing its displacement state over time. 2. The guided traveling method for an unmanned vehicle according to claim 1, wherein the trajectory changing circuit is a sine wave oscillator 4 that outputs a sine wave voltage e4. 3. Guided running of an unmanned vehicle according to claim 1, wherein the track change circuit is a constant voltage circuit 7 that selectively outputs a constant positive voltage e7 or a constant negative voltage e8 as a parallel track signal. Method. 4 The track change circuit is switches SW1 to SW3.
A guided driving method for an unmanned vehicle according to claim 2 or 3, in which the unmanned vehicle is turned on and off by.