JPH0436809A - Guiding equipment for mobile vehicle - Google Patents

Abstract

PURPOSE:To improve the control accuracy of a guiding equipment for a mobile vehicle by changing a position detection means between a state where the vehicle is set on the center of the spin turn and a state where the vehicle is at a point ahead of the center of the spin turn against the moving direction of the vehicle. CONSTITUTION:A reader 7 serving as a position detecting means is attached to the support members 17 which are held by a pair of support axes 16 in a state where the reader 7 can freely move in the front-back direction of a mobile vehicle. Each axis 16 is formed into a screw axis and revolved by a motor 18, and the member 17 gears the screw axis. Thus the axis 16 can slide back and forth. An operation means 19 changes the position of the reader 7 between a position set on the center of the spin turn and a position set ahead of the center of the spin turn against the moving direction of the vehicle. Thus the reader 7 is moved to the front side of the vehicle in accordance with the moving speed of the vehicle.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides a system in which a plurality of indicating tools for driving control are provided on the ground side.
A position detecting means is provided along the travel route of the moving vehicle, and the moving vehicle is provided with a position detecting means for detecting a relative position in the vehicle width direction or vehicle body longitudinal direction with respect to the indicator, and the moving vehicle is capable of freely spin-turning. The present invention relates to guiding equipment for moving vehicles.

[Conventional technology]

It is convenient if the detection information of the position detection means can be used when the mobile vehicle makes a spin turn, since the attitude and position of the mobile vehicle can be accurately corrected before and after the spin turn. Therefore, in the past, the position detection means was provided so as to be located on the center of rotation of the spin turn.

[Problem to be solved by the invention]

However, during normal driving, driving is controlled based on the information read from the indicator, so it is desirable to be able to detect the position of the indicator as quickly as possible.

The present invention was developed in view of the above-mentioned circumstances, and its purpose is to make it possible to use the detected position information of the indicator during spin turns, and to detect the position quickly during running.

[Means to solve the problem]

In the guiding equipment for a moving vehicle according to the present invention, a plurality of indicating tools for driving control are provided on the ground side along the traveling route of the moving vehicle, and one is attached to the moving vehicle in the width direction of the vehicle body relative to the indicating tool. A position detection means for detecting a relative position in the longitudinal direction of the vehicle body is provided, and the mobile vehicle is configured to be able to freely spin and turn, and its characteristic configuration is as follows.

In other words, the position detecting means is operated to change its position between a state where it is located on the turning center of the spin turn and a state where it is located on the front side of the turning center of the spin turn with respect to the direction of movement of the vehicle body. The point is that an operating means for changing is provided.

[For production]

When performing a spin turn, by positioning the position detection means on the rotation center of the spin turn, the position information of the detected indicator can be used to accurately determine the attitude and position of the moving vehicle before and after the spin turn. While making it possible to correct
While driving, by positioning the vehicle ahead of the center of rotation of the spin turn in the direction of vehicle movement, the position can be detected quickly and control such as changing course or stopping the vehicle can be performed accurately. That's what I do.

〔Effect of the invention〕

As a result, it has become possible to improve control accuracy through rational equipment modification.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 2 and 3, a plurality of indicating tools (A) for instructing travel control information to the mobile vehicle (B) are arranged on the ground side along the travel route of the mobile vehicle (B). It is set in.

As shown in FIG. 5, the indicator (A) has a pair of loop-shaped receiving antennas (1a) and transmitting antennas (1a).
1b) and a power supply antenna (IC) for receiving electromagnetic waves supplied from the outside, which are arranged in concentric circles from the inner circumference to the outer circumference in that order in plan view, for example, in the VHF band. It is configured to be able to send and receive stored information using radio waves. Then, the mobile vehicle (8
) is buried under the road surface.

Although not described in detail, the information stored in the pointing tool (A>) may include, for example, the distance to the next adjacent pointing tool (A), the direction in which the next pointing tool (Δ) is located, the running speed, etc. information,
The mobile vehicle (B) is stored in advance in accordance with the operation of the mobile vehicle (B), and the mobile vehicle (B) stores the addresses of the indicating tools (8) to be passed in the order in which they pass, as information on the travel route to be traveled. It will be given by

As shown in FIG. 3, the mobile vehicle (B) has four traveling wheels (6) on the vehicle body, each of which can change direction independently and is driven to rotate by an electric motor (5) for propulsion. The vehicle is provided with one each on the front, rear, left and right sides, and is configured to be able to travel in any direction without changing the orientation of the vehicle body. A league (7) for reading the information stored in the indicator (8) is provided at the lower center of the vehicle body. In the figure, (8) is an encoder that detects the traveling distance and traveling speed based on the rotation speed of the traveling wheels (6), and (9) is an electric motor for steering.

As shown in FIGS. 1 and 2, the league (7) is
a power supply antenna (3b) that transmits electromagnetic waves that serve as operating power for the indicator (A); a power supply antenna (3a) on the indicator side; and a power supply antenna (3b) on the league side; A plurality of pickup coils (P
) and, although not shown, a receiving antenna that receives transmission information from the pointing device (A), and the pointing device (A).
and a transmitting antenna for transmitting stored information when writing information to the memory.

However, in order to efficiently supply power and receive transmitted information even if the position relative to the indicator (A) in plan view is slightly shifted in the width direction of the vehicle body, the power supply antenna on the league side (3b) and the transmitting/receiving antenna are each formed into a rectangular shape that is long in the width direction of the vehicle body when viewed from above. Further, the plurality of pickup coils (P) are connected to the power supply antenna (3) on the reader side.
h) They are arranged at equal intervals so as to line up in a line in the width direction of the vehicle body on the upper surface side.

In other words, since the power supply antenna (3a) on the indicator side and the power supply antenna (3b) on the reader side mutually exchange power by electromagnetic induction, the mobile vehicle (B) passes over the indicator (A), the pick 7 pump coil (P) located directly above the indicator (A) moves both the antennas (3a), (3
Affected by the change in the degree of coupling in b), its output value will be thicker (lower) than the others.However, each pickup coil (P) is Voltage is also induced by signals transmitted and received between the two, external noise, and the like.

Therefore, as shown in Figure 4, each pickup coil (
P), the power supply antenna (3b
), a band-pass filter (10) that passes only signals of the same frequency as the output frequency of the device, a low-pass filter (11) that removes high-frequency signals such as external noise,
and a comparator (13) that binarizes the output of the differentiator circuit (12) by comparing the output of the differentiator circuit (12) with a set threshold value.
A signal processing circuit (14) consisting of the following is provided.

Therefore, since the pickup coils (P) are arranged side by side in the width direction of the vehicle body, it is determined based on which of the plurality of pickup coils (P) there is an output from the corresponding signal processing circuit (14). Then, use the indicator (A>
This makes it possible to determine the position of the vehicle body in the width direction relative to the vehicle width direction. In other words, the league (7) including the plurality of pickup coils (P) corresponds to position detection means for detecting the relative position in the width direction of the vehicle body with respect to the indicator (A).

The output signal of each of the signal processing circuits (14) is outputted to the electric morph for driving based on the detection information of the league (7).
5) and a control device that controls the operation of the steering electric motor (9)! (15), the indicator tool in the vehicle width direction (
The position of A) will be determined.

Although not described in detail, the information on the presence or absence of the detected indicator is based on the league (7) in the direction of vehicle movement relative to the indicator (A).
) is used as necessary control information to identify the reading position of the indicator (A), and the determined position information of the indicator (A)
) will be used as steering control information for autonomous driving between

By the way, the league (7) as a position detection means is
It is configured to be able to freely change its position between a state where it is located at the center of the vehicle body, which is a turning center during a spin turn in a plan view, and a state where it is located forward of the turning center of the spin turn with respect to the direction of movement of the vehicle body. .

To explain further, as shown in FIGS. 1 and 2, the league (7) is a support member pivotally supported on each of a pair of left and right support shafts (16) so as to be movable in the longitudinal direction of the vehicle body. (1
7).

The pair of left and right support shafts (16) are formed as threaded shafts that are rotationally driven by an electric motor (one wheel), and the support member (17) engages with the threaded shafts and slides in the front and back direction. Therefore, the league (7) serving as the position detection means can be placed in two states: one is located on the center of rotation of the spin turn, and the other is located forward of the center of rotation of the spin turn with respect to the direction of vehicle movement. The operating means (19) for position change is configured to perform a position change operation.Although not described in detail, the operation of the electric motor (18) for position change is controlled by the league (7). It will be controlled based on the information read by the indicator (A).For example, when changing the traveling direction or stopping traveling, the position will be changed to the center of rotation of the spin turn, and when traveling, the position will be changed to the center of rotation of the spin turn. The position will be changed to the front of the vehicle depending on the speed.

[Another example]

” In the first embodiment, a plurality of pick amplifier coils (P)
line up in the width direction of the vehicle, and select which pickup coil (
Based on whether P) senses the indicator (A), the indicator (
A) The case where the position of A) is determined is shown as an example, but
The position may be detected steplessly based on the difference in output values of adjacent coils or the like.

In addition, in the above embodiment, the position of the vehicle body (in the yellow width direction) relative to the indicator (A) was exemplified, but it may be possible to determine the position in the longitudinal direction of the vehicle body, or It may be possible to determine both directions.

In addition, in the above embodiment, the position information of the pointing device (8) is used as steering control information to make the moving vehicle (B) autonomously travel. It may be made to run, and the content of the information stored in the pointing tool (A) and the specific configuration of each part such as the operating means for changing the position of the position detecting means can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the guidance equipment for moving vehicles according to the present invention,
Fig. 1 is a schematic plan view of the position detection means, Fig. 2 is a front view thereof, Fig. 3 is a cutaway side view of the moving vehicle, Fig. 4 is a block diagram of the control configuration, and Fig. 5 is the antenna on the indicator side. FIG. 3 is a cutaway plan view without showing the arrangement. (A>... Indicator, (B)... Mobile vehicle, (7)... Position detection means, (19)...
...Operation means for changing position.

Claims (1)

[Claims] A plurality of indicating tools (A) for driving control are provided on the ground side along the traveling route of the mobile vehicle (B), and
) is provided with a position detection means (7) for detecting a relative position with respect to the indicator (A) in the width direction of the vehicle body or in the longitudinal direction of the vehicle body, and the mobile vehicle (B) is configured to be able to freely spin and turn. The guiding equipment for a moving vehicle is such that the position detection means (7) is located on the center of rotation of the spin turn and located forward of the center of rotation of the spin turn with respect to the direction of movement of the vehicle body. Guidance equipment for a moving vehicle, which is provided with a position change operation means (19) for changing the position between states.