JPH0466363A - Guiding device for vehicle - Google Patents

Abstract

PURPOSE:To provide a manned travel vehicle with unmanned guiding travel function by detecting guiding marks disposed on the ground, then detecting the displacement of a vehicle body in relation to the specified travel course, and controlling a steering actuator so as to correct this displacement of the vehicle body. CONSTITUTION:When a joint link 8 is inclined forward to pull a pin 9 out of the recessed groove 8a of the link 8 so as to release the linkage between a steering wheel shaft 21 and a connecting plate 5, the manned travel of operating a steering wheel 1 by a driver becomes possible in this state. At the time of performing the unmanned travel of a vehicle, the pin 9 is fitted into the recessed groove 8a of the link 8, and a start switch 19 is operated to place a controller, a steering motor 18, a travel motor, and the like in the starting possible state. Then, on the basis of the output signal of a mark detecting sensor 24 for detecting the displacement of the vehicle in relation to a guiding mark on the road surface, a steering angle command signal for correcting this displacement is prepared, and the steering motor 18 is operated in such a way as to make the deviation zero to perform automatic steering of the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a guidance device applied to a vehicle having steered wheels steered by a steering wheel.

[Conventional technology]

Commercially available manned vehicles are not equipped with means for unmanned driving.

[Problem to be solved by the invention]

Therefore, conventionally, when an unmanned vehicle is required, the vehicle is purchased separately, which is not a good idea from an economic point of view.

In view of this situation, it is an object of the present invention to provide a guidance device that can add an unmanned guidance driving function to a commercially available manned vehicle having steering wheels steered by a steering wheel.

[Means to solve the problem]

The present invention includes a steering actuator, a steering force transmission means that works in conjunction with the steering mechanism during unmanned driving to apply the steering force of the steering actuator to the steering mechanism, and detects a guidance sign placed on the ground. and a control means for controlling the steering actuator so that the vehicle body deviation detected by the deviation detection means is corrected. ing.

[Effect]

When the steering force of the above-mentioned steering actuator is not applied to the steered wheels, driving by manned steering is possible, and when the steering force of the steering actuator is applied to the steered wheels by the above-mentioned steering force transmission means, unmanned guided driving is possible. It becomes possible.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 are a plan view and a side view showing an embodiment of a vehicle to which a guidance device according to the present invention is applied.

The vehicle shown in the figure is an electric tricycle having a front wheel 2 steered by a steering wheel, left and right rear wheels 3 driven by a driving motor (not shown), and a seat 4.

FIG. 3 conceptually shows the configuration of an electric steering mechanism added to this vehicle.

This steering mechanism consists of a connecting plate 5 having a substantially triangular shape.
, a support block 6 fixedly arranged on the plate 5, a joint link 8 swingably supported by the support block 6 via a pin 7, and a groove formed in the joint link 8. Pin 9 inserted into 8a,
Rod connectors 10.11 are fixed to the left and right front ends of the plate 5, rods 12 and 13 are connected at one end to each of the connectors 10.11, and the rods 12 and 13 are connected to the left and right front ends of the plate 5, respectively. A connecting plate 16 whose other ends are connected to each other and a gear 15 is connected to a rotating shaft 4 located in the center, a gear 7 meshed with the gear 15, and a connecting plate 16 which rotates the gear 17. It also includes a steering motor 18 for moving the vehicle.

Connector ink plate 5 has a hole 5a at the rear central portion, and this hole 5a is rotatably fitted into front fork shaft 20 shown in FIG.

Note that a lower end portion of a handle shaft 21 is fitted and connected to an upper end portion of the front fork shaft 20. The noddle 1 shown in FIG. 1 is attached to the upper end of the noddle shaft 21, and the front fork 22 shown in FIG. 1 is attached to the lower end of the front fork shaft 20. 2 is supported.

On the other hand, as shown in FIG.
0 and the handle shaft 21.

The tip of this pin 9 protrudes forward of the handle shaft 21, and when the joint link 8 is swung rearward as shown by the solid line in FIG. It is fitted into the groove 8a (see FIG. 3).

As shown in FIG. Ob and a mounting bolt 1.0C connected to the ball 10a are provided, and a threaded portion 12a of the rod 12 is screwed into a threaded hole 10d provided at the tip of the handle portion 10b.

According to this connector 10, the rod 12 can be freely rotated around the mounting bolt 10C.

Note that the connector 11 also has a completely similar configuration.

Although not shown in FIG. 3, the rods 12 and 13 are also connected to the connector ink plate 16 via a connector similar to the rod connector 10.

Furthermore, the connecting plate 16, the gear 15,
The gear 17 and the steering motor 18 are arranged within the front casing 23 shown in FIG.

By the way, in this embodiment, the sensor 24 for detecting a label is used.
25, 26, 27 and 28 are provided at the bottom of the vehicle body.

The sensor 24 is provided to detect a guide sign 30 placed on the road surface along a predetermined driving course. As shown in FIG. 6, this sensor 24 has a configuration in which a plurality of magnetic detection elements 24a are arranged in a straight line, and is arranged at the front part of the vehicle body along the vehicle width direction.

The guide sign 30 is made of a magnetic tape, and the magnetic detection element 24a of the sensor 24 turns on when it senses the magnetic field generated by the magnetic tape.

Now, as shown in FIG. 6, if the center line ρ of the sensor 24 (the central axis line in the longitudinal direction of the vehicle body) is deviated from the center line of the guidance sign 30 by Δd, then the magnetic detection element shown with hatching 24a turns on. In this case, sensor 2
A signal processing circuit (not shown) incorporated in 4 outputs a deviation signal corresponding to the deviation Δd based on the output signal of the turned-on magnetic detection element 24a.

Note that the polarity of the deviation signal differs depending on whether the vehicle deviates to the right or to the left.

On the other hand, the sensors 25, 26 and 27 are composed of magnetic detection elements, and are arranged at different positions in the vehicle width direction. The sensor 28 also consists of a magnetic body detection element, and the sensor 28
It is located behind 5.

As shown in FIG. 1, a switch box 31 is housed in the upper part of the handle 1, and a box 33.3 is housed with a controller 32 shown in FIG. 8 on both sides of the rear of the vehicle body.
4 are arranged.

Furthermore, an arc-shaped humber 35 is arranged in the front part of the vehicle body,
Further, an obstacle sensor 36 is attached to the front surface of the casing 23.

When the vehicle of this embodiment is operated by a man, the joint link 8 shown in FIG. 4 is tilted forward and the bottle 9 is removed from the groove 8a of the link 8. 21 and the cutting plate 5 are disconnected from each other.

The driver then operates the switch hook 3 while seated on the seat 4 to start the vehicle, and then drives the vehicle without operating the steering wheel 1.

Note that during manned travel, either low-speed travel or high-speed travel is selected by a speed selection switch provided in the switch box 31.

On the other hand, when the vehicle of this embodiment is run unmanned, the joint link 8 shown in FIG. 4 is tilted rearward.
A pin 9 is fitted into the groove 8a of the link 8. and,
One of the starting switches disposed in the box 33 is pressed and a starting relay (not shown) is set, and as a result, the servo amplifiers 32-1. of the controller 32 shown in FIG.
32-2, steering motor 18 and traveling motor 372
etc. will be placed in a bootable state.

9A to 9F show the processing procedure executed by the CPU 32-3 shown in FIG. 8. In addition, CPU31-3
inputs the output signals of each sensor etc. via the input circuit 32-4.

As shown in FIG. 9A, the CPU 32-3 first determines whether the starting relay is set (
Step 100).

If the relay is set, flags FA-FD, which will be described later, are set to "0" in step 101, and then it is determined whether or not the collision detection limit switch 38 attached to the humper 35 is turned off. Judgment (Step 1)
02). If the switch 38 is off, it is determined based on the output signal of the obstacle sensor 36 whether or not there is an obstacle in the preset caution area in front of the vehicle (step 103). .

Note that the obstacle sensor 36 detects obstacles using ultrasonic waves.

If the obstacle sensor 36 does not detect an obstacle,
It is determined whether the magnetic detection element 24a in the controller pull zone W shown in FIG. 6 is detecting the magnetism of the guide sign 3o (step 104).

Note that if the vehicle runs off the course or the guidance sign 30 is broken, the magnetic detection element 24a in the controller pull zone W will not detect the magnetism of the guidance sign 30.

If the determination result in step 104 is No, it is determined in steps 105 to 108 whether or not the flags FA-FD are set to "1".

At present, flags FA-FD are all set to "O", so in the next step 109, a timer is set and flag FA is set to "1".

Note that the set time of the timer is, for example, several seconds.

At the same time, a speed command signal instructing low-speed forward travel is manually input to the subtractor 32-6 via the output circuit 32-5 (step 110).

The subtracter 32-6 outputs the speed command signal and the speed detector 4.
Then, the servo amplifier 322 applies a drive signal corresponding to this deviation to the driving motor 37, and as a result, the vehicle moves forward at a low speed in the next step. 1] In 1, it is determined whether the timer has timed up or not. If the timer has timed up, a speed command signal that commands high-speed forward running is added to the subtractor 32-6 (step 112). Run forward.

While the vehicle is running, a steering angle rudder command signal for correcting the deviation is generated based on the output signal of the sign detection sensor 24 indicating the deviation of the vehicle with respect to the guide sign 30. The above rudder angle rudder command is output from the output circuit 3.
2-5 to a subtracter 32-7.

The subtracter 32-7 compares the steering command signal with the steering angle detector 4.
- The deviation from the signal indicating the actual steering angle output from servo amplifier 32-1 is determined, and the servo amplifier 32-1 applies a drive signal corresponding to this deviation to the steering motor 18. As a result, the steering motor 18 is operated so that the deviation becomes zero, thereby correcting the deviation of the vehicle.

That is, the connecting plate 16 shown in FIG. 3 is rotated by the operation of the motor 8, and thereby the connecting plate 5 is rotated via the loft 12.13. The rotational force of the connecting ink plate 5 is transmitted to the front fork shaft 20 via the pin 9 shown in FIG. 4, and as a result, the wheel 2 is steered in the direction in which the deviation is corrected.

By the way, at appropriate places on the running road surface located to the right of the guiding magnetic tape 30, there are tapes shown in FIGS. 7(a), (b), and (c).
, (d), (e) and (d), deceleration sign 51.51', speed increase sign 52.52', stop sign 53.53', left branch sign 54 54', right branch sign 55.55' and corner markings 56.56' are installed.

Each of the above signs is made of a magnetic material such as an iron plate. As is clear from the figures, the labels 5]0 and 5]
' so that the sensors 25 and 28 pass directly above them at the same time, and signs 52 and 52' so that the sensors 26 and 28 pass directly above them at the same time.
Further, the markers 53 and 53' are respectively positioned such that the sensors 27 and 28 simultaneously pass directly above them.

On the other hand, the signs 55 and 55' pass directly above the sensors 26, 27 so that Furthermore, the areas and installation positions of the signs 56 and 56' are set so that the set of sensors 2526, 27 and the sensor 28 pass directly above them at the same time.

The markers 51' to 56' and the sensor 28 for detecting them are provided for determining false detection.

That is, for example, if it is assumed that the sensor 25 in FIG. 7(a) erroneously detects a magnetic object present in the vicinity of the marker 51 as the marker 5, then the sensor 26 separated from the sensor 25 detects the magnetic object. No object detected. On the other hand, when the sensor 25 detects five markers, the sensor 28 simultaneously detects the marker 51'.

Therefore, in this embodiment, it is determined that the deceleration command mark has been detected when the sensors 25 and 28 simultaneously output the mark detection signals. Note that other markers 52' to 56' are also provided for determining erroneous detection.

In steps ]13, ]14, 115 and 1 of FIG. 9A, it is determined whether or not the markers 54, 55, 56 and 51 are detected, respectively, based on the output signals of the magnetic body detection sensors 25 to 28. Ru. And sign 54.5
If neither 5.56 nor 51 is detected, the procedure returns to step 102.

Thereafter, when the procedure advances to step 105, the procedure jumps to step 113 because the flag FA is currently set to "1".

Next, when it is determined in step 102 that the bumper switch 38 has been turned on, that is, that an obstacle has collided with the bumper 35, the vehicle is brought to an emergency stop in step]]7, and the controller The power supply to each element and motors 18 and 37 is stopped.

If the vehicle is to be driven again after the emergency stop, the controller 32 may be powered on again, and then the start switch 9 may be pressed again.

On the other hand, if an obstacle existing in the preset caution area is detected in step 103, the procedure shown in FIG. 9B is executed. That is, a low speed command is given to the subtractor 32-6, and the vehicle is driven at low speed (step) 1.
9).

Next, it is determined whether the obstacle has been removed (step 120), and if the obstacle has not been removed, it is determined whether the obstacle has entered a preset danger area (step 121).

If the obstacle is removed while the judgment result in Step 1]7 is NO, then in Step 122 a command to stop high-speed running is output to the subtractor 32-6, and then the process returns to Step 113. It will be done.

On the other hand, if it is determined in step 121 that there is an obstacle or that the vehicle has entered a preset danger area, a process for temporarily stopping the vehicle and a process for resetting the starting relay are executed (step 123).

First, the case where the determination result in step 104 is TES will be explained.

The state in which each magnetic detection element 24a in the controller pull zone W shown in No. 6- does not detect the magnetism of the guidance sign 30 occurs when the vehicle goes off the course or when the guidance sign 30 is broken. The magnetic detection element 24a of the sensor 24 or the magnetism of the guide marker 30 will be detected within a short time.

Therefore, in this embodiment, as shown in FIG. 9C, a process is executed to set a timer for sufficient time for the vehicle to pass the cut point (step 124), and the controller Pull zone W
It is determined whether the magnetic detection element 24a inside the guide marker 30 has detected the magnetism (step 125).

If the determination result in step 125 is YES, that is, in the case of the above-mentioned fragmentation, the procedure returns to step 113. If the result of the determination is No, that is, if the vehicle is off the course, a process for temporarily stopping the vehicle and a process for resetting the starting relay are executed (step 126).

On the other hand, if the left branch marker 54 shown in FIG. 7(d) is detected in step 113, flags FB and FA are set to "1" and "1", respectively, as shown in FIG. 9D.
0'' (step 127), and then a process of shifting the detection signal of the sensor 24 and a process of outputting a command for driving the vehicle at a low speed are executed (steps 128 and 129).

The above shift process is performed, for example, by using the sensor 24 as shown in FIG. 10(a).
When the guide mark 30 is detected in the hasotink area of , it is as if the guide mark 30 is detected in the hasotink area of the same figure (b).
This means that the output signal of the sensor 24 is shifted to the right so that it is detected.

By performing such processing, excessive steering is prevented and the vehicle can be smoothly transferred onto the left branch line of the sign 30.

The point where you have proceeded a predetermined distance along the left branch line from the left branch point (
At the end of the branch, there is a speed increase sign 5 shown in Figure 7(b).
At step 130 in FIG. 9D, it is determined whether or not this speed increase indicator 52 has been detected.

If indicator 52 is not detected, the procedure continues at step 10.
Returned to 2. Thereafter, when the procedure progresses to step 106, the procedure jumps to step 130 because the flag FB is currently set to "1".

If the sign 52 is detected in step 130, a high speed command is output and the vehicle runs at high speed (step 13).
1). After the above signal shift is canceled and the flags FB and FA are set to 0" and "]", respectively (step 1.32), the procedure returns to step 1.
Returned to 13.

Incidentally, even when the right branch marker 55 shown in FIG. 7(e) is detected in step 114, the same procedure as in the case where the left branch marker 54 is detected is executed. However, in this case, the output signal of the sensor 24 is shifted to the left in step 128.

Next, if the corner marker 56 shown in FIG. 7(f) is detected in step]15, the flags FC and FA are set to "1" and "1", respectively, as shown in FIG. 9E.
0'' (step 133), and then a low speed command is output (step 134).

The speed increase sign 52 shown in FIG. 7(b) is always attached to the end point of the corner, and in the previous step 135 it is determined whether or not the 20 speed increase sign 52 has been detected. .

If indicator 52 is not detected, the procedure continues at step 10.
Returned to 2. Thereafter, when the procedure progresses to step 107, the procedure jumps to step 135 because the flag FC is currently set to "1".

If the sign 52 is detected in step 135, a high speed command is output and the vehicle runs at high speed (step 13).
6). Then, flags FC and FA are set to “O”.
After the process of setting the flag to "1" is executed (step 137), the procedure returns to step 113.

Furthermore, if the deceleration sign 51 shown in FIG. 7(a) is detected in step 116, the flags FD and FA are set to "1" and "0", respectively, as shown in FIG. 9F.
” is executed (step 138), and then a low speed command is output (step 1.39).
, it is determined whether the stop sign 53 shown in FIG. 7(C) is detected or not (step 140).

If marker 52 is not detected, the procedure returns to step 102. Thereafter, when the procedure advances to step 108, the procedure jumps to step 40 because the flag FD is currently set to "1".

On the other hand, if the sign 53 is detected in step 140, a process of temporarily stopping the vehicle and a process of resetting the starting relay are executed (step 141).

Incidentally, when the vehicle that has been temporarily stopped in steps 123, 126 and 141 is to be made to run again, the start switch 19 is pressed again.

In the above embodiment, the signal tower 6 C1 shown in FIG.
is erected on the casing 23.

The red lamp 60a of this signal tower 60 is used when the vehicle is in an emergency stop, the yellow lamp 60b is used when the vehicle is temporarily stopped, and the green lamp 60c is used when the vehicle is running steadily. The lamp is lit via the lamp drive circuit 70 shown in the figure. Note that the lamp drive circuit 70 operates even if the power to the controller 32 is turned off in step 118, so that the red lamp 6a continues to be lit during an emergency stop of the vehicle.

Further, in the above embodiment, the side box 3 shown in FIG.
3 is provided with an emergency stop push button switch 91 and a temporary stop push button switch 92, and when these switches are operated, the vehicle is brought to an emergency stop and a temporary stop.

Further, the above embodiment is provided with a wired remote controller (not shown), and when the remote control mode is set by operating a switch, the vehicle is driven and steered by the remote controller.

By the way, during the above-mentioned unmanned driving, the first
The loading platform 80 shown in the figures and FIG. 2 is installed above the seat 4. This loading platform 80 has two front legs 80a and one rear leg 80b.
Pipe-shaped support 81 provided at the lower end of a or on both sides of the vehicle body
At the same time, the lower end of the rear leg 80b is fitted into a supporting stay 82 that projects from the rear of the vehicle body.

Although magnetic tape is used as the marker 30 in the above embodiment, the present invention can also be implemented by using a white light-reflecting tape as the marker 30.

Well, in this case, a sign detection sensor or sensor 24 is an array of elements that detect the reflected light from the reflective tape.
used in place of. In addition, sensors 25 to 27 and 1-7
If an optical sensor is used, white light reflectors can be used as the marks 351-56.

〔Effect of the invention〕

The present invention provides a steering actuator, and a steering force transmitting means that is linked to the above-mentioned steering mechanism during unmanned driving, and causes the steering force of the steering actuator and etator described in [2] to be applied to the steering mechanism;
a deviation detection means for detecting a deviation of the vehicle body with respect to a prescribed driving course by detecting a guidance sign placed at the ground;
- Since the upper control stage and the first control stage that controls the self-steering actuator are biased so that the vehicle body deviation detected by the deviation detection means is corrected, the unmanned guided driving function is added to the manned running vehicle. I can do some things.

Furthermore, since the steering mechanism of a general-purpose manned vehicle is used, it is convenient that it can be constructed at extremely low cost.

[Brief explanation of drawings]

1 and 2 are a plan view and a side view showing an embodiment of a vehicle according to the present invention, respectively, FIG. 3 is a perspective view schematically showing the configuration of an electric steering mechanism, and FIG. The figure is a partial sectional view showing how the connector plate 1 is installed, Figure 5 is a sectional view showing the configuration of the connections 7 and 10, and Figure 6 is a diagram showing the configuration and operation of the guidance sign detection sensor. Conceptual diagram, No. 7
The figure is a conceptual diagram illustrating the arrangement of command indicators, Figure 8 is a block diagram conceptually illustrating the configuration of the controller, and Figure 9 is a flowchart illustrating the processing procedure of C and PU shown in Figure 8. Char 1., FIG. 10 is a conceptual diagram showing the contents of the shift process. 1. Steering handle, 5. 16. Connecting plate, 6. Zaport block, 8. Joint link, 9. Pin, ICI, 11. Rod connector, 12.
1'3 Rod,]8 Steering motor, 2[]...Front fork knee 7 Yaft, 2]...Handle shear 7
G, 24-28... Label detection sensor, 3(I)...
A guide! , 2.32... Controller, 135 Hashiba 3
6. Obstacle sensor, 37. Traveling motor, 5151
'・, deceleration sign, 52.52', speed increase sign, 53.5
3' Stop F sign, 54.54'...Left branch sign,
55.55'... Right branch sign, 56 56'... Corner sign, 6 [] -] Nkunaru Tower 8 [] - Loading platform. Figure 2 Figure 4 Figure 5 6th (Makoto L) (Tomo/, K, I branch) 27-Ro (d) (Stone lyo 1) 27 Zutsu-'' (e) Figure 7 (I number- 2) Mouth and 26 (C) (Nice) 26 sum□ IH・56 27 Metsuro゛□゛---Connie□-2 (, f)

Claims (1)

[Scope of Claims] Applicable to a vehicle having a steering mechanism steered by a steering handle, comprising: a steering actuator; and a steering actuator that cooperates with the steering mechanism during unmanned driving to transfer the steering force of the steering actuator to the steering mechanism. a steering force transmitting means for applying a steering force to the steering force; a deviation detecting means for detecting a deviation of the vehicle body with respect to a prescribed driving course by detecting a guidance sign placed on the ground; and control means for controlling the steering actuator so that the position of the steering actuator is corrected.