JPS59180611A - Automatic maneuvering control device of unmanned car - Google Patents

Abstract

PURPOSE:To perform automatic maneuvering control precisely and correctly even if the voltage of a conductive body is varied by controlling the gain of a servo amplifier from the conductive body on the basis of sum voltage of voltages induced by right and left pickup coils. CONSTITUTION:Induced voltages VR, VL are generated in the right and left pickup coils 7, 7' by high-frequency current flowing into a conductive wire 1. The voltages VR, VL are amplified by respective amplifiers 8, 8', the amplified voltages are rectified and converted into DC voltages by AC/DC converters 9, 9' and the DC voltages are inputted to the servo amplifier 11 and an adder 12. The amplifier 11 outputs a control signal proportional to the difference of both the input voltages to a driving circuit 10 for a maneuvering motor 5 to allow the motor 5 to perform automatic maneuvering control turning a horizontal displacement variable to zero. Since a differential amplifier 13 controls the gain of the amplifier 11 on the basis of a differential voltage between the sum voltage from the adder 12 and a reference voltage Vo, the automatic maneuvering control can be performed precisely and correctly independently of the voltage variation of the conductive wire 1.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides an automatic steering system for automatically steering an unmanned vehicle that transports assembled parts and products to an assembly factory for automobiles and various industrial machines so that it travels along a predetermined travel route. This control device is equipped with a servo amplifier that outputs a control signal to perform automatic steering control so that the difference in induced voltage between a pair of left and right pink up coils attached to the vehicle body is reduced to zero. This invention relates to automatic steering control devices for unmanned vehicles.

In such an automatic steering control device for an unmanned vehicle, the induced voltage of the pickup coil pair changes due to voltage fluctuations of a ground-side electromagnetic body (Tokupass wire, etc.) that generates a magnetic field for inducing voltage in the pickup coil pair. do,
Since the relationship between the induced voltage difference and the amount of lateral displacement (steering control amount) of the unmanned vehicle fluctuates, in order to perform the desired automatic steering control reliably and accurately, it is necessary to adjust the voltage of the dielectric material. It is necessary to correct (gain control) the servo amplifier output based on the fluctuation.

As such a gain control means,
As with the conventional devices shown in Japanese Patent Publication No. 25296 and Japanese Patent Publication No. 50-20754, the voltage is the sum of the output voltages from a pair of left and right servo amplifiers provided corresponding to each pink-up coil. Based on this, the characteristics of the left and right Pubo amplifiers must match exactly, but this is extremely difficult both in terms of amplifier manufacturing and in terms of the overall circuit configuration. There was a drawback that it was difficult to obtain control operations.

In view of this, an object of the present invention is to enable gain control to be performed with extremely high precision.

The characteristic configuration of the automatic steering control device for an unmanned vehicle according to the present invention, which was taken to achieve the above object, is that an adder circuit that generates a voltage that is the sum of the induced voltages of the pick amplifier coils is connected to the pickup coils. A comparison circuit is connected between the signal circuits to the servo amplifier and outputs a control signal proportional to the difference between the sum voltage and the reference voltage in the adder circuit, and is connected between the adder circuit and the voltage source, The control signal outputted from the comparator circuit is configured to be inputted to the servo amplifier as its gain control signal.

The operation of the present invention having the above characteristic configuration is as follows.

That is, since the gain control of the servo amplifier is performed based on the sum of the induced voltages up to the servo amplifier, only seven servo amplifiers are required for gain control.

Therefore, the present invention eliminates the need to match the characteristics of the left and right servo amplifiers as in the conventional device described above.
Accurate gain control can be performed according to the voltage fluctuation of the conductor, and it is extremely reliable regardless of the voltage fluctuation of the conductor.
We have achieved the advantage of being able to provide accurate and stable self-IIJ steering control with a simple circuit configuration.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings in FIG. A high frequency current is passed through this to generate a magnetic field for guiding the unmanned vehicle along the traveling route. (2) is a pair of left and right drive wheels ( 4
1. An unmanned vehicle equipped with a ti and a steering wheel (6) whose direction is changed around the vertical axis via a motor (5). As shown in Fig. 2, when the amount of lateral displacement is zero with respect to the vehicle's travel path, the configuration for directing the vehicle induces voltages (Vi) and (Vj) of equal magnitude in the left and right directions. A pair of amplifier coils (7°), (τ) and an amplifier (8) that amplifies each of these induced voltages separately.

(8') and 1, AC/DC that rectifies the output from these
transducers (9), (9') and these transducers (9),
(V) input a control signal proportional to the difference in output voltage to the drive circuit (10) of the steering motor (6),
A length-bore (11) that performs automatic steering control to make the lateral displacement amount zero, and a voltage (V) that is the sum of the output voltages.
An adder circuit (12) that generates the sum voltage f
The configuration includes a differential amplifier (13) (comparison circuit) that is proportional to the difference between f) and the reference voltage (vO) and outputs it as a ratio control signal signal.

The drive circuit (1O) includes the servo amplifier (11
) is zero, the motor (6) is stopped, and when it is ten, the motor (5) is rotated to the left (or right), and -. Note that the pickup coils (7) and (7') are provided after 'J, and are used in the forward direction of travel.

According to the configuration of the above embodiment, the conductive wire i1) 17) The induced voltage (v
b) The gain of the servo amplifier (II) is automatically corrected based on the voltage fV, which is the sum of the output voltages corresponding to the sum of lj (7R). Since the corresponding control signal is output, the conductive wire (
1) Automatic steering control can be performed reliably and accurately regardless of voltage fluctuations.

The present invention may be implemented as follows.

As shown in Fig. 8, each unmanned vehicle (2) is connected to a motor (
14), (14'), the pair of left and right drive wheels (15), (15') are configured to be able to be steered by making a difference in the rotational speed of the pair of drive wheels (15), (15'), which are driven separately via wheels (14) and (14'). As shown in Figure FJ4, the output of the servo amplifier (11) and the speed command ta
A steering control circuit (16), (16') and each motor (14) that outputs a rotation speed reduction command based on
(14') A detector (17) that detects the rotation speed of the motor.

(17 detected values are detected by the steering control circuit (16
), (16').
), (14') speed control circuit (18
), (18) and are configured to automatically steer.

[Brief explanation of drawings]

Figures 1 and 2 show examples. Figure 1 is a schematic bottom view of the unmanned vehicle, Figure 2 is a steering control circuit diagram, and Figures 8 and 4 are diagrams of the steering control circuit.
The figure shows another embodiment, and FIG. 8 is a schematic bottom view of the unmanned vehicle;
The fourth factor is the steering control circuit diagram. (7+, (7')...Pickup coil, (1k)...Servo arp, 021...
... Addition circuit, (+31... Comparison circuit.

Claims (1)

[Claims] A pair of left and right pickup coils (7) attached to the vehicle body,
A similar unmanned vehicle is equipped with a servo amplifier (l) that outputs a control signal to perform automatic steering control so that the difference between the induced voltage (VR) and (VL) of (τ) becomes zero. In the automatic steering control system, an adder circuit (a) which generates a voltage (■) which is the sum of the induced voltages (Vi) and (Vt) of the two pickup coils (7) and (τ) is connected to the two pickup coils (7) and (τ). 7), (7') The servo amplifier IQ (connected between the signal circuits to Comparison circuit to output (I:4 to the adder circuit H
and a voltage source, and is configured to input the control signal outputted from the comparator circuit to the servo amplifier as its gain control signal. 〇