JPS59231613A - Operation controller of electromagnetic induction type unmanned car - Google Patents

Abstract

PURPOSE:To decide on the destination of an unmanned car according to the combination of a mark for switching resonance frequencies of a sensor and the frequency of a tow bus wire by providing the mark for switching resonance frequencies of the sensor on detecting the arrival of the unmanned car to each connection part of each tow bus wire of the run line of the unmanned car. CONSTITUTION:Plural tow bus wires 1A-1C having different frequencies f1-f3 are arranged in combination to constitute the run line, and the unmanned car A is run along this run line. Steering and running wheels 3 are arranged at both breadthwise positions of the center part of the car body frame 2 of this unmanned car A, and driven wheels which are rotatable and freely directional are arranged both breadthwise positions of both front and rear side parts of the frame 2. Further, a follow-up sensor 5, mark sensor 9 which detects marks for magnetic absolute address indication provided to connection parts of the wires 1A-1C, receiver 10, and transmitter 11 are provided. Then, the arrival of the unmanned car A is detected and resonance frequencies of the sensor 9 are switched once the sensor detects a mark, thereby determining the destination according to the combination of the mark and the frequency of wires 1A-1C.

Description

Detailed Description of the Invention The present invention is an unmanned vehicle developed with the aim of unmanned work and labor saving in various fields such as the automobile industry, machinery industry, and electrical industry. is configured by appropriately combining and arranging a plurality of Tokupass wires with different frequencies, and the unmanned vehicle side detects the lateral displacement of the aircraft with respect to the traveling line determined by the Tokupass wires and moves the unmanned vehicle to the line. 11! A sensor for making the vehicle follow-up along the 11! l
This invention relates to an operation control device for an i1 guided unmanned vehicle.

As this type of operation control device for an unmanned vehicle, the applicant of the present application has previously developed and filed an application for one having the gist of the configurations described in the following u) and (b).

B) A sensor is installed on the unmanned vehicle side to measure the distance traveled from the starting position.

('J) On the ground side, there are multiple registration tables that set the destination of the unmanned vehicle based on the combination of the distance from the starting position of the unmanned vehicle to the connection point of each towpath wire and the frequency of each towpath wire, and A central processing unit is provided that provides the registration table to the unmanned vehicle as its destination instructions.

In the case of this prior application, the registration table that matches the request signal is selected from the registration table of the central processing unit based on the schedule request signal, and only the travel data of that registration table is stored in the unmanned vehicle. Although it has become possible to reduce the storage capacity of unmanned vehicles as much as possible, and reduce overall equipment costs, there are still the following problems.

That is, when the unmanned vehicle accumulates the distance traveled from the starting position and the accumulated distance matches the stored distance, the resonant frequency of the sensor is switched to control the operation of the unmanned vehicle in a predetermined direction. Therefore, slippage and wear marks on the running wheels may vary by 1< due to variations in the running characteristics of each unmanned vehicle.
There is a very high possibility that a difference will occur between the 11% travel distance and the cumulative travel distance, and once such a difference occurs, it is likely to cause various troubles in the operation control &C of the unmanned W.

The purpose of induced gA is to improve the above-mentioned operational control problems.

The electric current according to the present invention has been made to achieve this purpose.
The characteristic configuration of the operation control system of the il-guided unmanned vehicle is that each connection part of each towpath wire constituting the traveling line has a function for detecting an unmanned vehicle there and switching the resonant frequency of the sensor. Each mark is provided, and a plurality of registration tables are provided for setting the destination of an unmanned vehicle based on a combination of these marks and the frequency of each towpath wire, and these registration tables are used to determine the destination of the unmanned vehicle. It is equipped with a central processing unit that gives commands.

The functions and effects of the above characteristic configuration are as follows.0 <Operation> In the central processing unit on the ground side, multiple Of the destination data, only the destination data that matches the schedule reminder signal is given to the unmanned vehicle and stored in the BP, and the unmanned vehicle side switches the resonance frequency of the sensor based on the memorized destination data and mark detection signal. Since the operation is controlled, the desired operation control 1 such as branching, merging, going straight, etc. is actually carried out at a predetermined position on the travel line, regardless of the slippage or wear of the running wheels or the running characteristics of each unmanned vehicle. be able to.

<Effects> Therefore, it has been possible to accurately and reliably control the operation of unmanned vehicles while taking advantage of the advantages of the prior application in terms of equipment.

Hereinafter, embodiments of the configuration of the present invention will be described based on the drawings.

The traveling line as shown in Fig. 1, that is, the same wave number (f,
), (f,), (f,) are automatically tracked and controlled along a travel line constructed by appropriately combining and arranging a plurality of towpath wires (IA), (IB), and (IC) with different values. To configure an unmanned single-use vehicle for transporting cargo, as shown in No. 211, steering and running wheels i31*i are installed at both sides in the vehicle width direction at the front and rear center of the vehicle body frame (2).
3), and freely directional driven wheels f41 and 14+, which are rotatable around the vertical axis, are provided at both front and rear sides of the vehicle body frame (2) in the vehicle width direction.

Further, as shown in FIGS. 2 and 8, the towpath wires (IA) and (1B) are provided at the center in the width direction of the vehicle on both front and rear sides of the vehicle body frame (2), respectively.

The towpath wires (lA), (IB), (IC) so that the voltage difference between the left and right sides becomes zero based on the detection result of the tracking sensor (5) or (5). In other words, the variable speed drive motor i61 * te+ drive circuit +7 is individually linked to the steering and running wheels; 319 fil, so that the aircraft automatically follows the travel line.
A control arithmetic unit (8) using a microcomputer is provided to output a control signal to 1 m +71.

Next, in configuring the operation control device for such an electromagnetic induction type unmanned vehicle, when turning the unmanned vehicle, magnetic type Absolute address display mark (P,), (
A sensor (9) that detects P, )... and a receiver using a ferrite par antenna ( 10) and a transmitter 111+ using the above-mentioned @ one-way heat-conducting wire antenna.

On the other hand, on the ground side, as shown in FIGS. 3 and 4, there are pairs of the marks (P, ), (P,), etc. and the frequencies of the tokupath wires (LA), (IB), -. Combined grin,
From the home position (HP) created at a predetermined point #rVCW4 on the travel line to the desired station (S,), (
S, ) , (S,) to home position (HP )
A plurality of registration tables (Ta), (T
b)... and a transmitter (11
) to receive each fifI signal such as car number transmitted from the above-mentioned guidance radio line, and reception in each unmanned vehicle. Finger 4?Sends signals such as destination data and work data previously stored in the registration table (Ta)...
A central 6-processing device f121 is provided with an M function.

Based on the schedule request signal, the central controller 112+ extracts the number of an unmanned vehicle that is empty or is scheduled to become empty soon, and determines its destination station and route. Then, based on the determination, the corresponding preceding data is called from the registration table (1'a) and transmitted as a destination command into the unmanned vehicle.

On the unmanned vehicle L side, the destination command from the central controller 113 is stored in the internal memory (8A) of the control arithmetic unit (8). In this control calculation device (8), while automatically following the movement of the aircraft along the travel line, the detection signal of the mark detection sensor (9) and the internal memory (
8A) and the data signal stored in CPU (8A).
Calculated in B), the aircraft has arrived at the straight ahead position, branching position, and merging position according to the data! l! When the IJ is disconnected, corresponding control signals are output from the 110 boat (8C) to the resonant frequency switching device (141) of the tracking sensor (5).

By switching the resonance same wave number of this device fil +141,
The tracking sensor (5) is switched to one for the same predetermined wave number, and the aircraft is automatically controlled to follow along the new tokupath wire.

In addition, the desired station (S,), (S,) is located inside the unmanned vehicle.
.

When arriving at (S,), from the transmitter of that station or the transmitter fill in the unmanned vehicle,
An arrival signal is sent to 1121. In this central processing bag [+13], the unmanned vehicle number and the arrival station number are checked, and if they match, the order No. 18 for transfer and other required work is sent to the unmanned vehicle (~ or station, or both). When the finishing work is completed, a signal indicating this is sent to the central spooning device 1121.
Send to K.

The unmanned vehicle (AJ//''i) departs toward the next station or home position (HP).

In addition, the central processing bag [+121 vcFi, as mentioned above, the marks (P, ), (P,)-- and the frequencies (f,) of the respective tokupass wires (IA), (IB),...
Since multiple registration tables (Ta), (Tb), etc. are provided to set the destination of the unmanned vehicle IA1 by combinations of (f, )...7, registration tables ( This can be handled by simply writing and rewriting to Ta), (Tb), and so on.

[Brief explanation of the drawing]

The drawings show an embodiment of the electromagnetic induction type unmanned vehicle entrainment control device according to the present invention, and FIG. 1 is a schematic plan view of the traveling line, and FIG.
The figure is a plan view showing the running relationship of the Ganjinsha, Figure 8 is the operation control system diagram, and Figure 4 is the record table ((
This is a picture of Tomaga. Prisoner...Unmanned car, (P,), (P,)...
-Mark, (IA). (IB)...Tokupusu Wire, (6)...
...Sensor, (121...Central spoon device. Fig. 3 Fig. 4

Claims (1)

[Claims] The unmanned single running line is constructed by appropriately combining and arranging a plurality of special pass wires (IA), (IB), etc. having different frequencies, and each of the special pass wires (IA), (IB)... (IA), (IB)・A sensor (
6) the plurality of Tokupass wires (IA), (IB)
An electromagnetic iW heat conduction unmanned vehicle operation control device that is provided in a state that can switch to a plurality of resonant frequencies i corresponding to...
A), (IB) ”- connection husband kTlc to there 7
For detecting the arrival of an unmanned vehicle and switching the resonant wave number of the sensor (5)! -ri(P,), CP,)-・force;
These marks (P, ), (P, ) are provided respectively.
It has a plurality of registration tables that set the destination of an unmanned vehicle by combining the frequencies of the Tokupass wires (IA), (IB), etc., and these registration tables Central processing bag given as destination command!
! Operation control device for electromagnetic induction unmanned vehicles equipped with fUZ.