JP2000293227A - Travel vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel vehicle where the types of sensors can be reduced, a processing circuit can be simplified and cost can be reduced. SOLUTION: A travel vehicle 10 having a travel driving source is provided with plural laser distance meters 15A and 15B measuring a distance to a guiding person 1 guiding the travel vehicle 10 and a controller controlling the speed and the steering of the vehicle 10 based on detected distances Lr and Ll. The two laser distance meters 15A and 15B specify the relative position of the guiding person 1 against the travel vehicle 10 and the controller controls the speed and the steering of the vehicle 10 in accordance with the relative position. Thus, the travel vehicle 10 can be travel-controlled by making it follow the guiding person 1. Only a measuring means measuring the distance is installed in the travel vehicle 10 and an angle detector is not required to be installed. Thus, a processing circuit can be simplified and cost is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle,
In particular, the present invention relates to a vehicle that can travel following a derivative of a human or the like outside the vehicle without the need for a person to directly drive in the vehicle.

[0002]

2. Description of the Related Art When moving a vehicle, a driver usually has to concentrate on the operation of driving the vehicle. However, if the driver can follow an instructor outside the vehicle, It is convenient because there is no need to concentrate on driving work. Japanese Patent Application Laid-Open No. 9-58 is an example of such a vehicle that follows humans.
There is an unmanned electric vehicle described in Japanese Patent No. 486. This transport vehicle detects the pull-out length and pulling direction of a cord-like body extending forward or backward from the transport vehicle, and controls the start / stop of the traveling motor and the rotation speed according to the pull-out length, and the pulling direction. The steering is controlled according to.

[0003]

However, in this unmanned electric vehicle, two objects having different types of pull-out length and pulling direction of the string must be measured. Two types of sensors, such as an angle detector for measuring the pulling direction, must be provided, and the processing circuit for processing those data to control each motor and steering wheel becomes complicated, resulting in cost reduction. Is also high.

An object of the present invention is to provide a traveling vehicle in which the number of types of sensors can be reduced, the processing circuit can be simplified, and the cost can be reduced.

[0005]

According to the present invention, there is provided a traveling vehicle having a driving source for traveling, a plurality of distance measuring means for measuring a distance to a derivative for guiding the traveling vehicle, A traveling vehicle comprising traveling control means for controlling the speed and steering of the vehicle based on each of the distances detected by each of the distance measuring means.

According to the present invention, the distance from each of the distance measuring means to the derivative such as a guide is measured by a plurality of, ie, at least two distance measuring means provided on the traveling vehicle. Since the distance between each distance measuring means is fixed,
The relative position of the derivative with respect to the traveling vehicle (the position of the derivative in the front-rear direction and the position in the left-right direction with respect to the distance measuring means) is specified by the plurality of distance data. Then, by controlling the speed and steering of the vehicle by the traveling control means in accordance with the relative position, the traveling vehicle can be controlled to travel following the derivative. In this case, the traveling vehicle only needs to be provided with a measuring means for measuring the distance, and there is no need to provide an angle detector as in the related art, so that the processing circuit can be simplified and the cost can be reduced. Especially, like tracked vehicles and skid steer type wheeled vehicles, left and right crawler (crawler)
For example, in a vehicle that can independently drive wheels and wheels, two distance measuring means are provided on the left and right of the vehicle, and the left and right crawlers and wheels are controlled using the distance data detected by these distance measuring means. The traveling control process can be performed very easily.

According to a second aspect of the present invention, in the traveling vehicle according to the first aspect, the distance measuring means is constituted by non-contact type sensors provided at two right and left locations on the front of the traveling vehicle, and the traveling control means is provided. Is a traveling vehicle that controls the speed and steering of the traveling vehicle based on each of the left and right distances to the derivative detected by each non-contact sensor. According to the present invention, the traveling vehicle can be controlled according to each distance to the derivative, that is, the position of the derivative in the front-rear direction and the position in the left-right direction with respect to the front of the vehicle, so that the vehicle follows the derivative (guide) in front of the traveling vehicle. , And the vehicle can be guided while the guider confirms the course.

According to a third aspect of the present invention, in the traveling vehicle according to the first aspect, the distance measuring means is constituted by non-contact sensors provided at two right and left locations on a rear surface of the traveling vehicle, and the traveling control means is provided. Is a traveling vehicle that controls the speed and steering of the traveling vehicle based on each of the left and right distances to the derivative detected by each non-contact sensor. ADVANTAGE OF THE INVENTION According to this invention, a vehicle can be made to run ahead, maintaining a fixed space | interval with respect to the derivative | guide (guide | guidance person) behind a driving | running vehicle. Can be induced. Also,
Since the guide is not located in the traveling direction of the vehicle, the vehicle can be guided more safely.

According to a fourth aspect of the present invention, in the traveling vehicle according to the first aspect, the distance measuring means is constituted by contactless sensors provided at two front and rear positions in a traveling direction on a side surface of the traveling vehicle. The control means controls the speed and steering of the vehicle according to the position in the front-rear direction and the position in the left-right direction of the derivative with respect to the side of the vehicle detected based on each distance to the derivative detected by each non-contact sensor. A traveling vehicle characterized by the following. According to the invention,
The vehicle can be caused to travel along with the derivative (guider) on the side of the traveling vehicle, and the guider can guide the vehicle while checking the state and course of the traveling vehicle. Also,
Since the guide is not located in the front-rear direction of the vehicle, the vehicle can be guided further safely.

According to a fifth aspect of the present invention, in the traveling vehicle according to the first aspect, the distance measuring means is provided with two wires provided so as to be able to be pulled out from two places on the front surface of the traveling vehicle to the conductor. And a length detector capable of measuring the amount of pull-out of the wire, wherein the travel control means obtains each distance to the derivative by the amount of pull-out of each wire, and is detected based on each distance to this derivative. A traveling vehicle, wherein the speed and the steering are controlled in accordance with the position in the front-rear direction and the position in the left-right direction of the derivative with respect to the front of the vehicle.

According to the present invention, it is possible to reliably detect the position of the guide by merely attaching one end of each of the two wires to the guide. Therefore, compared to the case of using a non-contact type sensor such as an ultrasonic sensor, a laser radar, a millimeter wave sensor, etc., it is affected by a difference in sensitivity due to a relative distance between the vehicle and the guide, and by weather conditions such as drizzle. Without this, the derivative can be reliably detected.

On the other hand, when a non-contact type sensor such as an ultrasonic sensor according to the second to fourth aspects is used, it is not necessary to attach a wire or the like to the guide, so that a relative load is not applied to the guide. The position can be detected.

The above-mentioned "wire" means an elongated rope, and its material may be any material such as metal, synthetic resin, cloth and the like.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. Here, the same or corresponding components in each embodiment are denoted by the same or corresponding reference numerals, and the description is omitted or simplified. In the present specification, the right side of the vehicle in the normal traveling direction of the vehicle is referred to as the front, the opposite side thereof is referred to as the right side, and the opposite side is referred to as the left side.

FIG. 1 to FIG. 5 show a traveling vehicle 10 according to a first embodiment of the present invention. In these drawings, a traveling vehicle 10 includes a vehicle body 11 including a frame, a cover, and the like, and a pair of crawler tracks (crawlers) 12A and 12B as a traveling mechanism on both lower left and right sides of the vehicle body 11.

As shown in FIGS. 2 and 3, a non-contact sensor as a distance measuring means is used to move a laser beam within a predetermined left and right angle range α at two places on the front left and right ends of the traveling vehicle 10. While scanning, and receiving reflected light from a guide (object to be measured) 1, which is a derivative, to detect a distance D1 to the guide 1 and scan-type laser rangefinders 15A and 15B.
Are provided respectively. This laser rangefinder 15A,
In 15B, when the guide 1 (reflector) is present in the scan range, as shown in FIG. 4, the distance is detected to be shorter than the background (the portion where no reflector exists), and the presence or absence of the reflector and It is configured such that the distance D1 to the distance can be easily detected.

As shown in FIG. 5, the traveling vehicle 10 is provided with a fluid pressure (hydraulic) motor as a driving source for driving the crawlers 12A and 12B, that is, on the left and right sides of the crawler belt driving motor. Are the left and right crawlers 12
Left and right actuators 13A, 13 each composed of a speed reducer, a brake device, etc. for individually moving A, 12B back and forth.
B and a control device 14 which is a running control means for controlling the motor and the actuators 13A and 13B. Thereby, the crawler belts 12A, 12B are driven by the fluid pressure (oil pressure) generated by the vehicle drive pump via the crawler drive motors and the actuators 13A, 13B.
Are driven left and right independently.

Here, the control device 14 calculates the distance Lr to the guide 1 detected by each of the laser rangefinders 15A and 15B.
Based on a function f that determines the relationship between Ll and the velocities Vr, Vl of the crawlers 12A, 12B, each actuator 13
A and 13B are configured to be controlled. That is, the control device 14 determines that Vr = f (Lr) and Vl = f (L
1) is controlled.

When the distance L is small, for example, as shown by a solid line 21 in FIG.
When the distance L exceeds the lower limit value, the speed V increases in proportion to the distance L. When the predetermined upper limit speed is reached, the speed V is kept constant even if the distance L increases. Is set to stop at a speed of 0 when the value exceeds the upper limit. However, the setting of this function f is shown in FIG.
Not only the solid line 21 but also can be set appropriately according to the characteristics of the vehicle 10. For example, as shown by the one-dot chain line 22 in FIG. 6, when the distance L is small, the speed V increases slowly, and when the distance L increases to some extent, the speed increases gradually. Alternatively, as shown by the two-dot line 23, the speed V may be set to increase sharply when the distance L is small, and set to be gradual when the distance L increases to some extent.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG. The guide 1 that guides the traveling vehicle 10 first turns on the movement following mode of the traveling vehicle 10 and starts guidance control. In addition, as the traveling mode of the traveling vehicle 10, a remote control mode, a teaching playback mode in which a traveling route or the like is taught, and then the vehicle is automatically operated on the learned route, and the like are appropriately provided. Note that this mode switching is performed by an external wireless remote control operation or the like.

The guide 1 waits in front of the traveling vehicle 10 as shown in FIGS. At this time, it is determined in step 1 whether the movement following mode is ON, and if it is ON, in step 2, the distances Lr, L to the guide 1 are determined by the laser distance meters 15A, 15B.
l is measured.

Next, in step 3, the control device 14
Determines whether each measurement distance Lr, Ll exceeds the lower limit or the upper limit. Here, when the guide 1 is waiting near the traveling vehicle 10 and the measured distances Lr and Ll are in the dead zone equal to or less than the lower limit, the traveling vehicle 10 is maintained in a stopped state (step 8). ).

On the other hand, if at least one of the measured distances Lr, Ll is between the lower limit and the upper limit, the braking amounts of the left and right crawlers 12A, 12B are determined in step 4 using the function f. You. Then, in step 5, the left and right crawler actuators 13A and 13B are driven by the velocities Vr and Vl obtained by the function f, and the vehicle 10 travels (step 6).

Steps 1 to 6 are repeated until no emergency stop command is issued from the guide 1 or the like.
0 is controlled. Here, if the respective measurement distances Lr, Ll are the same length, as shown in FIG. 8, Vr, Vl also have the same speed, and the traveling vehicle 10 goes straight. At this time, the speed of the traveling vehicle 10 is the function f of FIG.
It is set according to the size of r and Ll. At this time, the distance L
If the speed of the traveling vehicle 10 increases as the distance r, Ll increases, the distances Lr, Ll from the guide 1 decrease, and the traveling vehicle 1 again increases.
Since the speed of 0 is reduced, the traveling vehicle 10 travels at a speed equivalent to the traveling speed of the guide 1 and follows the guide 1 while keeping a certain distance.

When the guide 1 moves to the left or right, the speeds of the left and right crawlers 12A and 12B are different, so that the traveling vehicle 10 turns and goes straight when the distances Lr and Ll become the same. I do. That is, as shown in FIG. 9, when the guide 1 slightly moves to the left with respect to the center line of the vehicle 10, each distance becomes Lr> Ll, so that the crawlers 12A and 12B also have Vr> Vl. Therefore, the vehicle 10 is controlled so as to travel straight while slightly turning to the left due to the speed difference, so that the distances Lr and Ll from the guide 1 are the same.

Similarly, as shown in FIG. 10, when the guide 1 largely moves to the right, the difference between the distances Lr and Ll, that is, the difference between the speeds Vr and Vl, also increases, and the traveling vehicle 10 also turns while making a larger turn. To run. In other words, even if the moving direction of the guide 1 suddenly changes, the change is not
The traveling vehicle 10 reliably and quickly follows the guiding direction of the guide 1 because it is reflected in the change amount of the speed control of A and 12B.

Further, as shown in FIG. 11, when the distance Lr from the guide 1 becomes equal to or less than the lower limit, the speed Vr becomes 0, so that only the left crawler 12B is driven and the traveling vehicle 10 makes a pivot turn. Perform and follow the guide 1.

Then, steps 1 to 7 are repeated, and the traveling vehicle 10 travels following the guide 1. Also, when the measured distances Lr and Ll exceed the upper and lower limits (step 3).
If an emergency stop command is issued (step 7), the traveling vehicle 10 stops (step 8). In addition, Guide 1
If the tracking mode is canceled by step (step 1),
Following control is also terminated.

According to the above-described embodiment, the following effects can be obtained. (1) In the present embodiment, the distances Lr and Ll to the guide 1
Are provided, and the control device 14 that controls the speeds of the crawlers 12A and 12B of the traveling vehicle 10 based on the measured distances Lr and Ll is provided. It can be controlled to follow the guide 1. In this case, the traveling vehicle 10 does not need to be provided with an angle detector as in the related art, and may be provided with the laser distance meters 15A and 15B for measuring the distance, that is, one type of sensor, and the cost can be reduced accordingly. . Further, since only the length data needs to be processed, the control device 14 can be simplified and the price can be reduced.

(2) The speed Vr of the right crawler 12A is controlled only by the distance Lr measured by each of the laser rangefinders 15A and 15B, and the speed Vl of the left crawler 12B is controlled only by the distance Ll. 14 can be further simplified, and the traveling of the traveling vehicle 10 can be easily controlled.

(3) The position of the guide 1 is detected by each of the laser rangefinders 15A and 15B provided at two places on the front surface of the travel vehicle 10. If the guide 1 walks, the travel vehicle 10 will follow. Therefore, the guide 1 can guide the traveling vehicle 10 while checking the course ahead.

(4) Non-contact type laser distance meter 15A, 1
5B is used to measure the distance to the guide 1, and the guide 1 only needs to be within the scan range of the laser rangefinders 15A and 15B. In addition, the relative position of the traveling vehicle 10 can be easily detected.

(5) Since the traveling vehicle 10 can run following the movement of the guide 1, the operation of the unmanned traveling vehicle 10 can be performed very easily as compared with remote control or the like. The operation can be performed very easily, for example, when teaching a traveling route to the vehicle.

Next, a second embodiment of the present invention will be described. In the present embodiment, as shown in FIGS. 12 to 14, instead of the laser rangefinders 15A and 15B of the first embodiment, wires 30A and 30B and wires 30A and 30B are used.
A line length detecting device 31A for measuring the amount (line length) of drawing B,
The only difference is that a cabled sensor consisting of 31B is used.
Other configurations are the same as those of the first embodiment.

Each line length detecting device 31A, 31B
As shown in FIG. 1, the rotary drum 32 is provided with a rotary drum 32 around which one ends of the wires 30A and 30B are wound, and a rotation detector (encoder, potentiometer, etc.) (not shown) provided on a shaft of the rotary drum 32. The rotating drum 32 always has wires 30A, 3
A force Fi that engulfs OB is applied. Then, when a feeding force Fo larger than the winding force Fi is applied to each of the wires 30A and 30B, each of the wires 30A and 30B.
30B is fed from each of the line length detecting devices 31A and 31B, and the feeding length is detected based on the rotation amount of the rotating drum 32 at that time.

In the present embodiment, the wires 30A and 30B are connected to the guide 1 by hanging hooks provided on the wires 30A and 30B on the belt and the like of the guide 1. When the guide 1 starts to move, a force Fo larger than the Fi is applied, and the wires 30A and 30B are paid out. Then, the distances Lr and Ll to the guide 1 are detected by the respective line length detecting devices 31A and 31B based on the feeding amount at that time.

Then, the controller 14 controls the actuators 13A and 13B based on the distances Lr and Ll measured by the line length detectors 31A and 31B, respectively, and similarly to the first embodiment, the crawlers 12A and 12B. Is the distance Lr,
The driving vehicle 10 is driven at the speeds Vr and Vl in accordance with Ll.
Runs following the guide 1.

In this embodiment as well, only the distances Lr and Ll to the guide 1 are determined by the line length detectors 31A and 31A.
By measuring at 1B, the traveling vehicle 10 can be controlled so as to follow the guide 1, so that the configuration of the control device 14 and the like can be simplified, the cost can be reduced, and guidance can be performed while checking the course ahead. Thus, the effects of (1) to (3) and (5) of the first embodiment, in which the guiding operation is simple, can be achieved.

(6) In addition, compared with the case of using a non-contact type sensor such as an ultrasonic sensor, a laser radar, a millimeter wave sensor, etc., there is a difference in sensitivity due to the relative distance between the vehicle 10 and the guide 1 and a drizzle. Without being affected by weather conditions such as
Even in such a case, the vehicle 10 can be reliably guided. In addition, a non-contact type sensor such as a laser beam or an ultrasonic wave may erroneously detect that there is an operator other than the guider 1. However, care must be taken so that other workers do not approach a certain range. However, if the physical wires 30A and 30B are used as in the present embodiment, the guide 1 is reliably identified. As a result, erroneous detection can be reliably prevented. Furthermore, since a laser, an ultrasonic wave, or the like is emitted to a long distance, it is easily detected by a third party, but there is an advantage that a barbed sensor is not detected by a third party.

Next, a third embodiment of the present invention will be described. This embodiment is different from the second embodiment in that the wire 30
A, 30B and a cable length sensor composed of the wire length detectors 31A, 31B, instead of a spring sensor 3 as shown in FIG.
6 except for the use of a measureable sensor comprising a wire (wire) 35 having a 6 and a tension detecting unit 37 for measuring a tensile force Fo applied to the wire 35, and the other configuration is the same as that of the second embodiment. It is.

That is, in the second embodiment, the length (extending amount) of the wires 30A and 30B connecting the guide 1 and the vehicle 10 is directly measured, and the guide 1 and the vehicle 1 are measured.
Although the distances Lr and Ll between 0 are measured, in the present embodiment, the tension applied to the wire 35 is detected, and the length is indirectly determined based on the relationship between force and length known as Hook's law. Is to ask for. According to Hook's law, when the tensile force Fo and the extension amount L of the spring are represented by Fo = kL, that is, the tensile force Fo and the extension amount L are in a proportional relationship. Therefore, by detecting the pulling force Fo by the tension detecting unit 37, the extension amount L, that is, the distance between the guide 1 and the vehicle 10 can be indirectly detected, and each crawler 12A controlled in proportion to the distance can be detected. , 12B.

Accordingly, in the present embodiment, as shown in FIG. 16, each of the left and right tensions is detected by each of the tension detecting sections 37 provided on the left and right of the vehicle 10, and the control device 14 determines each of the left and right tensions in accordance with the tension. The actuators 13A and 13B are driven to control the crawlers 12A and 12B at a predetermined speed. Note that the function used when converting the tension into the crawler speed by the control device 14 is such that the tension is proportional to each distance,
The function f of the embodiment can be used as it is.

In this embodiment as well, the wire 35 is connected to the guide 1 by hanging a hook provided on the wire 35 on the belt or the like of the guide 1. And
When the guide 1 starts moving, the pulling force Fo is applied, and the spring portion 36 is extended. Then, the control device 14 controls each of the actuators 13A and 13B based on the tension at that time, and similarly to each of the above-described embodiments, each of the crawlers 12A and 1B.
2B is driven at the speeds Vr and Vl according to the tension (values proportional to the distances Lr and Ll), and the traveling vehicle 10 travels following the guide 1. Note that the present embodiment is effective only within the range of the Hooke's law, so that the range in which the guide 1 can move with respect to the traveling vehicle 10 is limited to some extent as compared with the second embodiment.

In this embodiment as well, the effects (1) to (3), (5) and (6) of the above embodiments can be obtained.

(7) In addition, since the tension detector 37 can be easily reduced in size and inexpensive as compared with the wire length detectors 31A and 31B, it can be easily incorporated into the traveling vehicle 10 and the price can be further reduced. Easy.

Next, a fourth embodiment of the present invention will be described. In each of the above embodiments, since each sensor is provided on the front surface of the traveling vehicle 10, the guide 1 is configured to be guided in front of the traveling vehicle 10. As shown in FIG. 18 and FIG. 18, the sensor is mounted on the rear surface of
And is configured to be guided behind.

As shown in FIGS. 17 and 18, scan-type laser rangefinders 15A and 15A which detect the distance to the guide 1 are provided at two places on both left and right ends of the rear surface of the traveling vehicle 10 as shown in FIGS. 15B are provided.

As in the above embodiments, the control device 14 controls the speeds of the crawlers 12A and 12B based on the distances Lr and Ll to the guide 1. However,
Since the guide 1 is behind the traveling vehicle 10, the speed control law is different from that of the above embodiment, and the function f1 as shown in FIG.
Is controlled based on the That is, initially, the guide 1
When the user is sufficiently away from the traveling vehicle 10 and more than the upper limit, the traveling vehicle 10 is set to the guidance mode by remote control operation or the like. Thereafter, when the guide 1 approaches the traveling vehicle 10 and the distance from the traveling vehicle 10 becomes shorter than the upper limit, the traveling vehicle 10 starts moving forward.

When the guide 1 approaches the traveling vehicle 10, V = f1 (L) gradually increases. Therefore, the speed of the traveling vehicle 10 increases, and the distance L increases as the traveling vehicle 10 moves away from the guide 1. Controlled. As a result, when the distance increases, the speed V decreases again.
, The traveling of the traveling vehicle 10 is controlled while maintaining a constant interval with respect to the guide 1. Further, when the guide 1 suddenly approaches the traveling vehicle 10, the speed of the traveling vehicle 10 is rapidly decreased, and when the guidance person 1 further approaches, the traveling vehicle 10 is stopped.

The above control is performed by the left and right crawlers 12.
A and 12B are performed independently, so that the traveling vehicle 10 is steered along with the movement when the guide 1 moves left and right as in the above-described embodiments. Specifically, for example, when the guide 1 moves to the right, the distance Lr decreases and the distance Ll increases, so that the speed Vr of the right crawler 12A increases and the speed Vl of the left crawler 12B decreases. Accordingly, the traveling vehicle 10 is steered to the left, and is controlled such that the guide 1 is positioned on the central axis of the traveling vehicle 10.

When the guide 1 is initially in the position immediately after the traveling vehicle 10 and enters the guidance mode, the traveling vehicle 10 travels once at a constant speed as indicated by a dotted line 41 in FIG. Then, control may be performed such that the control mode is shifted from the guide 1 to a control mode using the function f1 after exceeding the upper limit value or after a predetermined distance.

In this embodiment, the same effects (1) to (5) as in the first embodiment can be obtained. That is, also in the present embodiment, the guide 1
Laser distance meters 1 for measuring distances Lr and Ll to
5A and 15B, and the control device 14 for controlling the speed of each crawler 12A and 12B of the traveling vehicle 10 based on each of the measured distances Lr and Ll. It can be controlled so as to move only at a distance.

(8) In addition, since the guide 1 can be guided behind the traveling vehicle 10, the guide 1 can guide the vehicle 10 while easily checking the state of the traveling vehicle 10. Further, since the guide 1 is not located in the traveling direction of the vehicle 10, the vehicle 10 can be guided more safely.
In particular, when the state ahead of the traveling direction, such as at night or in an unknown place, cannot be grasped, since the vehicle 10 is moving first, the guide 1 can easily move while watching the state of the vehicle 10.

Next, a fifth embodiment of the present invention will be described. In the present embodiment, as shown in FIG. 21, each sensor is provided near the front and rear ends in the traveling direction on the side surface of the traveling vehicle 10, and the guide 1 is located at the side of the traveling vehicle 10 and guides. Have been. In the present embodiment, the control device 14 determines the distances Lr and Ll to the guide 1 detected by the respective laser distance meters 15A and 15B,
The actuators 13A and 13B are configured to be controlled based on a function that determines the relationship between the speeds A and 12B of the actuators 13A and 13B.

Specifically, the control device 14 controls the traveling vehicle 1
The speed of 0 is controlled by a function f2 shown in FIG. 22, and the steering amount is controlled by a function f3 shown in FIG. That is, the speed a of the traveling vehicle 10 is increased by the function f2 such that the speed is increased (acceleration plus) when Ll> Lr, and decelerated (acceleration minus) when Ll <Lr.
(L1−Lr). That is, the traveling speed of the guide 1 becomes faster than that of the traveling vehicle 10 and the traveling vehicle 10
Moving forward, the speed of the traveling vehicle 10 is increased because Ll becomes larger than Lr. Then, as the speed of the traveling vehicle 10 increases, the traveling speed of the traveling vehicle 10 approaches the traveling speed of the traveling vehicle 10, and the traveling distance of the traveling vehicle 10 is approximately (L1−Lr).
When <La1), the acceleration becomes zero. As a result, the traveling vehicle 10 moves accompanying the guide 1 at substantially the same speed. When the relative position of the guide 1 with respect to the traveling vehicle 10 increases and the value of L1−Lr becomes La2 or more,
The acceleration is kept constant and controlled so as not to cause a sudden increase in speed. Further, when the value of L1−Lr is equal to or greater than La3, the acceleration is set to 0, and further, the traveling vehicle 10
Is set so that the speed does not increase.

On the other hand, the traveling speed of the guide
When the vehicle moves backward with respect to the traveling vehicle 10 at a later time, Ll becomes smaller than Lr, so that the speed of the traveling vehicle 10 is reduced. Due to this deceleration, the traveling speeds of the traveling vehicle 10 and the guide 1 approach each other, and when the guide 1 becomes close to the side of the traveling vehicle 10 (L1−Lr> La4), the acceleration becomes 0. They move together at the same speed. Further, as in the case of the speed increase, when the value of Ll-Lr becomes La5 or less, the acceleration is made constant, and Ll-Lr is made constant.
When the value of Lr is equal to or less than La6, the acceleration is set to 0, and the speed of the traveling vehicle 10 is set so as not to decrease further. In addition, when the guide 1 is located almost right beside the traveling vehicle 10 and is in the range of La4 <L1−Lr <La1, even if the guide 1 moves slightly back and forth with respect to the traveling vehicle 10, the traveling So that the vehicle 10 can move forward at a constant speed,
A dead zone with zero acceleration is provided. When the guide 1 is far away from the traveling vehicle 10, the traveling follow mode may be terminated and the traveling vehicle 10 may be stopped.

The steering amount is controlled by f3 (L1 + Lr). Specifically, when L1 + Lr> Lt1, the steering wheel is steered to the right and L1 + Lr <Lt2 (in this case, Lt2 <Lt
In the case of 1), the steering wheel is steered to the left. That is, if the guide 1 moves to the right while the guide 1 is on the right side in the traveling direction of the traveling vehicle 10, the distance between the traveling vehicle 10 and the guide 1 increases, so that L1 + Lr increases. Thereby, the traveling vehicle 1
At 0, a pointer for right steering is obtained, so that the traveling vehicle 10 approaches the guide 1 and is controlled so that the distance between the travel vehicle 10 and the guide 1 is constant.

On the other hand, when the guider 1 moves to the left, the distance between the traveling vehicle 10 and the guider 1 becomes shorter, so that L1 + Lr
Becomes smaller. As a result, a pointer for left steering is obtained for the traveling vehicle 10 and the traveling vehicle 10 tends to move away from the guide 1, so that the distance between the travel vehicle 10 and the guide 1 is controlled to be constant. Note that Lt1> Ll + Lr> Lt2
In the case of, the dead zone is set so that the traveling vehicle 10 can go straight as it is even if the guide 1 moves to the left and right to some extent.

In this embodiment as well, the effects (1) to (5) of the above embodiments can be obtained. (9) In addition, since the vehicle 10 can travel along with the guide 1 on the side of the travel vehicle 10, the guide 1 checks the state and the course of the travel vehicle 10 while checking the vehicle 10.
Can be induced. Further, since the guide 1 is not located in the front-rear direction of the vehicle 10, the vehicle 10 can be guided more safely.

The present invention is not limited to the above embodiments, but includes modifications and improvements as long as the object of the present invention can be achieved.

For example, in the first, fourth and fifth embodiments, the laser rangefinders 15A and 15B are used as the non-contact type sensors, but an ultrasonic sensor, a millimeter wave sensor or the like may be used. Each of these sensors may perform scanning similarly to the laser rangefinders 15A and 15B. However, in the case where a sensor capable of detecting a certain range such as an ultrasonic sensor is used, it is not necessary to perform scanning. Good.

As a distance measurement by a non-contact type sensor,
Distance measurement by a stereo method using a CCD camera may be used.
In this case, two or more CCD cameras
The distance to the guide 1 can be derived by installing stereo distance measurement at each of the left and right front sides of the front panel 0 and performing image processing on the measured distance image.

In the fourth embodiment in which the vehicle is guided behind the vehicle 10 and the fifth embodiment in which the vehicle is guided laterally, the wires 30A and 30A of the second and third embodiments are used instead of the non-contact sensor.
A corded sensor having a wire 35 having a 30B or a spring portion may be used.

These non-contact type sensors and cabled sensors are:
There may be a plurality, that is, at least two or more, and the number may be appropriately set in implementation. For example, two vehicles may be provided on each of the front, rear, and side surfaces of the vehicle 10.

Further, the distance measuring means for measuring the distance between the traveling vehicle 10 and the guide 1 is not limited to those of the above-described embodiments. For example, a guide radio wave is transmitted from the guide 1 and the radio wave is transmitted. Each distance may be measured based on the time required to reach a plurality of receivers provided on the traveling vehicle 10. In other words, the distance may be measured from at least two points of the traveling vehicle 10 to the guide 1. I just need. In particular, when a non-contact sensor is used, the traveling vehicle 1
When there are a plurality of people around 0, the guide 1 is specified. In order to reflect the laser light from the sensor more strongly, a reflector or the like is provided only for the guide 1 so that the guide 1 is distinguished from others. For example, a marker or the like may be provided. However, even without such a marker, it is set so that an object other than the guide 1 does not approach the traveling vehicle 10 or a laser beam or the like is locked to the guide 1 so that only the vicinity of the guide 1 is scanned. By doing so, the guide 1 may be reliably detected.

In the first to third embodiments, the guide 1 in front of the traveling vehicle 10 guides the traveling vehicle 10 to move forward. In the fourth embodiment, the guide 1 is located behind the traveling vehicle 10. Although the person 1 has been guided to advance the traveling vehicle 10 ahead, for example, the control mode of the fourth embodiment is incorporated in the first to third embodiments,
By incorporating the control modes of the third embodiment into the fourth embodiment and enabling each mode to be switched, in each embodiment, the traveling vehicle 10 may be allowed to not only move forward but also move backward. Specifically, first to third
In the embodiment, if the control rule of the fourth embodiment is applied by mode switching, the traveling vehicle 10 can be moved backward by the guide 1 approaching the traveling vehicle 10. Conversely, in the fourth embodiment, if the control rules of the first to third embodiments are applied by mode switching, the traveling vehicle 10 can be moved backward by moving the guide 1 away from the traveling vehicle 10.

Further, in the fifth embodiment, for example, as shown in FIGS.
When the speed is in the range of Ls1, the traveling vehicle 10 is stopped with the speed set to 0, moves forward when the speed is equal to or higher than Ls1, and moves backward when the speed is equal to or lower than Ls2 (in FIG. 25, the speed in the forward direction is plus, and May be set so that the vehicle can move forward and backward without mode switching.

Similarly, in the first to fourth embodiments as well, the traveling vehicle 10 may be moved forward and backward based on the position of the guide 1 in the front-back direction (for example, it can be detected by L1 + Lr). For example, when the guide 1 is in front of the traveling vehicle 10, and when the guide 1 is separated by a predetermined distance or more, the control is performed such that the traveling vehicle 10 is moved forward and the speed is increased as the distance increases. And within a predetermined distance,
The traveling vehicle 10 may be controlled to reverse, and the reverse speed may be increased as the distance decreases. As described above, if not only forward control but also reverse control is set according to the position of the guider 1, forward / backward control can be performed without mode switching.

In the first to fourth embodiments,
As in the fifth embodiment, a dead zone where steering is not performed may be provided between left steering and right steering. Specifically, Ll-
If Lr is within the predetermined range, the vehicle is allowed to go straight (reverse) without performing steering, and if it is more than that, it may be set to perform left steering or right steering.

The derivative is not limited to the guide 1, but may be, for example, a small four-wheel drive vehicle or another thing such as a horse. The traveling vehicle 10 is not limited to a tracked vehicle, but may be a skid steer type wheeled vehicle or the like. Furthermore, the present invention is not limited to vehicles that can independently drive the left and right crawlers and wheels, such as tracked vehicles and skid steer type wheeled vehicles, and may be applied to general four-wheel vehicles having drive wheels and steering wheels. Good.

[0071]

According to the present invention, a plurality of distance measuring means for measuring a distance to a derivative for guiding a traveling vehicle, and the speed and steering of the vehicle are determined based on the distances detected by the distance measuring means. Since the traveling control means for controlling the vehicle is provided to guide the traveling vehicle, the type of sensor can be reduced, the processing circuit can be simplified, and the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a side view showing a first embodiment of a traveling vehicle according to the present invention.

FIG. 2 is a schematic plan view in the first embodiment.

FIG. 3 is a plan view showing a laser distance meter according to the first embodiment.

FIG. 4 is a graph showing detection data of the laser distance meter according to the first embodiment.

FIG. 5 is a block diagram showing traveling control means in the first embodiment.

FIG. 6 is a graph showing a control function used in the control device according to the first embodiment.

FIG. 7 is a flowchart illustrating processing of a control device according to the first embodiment.

FIG. 8 is a schematic plan view illustrating an example of a guidance state according to the first embodiment.

FIG. 9 is a schematic plan view illustrating an example of a guidance state according to the first embodiment.

FIG. 10 is a schematic plan view illustrating an example of a guidance state according to the first embodiment.

FIG. 11 is a schematic plan view illustrating an example of a guidance state according to the first embodiment.

FIG. 12 is a schematic plan view showing a second embodiment of the traveling vehicle according to the present invention.

FIG. 13 is a schematic diagram illustrating a line length detection device according to a second embodiment.

FIG. 14 is a block diagram illustrating traveling control means according to the second embodiment.

FIG. 15 is a schematic view showing a barbed sensor of a traveling vehicle according to a third embodiment of the present invention.

FIG. 16 is a block diagram illustrating traveling control means according to a third embodiment.

FIG. 17 is a schematic plan view showing a fourth embodiment of the traveling vehicle according to the present invention.

FIG. 18 is a plan view showing a laser distance meter according to a fourth embodiment.

FIG. 19 is a graph showing a control function used in the control device according to the fourth embodiment.

FIG. 20 is a graph showing another example of the control function used in the control device according to the fourth embodiment.

FIG. 21 is a schematic plan view showing a fifth embodiment of the traveling vehicle according to the present invention.

FIG. 22 is a graph showing a speed control function used in the control device according to the fifth embodiment.

FIG. 23 is a graph showing a steering control function used in the control device according to the fifth embodiment.

FIG. 24 is a schematic plan view showing a traveling vehicle according to a modified example of the invention.

FIG. 25 is a graph showing a speed control function used in the control device in the modification of FIG. 24;

[Explanation of symbols]

 Reference Signs List 1 guider 10 running vehicle 11 vehicle body 12A, 12B crawler (crawler) 13A, 13B actuator 14 control device 15A, 15B laser distance meter 30A, 30B wire 31A, 31B wire length detecting device 32 rotating drum 35 wire 36 spring portion 37 tension Detector

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Shigeru Honda Shimonomiya 2612 Shinomiya, Hiratsuka-shi, Kanagawa F-term in the Technical Research Laboratory, Komatsu Ltd. 5H301 AA03 AA10 BB02 CC06 DD08 EE31 EE32 FF07 FF21 FF27 GG08 GG16 GG19 GG23 GG29 HH02 HH08 QQ08

Claims (5)

[Claims] 1. A traveling vehicle having a driving source for traveling, comprising: a plurality of distance measuring means for measuring a distance to a derivative that guides the traveling vehicle; A traveling control means for controlling the speed and steering of the vehicle based on the traveling vehicle. 2. The traveling vehicle according to claim 1, wherein said distance measuring means is constituted by contactless sensors provided at two right and left positions on the front of the traveling vehicle, and said traveling control means comprises: A traveling vehicle that controls the speed and steering of the traveling vehicle based on left and right distances to the derivative detected by the expression sensor. 3. The traveling vehicle according to claim 1, wherein the distance measuring means is constituted by non-contact sensors provided at two right and left positions on a rear surface of the traveling vehicle, and the traveling control means includes a contactless sensor. A traveling vehicle that controls the speed and steering of the traveling vehicle based on left and right distances to the derivative detected by the expression sensor. 4. The traveling vehicle according to claim 1, wherein the distance measuring means is constituted by non-contact sensors provided at two places in front and back of a traveling direction on a side surface of the traveling vehicle. Traveling, wherein the speed and steering of the vehicle are controlled in accordance with the position in the front-rear direction and the position in the left-right direction of the derivative with respect to the side of the vehicle detected based on each distance to the derivative detected by the non-contact sensor. vehicle. 5. The traveling vehicle according to claim 1, wherein the distance measuring means includes two wires provided so as to be able to be pulled out from two right and left locations on a front surface of the traveling vehicle and an amount of the wires pulled out. A length detector that can be measured, wherein the travel control means controls the speed and steering of the traveling vehicle based on each of the left and right distances to the derivative determined by the amount of each wire pulled out. Traveling vehicle.