Process for changing a running direction of an electromagnetically guided driverless vehicle

• US 4,486,694 A
• Filed: 05/20/1982
• Issued: 12/04/1984
• Est. Priority Date: 05/22/1981
• Status: Expired due to Fees

• Current Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Original Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Inventors: Murata, Masanao, Ohba, Toshitsugu
• Primary Examiner(s): Dobeck, B.
• Application Number:
  US06/380,254
• Time in Patent Office: 929 Days
• Field of Search: 318/587, 318/575, 318/576, 318/580, 318/647, 318/53-55, 318/65, 318/9, 318/10, 364/424, 364/436, 180/6.5, 180/214, 180/216, 180/220
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

A process for changing a running direction of an electromagnetically guided driverless vehicle is provided which process is applicable to the vehicles of both a single conduction wire guided type and a two conduction, wires guided type. The vehicle has right and left drive wheels and independent drive motors for the respective wheels. The drive motor is controlled by a motor speed control drive to which steering signals from a route sensors are supplied. The route sensor also delivers an on-route signal to a steering control device which produces a speed setting signal, a steering signal on-off command, and a forward/reverse command for the right/left drive wheels to supply them to the motor speed control device. The process for changing the running direction of the vehicle is characterized in the method of driving the right and left wheels independently with each other forward and reverse according to the turning direction. The vehicle turns round from an old route to a new route at a turning point, thus making a turning radius smaller than that of a conventional curve turning.

Claims

1. A process for changing a running direction of an electromagnetically guided driverless vehicle, which is guided along a guide path comprising two parallel wire conductors, said guide path having at least one branch at a turning point, said turning point being located at the center of intersection of said branch and the main way of said guide path, said process being for use with a vehicle which includes right and left drive wheels rotatably mounted on said vehicle, axes of said drive wheels being in alignment with each other, right and left drive motors for driving said right and left drive wheels, respectively, right and left route sensors mounted on said vehicle for sensing magnetic fields induced by said wire conductors, said route sensors being disposed forwardly of said drive wheels and being disposed substantially in registry with said wire conductors, respectively, one output of said route sensors being used as a steering signal and as an on-route signal, and means responsive to said steering and on-route signals for controlling the direction and speed of rotation of each of said drive motors,

said process comprising the steps of:

deenergizing said right and left drive motors to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

subsequently driving said right and left drive motors to rotate said right and left drive wheels at the same speed in opposite directions, respectively, so that said vehicle moves angularly in the turning direction about a vertical axis passing through the middle point between said drive wheels;

subsequently detecting a first turn-off of said on-route signal;

subsequently detecting a first turn-on of said on-route signal;

subsequently detecting a second turn-off of said on-route signal;

subsequently detecting a second turn-on of said on-route signal; and

subsequently deenergizing said right and left drive motors to stop the angular movement of said vehicle, so that said vehicle can move along the guide path in the new direction.

2. A process as defined in claim 1 for use with said vehicle in which said control means includes a steering control device and a motor speed control device, said steering control device generating forward and reverse commands for determining the respective directions of rotation of said drive motors, a speed setting signal for setting the speeds of rotation of said drive motors and a steering signal on-off command for enabling said speed setting signal, said motor speed control device energizing said drive motors in accordance with said steering signal, forward and reverse commands, speed setting signal and steering signal on-off command,

said process further comprising the steps of:

(a) turning off said speed setting signal to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

(b) subsequently supplying said steering signal off command to said motor speed control device;

(c) subsequently supplying said forward command to said motor speed control device to enable one of said drive wheels to rotate in the forward direction in accordance with the turning direction of said vehicle and also supplying said reverse command to said motor speed control device to enable the other of said drive wheels to rotate in the reverse direction;

(d) subsequently supplying said speed setting signal to said motor speed control device, so that said vehicle moves angularly in said turning direction about a vertical axis passing through the middle point between said drive wheels;

(e) subsequently detecting a first turn-off of said on-route signal;

(f) subsequently detecting a first turn-on of said on-route signal;

(g) subsequently detecting a second turn-off of said on-route signal;

(h) subsequently detecting a second turn-on of said on-route signal; and

(i) subsequently turning off said speed setting signal to stop the angular movement of said vehicle, so that said vehicle can move along the guide path in the new direction.

3. A process for changing a running direction of an electromagnetically guided driverless vehicle according to claim 2, wherein said process further comprises a step of inhibiting a reception of said on-route signal during a predetermined time after the detection of each of said first turn-off, first turn-on and second turn-off in the steps (e), (f) and (g), respectively.

4. A process for changing a running direction of an electromagnetically guided driverless vehicle, which is guided along a guide path comprising a single wire conductor, said guide path having at least one branch at a turning point, said turning point being located at the point of intersection of the wire conductor corresponding to said branch and the wire conductor corresponding to the main way of said guide path, said process being for use with a vehicle which includes right and left drive wheels rotatably mounted on said vehicle, axes of said drive wheels being in alignment with each other, right and left drive motors for driving said right and left drive wheels, respectively, a route sensor mounted on said vehicle for sensing magnetic field induced by said wire conductor, said route sensor being disposed forwardly of said drive wheels and being disposed substantially in registry with said wire conductor, an output of said route sensor being used as a steering signal and as an on-route signal, and means responsive to said steering and on-route signals for controlling the direction and speed of rotation of each of said drive motors,

said process comprising the steps of:

deenergizing said right and left drive motors to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

subsequently driving said right and left drive motors to rotate said right and left drive wheels at the same speed in opposite directions, respectively, so that said vehicle moves angularly in the turning direction about a vertical axis passing through the middle point between said drive wheels;

subsequently detecting a turn-off of said on-route signal;

subsequently detecting a turn-on of said on-route signal; and

subsequently deenergizing said right and left drive motors to stop the angular movement of said vehicle, so that said vehicle can move along the guide path in the new direction.

5. A process for changing a running direction of an electromagnetically guided driverless vehicle as defined in claim 4 for use with said vehicle in which said control means includes a steering control device and a motor speed control device, said steering control device generating forward and reverse commands for determining the respective directions of rotation of said drive motors, a speed setting signal for setting the speeds of rotation of said drive motors and a steering signal on-off command for enabling said speed setting signal, said motor speed control device energizing said drive motors in accordance with said steering signal, forward and reverse commands, speed setting signal and steering signal on-off command,

said process further comprising the steps of:

(a) turning off said speed setting signal to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

(b) subsequently supplying said steering signal off command to said motor speed control device;

(c) subsequently supplying said forward command to said motor speed control device to enable one of said drive wheels to rotate in the forward direction in accordance with the turning direction of said vehicle and also supplying said reverse command to said motor speed control device to enable the other of said drive wheels to rotate in the reverse direction;

(d) subsequently supplying said speed setting signal to said motor speed control device, so that said vehicle moves angularly in said turning direction about a vertical axis passing through the middle point between said drive wheels;

(e) subsequently detecting a turn-off of said on-route signal;

(f) subsequently detecting a turn-on of said on-route signal; and

(g) subsequently turning off said speed setting signal to stop the angular movement of said vehicle, so that said vehicle can move along the guide path in the new direction.

6. A process for changing a running direction of an electromagnetically guided driverless vehicle according to claim 5, wherein said process further comprises a step of inhibiting a reception of said on-route signal during a predetermined time after the detection of said turn-off in the step (e).

7. A system for changing a running direction of an electromagnetically guided driverless vehicle, which is guided along a guide path comprising two parallel wire conductors, said guide path having at least one branch at a turning point, said turning point being located at the center of intersection of said branch and the main way of said guide path, said system being for use with a said vehicle of the type having aligned right and left drive wheels rotatably mounted on vehicle axes and driven by right and left drive motors, there being right and left route sensors for sensing magnetic fields induced by said wire conductors and being mounted on said vehicle forwardly of said drive wheels and being disposed substantially in registry with said wire conductors, respectively, one of outputs of said route sensors being used as a steering signal and as an on-route signal, said vehicle further having control means responsive to said steering an on-route signals for controlling the direction and speed of rotation of each of said drive motors, and means for generating a turning signal immediately before said vehicle arrives at the turning point,

said system comprising:

(a) means responsive to said turning signal for commanding said control means to deenergize said right and left drive motors to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

(b) means for commanding said control means upon completion of said deenergization of the right and left drive motors to drive said right and left drive motors to rotate said right and left drive wheels at the same speed in opposite directions so that said vehicle moves angularly in the turning direction about a vertical axis passing through the middle point between said drive wheels; and

(c) means responsive to a second direction of turn-on of said on-route signal for commanding said control means to deenergize said right and left drive motors to stop the angular movement of said vehicle, whereby said vehicle can move along the guide path in the new direction.

8. A system for changing a running direction of an electromagnetically guided driverless vehicle as defined in claim 7, for use with the said vehicle of the type in which its said control means includes a steering control device and a motor speed control device in which said steering control device generates forward and reverse commands for determining the respective directions of rotation of said drive motors, a speed setting signal for setting the speeds of rotation of said drive motors and a steering signal on-off command for enabling said steering signal, said motor speed control device energizing said drive motors in accordance with said steering signal, forward and reverse commands, speed setting signal and steering signal on-off command,

said system comprising:

(a) means responsive to said turning signal for commanding said steering control device to turn off said speed setting signal to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

(b) means for commanding said steering control device to generate said steering signal off command when said vehicle stops;

(c) means for commanding said steering control device to generate said forward and reverse commands to enable one of said drive wheels to rotate in the forward direction and to enable the other of said drive wheels to rotate in the reverse direction when said steering off command begins to be generated;

(d) means for commanding said steering control device to generate said speed setting signal when said forward and reverse commands begin to be generated, so that said vehicle moves angularly in said turning direction about a vertical axis passing through the middle point between said drive wheels;

(e) means responsive to a second detection of turn-on of said on-route signal for commanding said steering control device to turn off said speed setting signal to stop the angular movement of said vehicle, whereby said vehicle can move along the guide path in the new direction.

9. A system for changing a running direction of an electromagnetically guided driverless vehicle, which is guided along a guide path comprising a single wire conductor, said guide path having at least one branch at a turning point, said turning point being located at the intersection of the wire conductor corresponding to said branch and the wire conductor corresponding to the main way of said guide path, said vehicle comprising,

right and left drive wheels rotatably mounted on said vehicle, axes of said drive wheels being in alignment with each other,

right and left drive motors for driving said right and left drive wheels, respectively,

a route sensor mounted on said vehicle for sensing magnetic field induced by said wire conductor, said route sensor being disposed forwardly of said drive wheels and being disposed substantially in registry with said wire conductor, an output of said route sensor being used as a steering signal and as an on-route signal,

control means responsive to said steering and on-route signals for controlling the direction and speed of rotation of each of said drive motors, and

means for generating a turning signal immediately before said vehicle arrives at the turning point, said system comprising:

(a) means responsive to said turning signal for commanding said control means to deenergize said right and left drive motors to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

(b) means for commanding said control means upon completion of said deenergization of the right and left drive motors to drive said right and left drive motors to rotate said right and left drive wheels at the same speed in opposite directions so that said vehicle moves angularly in the turning direction about a vertical axis passing through the middle point between said drive wheels; and

(c) means responsive to a first detection of turn-on of said on-route signal for commanding said control means to deenergize said right and left drive motors to stop the angular movement of said vehicle, whereby said vehicle can move along the guide path in the new direction.

10. A system for changing a running direction of an electromagnetically guided driverless vehicle as defined in claim 9, said control means comprising a steering control device and a motor speed control device, said steering control device generating forward and reverse commands for determining the respective directions of rotation of said drive motors, a speed setting signal for setting the speeds of rotation of said drive motors and a steering signal on-off command for enabling said steering signal, said motor speed control device energizing said drive motors in accordance with said steering signal, forward and reverse commands, speed setting signal and steering signal on-off command, said system comprising:

(a) means responsive to said turning signal for commanding said steering control device to turn off said speed setting signal to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

(b) means for commanding said steering control device to generate said steering signal off command when said vehicle stops;

(c) means for commanding said steering control device to generate said forward and reverse commands to enable one of said drive wheels to rotate in the forward direction and to enable the other of said drive wheels to rotate in the reverse direction when said steering off command begins to be generated;

(d) means for commanding said steering control device to generate said speed setting signal when said forward and reverse commands begin to be generated, so that said vehicle moves angularly in said turning direction about a vertical axis passing through the middle point between said drive wheels;

(e) means responsive to a second detection of turn-on of said on-route signal for commanding said steering control device to turn off said speed setting signal to stop the angular movement of said vehicle, whereby said vehicle can move along the guide path in the new direction.